diff --git a/src/plugins/simulator/physics_engines/dynamics2d/dynamics2d_stretchable_object_model.h b/src/plugins/simulator/physics_engines/dynamics2d/dynamics2d_stretchable_object_model.h
index 9002a42d..d60ccc92 100644
--- a/src/plugins/simulator/physics_engines/dynamics2d/dynamics2d_stretchable_object_model.h
+++ b/src/plugins/simulator/physics_engines/dynamics2d/dynamics2d_stretchable_object_model.h
@@ -58,6 +58,7 @@ namespace argos {
       }
       
       inline void SetGrippable(CDynamics2DGrippable* pc_grippable) {
+         if(m_pcGrippable) delete m_pcGrippable;
          m_pcGrippable = pc_grippable;
       }