Use my own robot arm and gripper

[Tranthanhbao198]

Hi there,
I am a newbie in isaacgym, I want to use my robot arm and gripper for project “Franka cube stack”, so, can you guys please help me by letting me know step by step which files I need to modify to replace the robot arm Franka and its gripper with my robot arm and my gripper? And in these files, which code lines do I need to modify?
Thank you so much.