Questions about importing the custom robot with the tool.

[SresserS]

Hi, dear developers and communities, I have used the simulator since July 2024, and installed it from (https://behavior.stanford.edu/omnigibson/getting_started/installation.html).
I have a few questions:

1. Now I want to import my custom robot into the simulator, so Do I need to update the version of my current code? (I am referring the docs here: https://behavior.stanford.edu/omnigibson/tutorials/custom_robot_import.html)
2. I want to import a robot without gripper, but with a tool attached to the end-effector, is it possible to just change the URDF of the robot(to attach a tool to the EE) and consider the tool as the gripper? Or do you have any convenient ways to do so?

Thanks so much!