Is there a tutorial on building a robotic arm

Hello everyone, I’m very sorry that I encountered some confusion while using Isaac sim.
I want to use isaac sim to build a robotic arm, and I have checked Franka’s structure and built it according to Franka’s instructions, but I still haven’t succeeded in my work.
I would like to know if there is a complete tutorial on building a robotic arm, which can be done through video or text images.

Maybe these two videos can help

And this one:

Thank you very much for your help. He was very useful to me and I successfully completed the construction of the robot.

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