Isaac Sim中进行抓手安装可以通过URDF文件导入方式。通过编辑URDF文件方式将相应的3D数据如stl文件安装至机器人上。具体实现方式如下①准备好3D数据准备好抓手安装部位(hand.stl)以及可动的夹爪部位的3D数据(finger.stl)②进行URDF文件编辑如下所示通过在原有机器人URDF文件基础上编辑追加抓手文件数据。?xml version1.0 ? robot namemelfa_rv-8crl xmlns:xacrohttp://wiki.ros.org/xacro !-- Colors -- material namemelfa_rv-8crl_grey color rgba0.75 0.75 0.75 1/ /material !--~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~-- !-- world joints -- !--~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~-- link nameworld/ !-- fixed joint -- joint nameworld_joint typefixed parent linkworld/ child linkbase_link/ origin rpy0.0 0.0 0.0 xyz0.0 0.0 0.0/ /joint !--~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~-- !--~~~~~~ ROBOT ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~-- !--~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~-- !-- Base Link -- link namebase_link visual origin xyz0 0 0 rpy1.5708 -0 3.1416 / geometry mesh filenamepackage://melfa_rv-8crl/meshes/base.stl/ /geometry material namemelfa_rv-8crl_grey/ /visual collision origin xyz0 0 0 rpy1.5708 -0 3.1416 / geometry mesh filenamepackage://melfa_rv-8crl/meshes/base.stl/ /geometry /collision /link !-- Link 1 -- joint namejoint_1 typerevolute origin rpy0 0 0 xyz0.0 0.0 0.0/ axis xyz0 0 1/ parent linkbase_link/ child linklink_1/ limit effort0 lower-2.96706 upper2.96706 velocity0/ /joint link namelink_1 visual origin xyz0 0 0.388 rpy1.5708 -0 3.1416 / geometry mesh filenamepackage://melfa_rv-8crl/meshes/shoulder.stl/ /geometry material namemelfa_rv-8crl_grey/ /visual collision origin xyz0 0 0.388 rpy1.5708 -0 3.1416 / geometry mesh filenamepackage://melfa_rv-8crl/meshes/shoulder.stl/ /geometry /collision /link !-- Link 2 -- joint namejoint_2 typerevolute origin rpy0 0 0 xyz0.0 0.0 0.390/ axis xyz0 1 0/ parent linklink_1/ child linklink_2/ limit effort0 lower-1.919862 upper1.919862 velocity0/ /joint link namelink_2 visual origin xyz0 0 0 rpy1.5708 -0 3.1416 / geometry mesh filenamepackage://melfa_rv-8crl/meshes/upper_arm.stl/ /geometry material namemelfa_rv-8crl_grey/ /visual collision origin xyz0 0 0 rpy1.5708 -0 3.1416 / geometry mesh filenamepackage://melfa_rv-8crl/meshes/upper_arm.stl/ /geometry /collision /link !-- Link 3 -- joint namejoint_3 typerevolute origin rpy0 0 0 xyz0.0 0.0 0.450/ axis xyz0 1 0/ parent linklink_2/ child linklink_3/ limit effort0 lower0 upper2.879793 velocity0/ /joint link namelink_3 visual origin xyz0 0 0 rpy1.5708 1.5708 3.1416 / geometry mesh filenamepackage://melfa_rv-8crl/meshes/elbow.stl/ /geometry material namemelfa_rv-8crl_grey/ /visual collision origin xyz0 0 0 rpy1.5708 1.5708 3.1416 / geometry mesh filenamepackage://melfa_rv-8crl/meshes/elbow.stl/ /geometry /collision /link !-- Link 4 -- joint namejoint_4 typerevolute origin rpy0 0 0 xyz-0.100 0.0 0.0/ axis xyz0 0 1/ parent linklink_3/ child linklink_4/ limit effort0 lower-3.490659 upper3.490659 velocity0/ /joint link namelink_4 visual origin xyz0 0 0.469 rpy1.5708 1.5708 3.1416 / geometry mesh filenamepackage://melfa_rv-8crl/meshes/forearm.stl/ /geometry material namemelfa_rv-8crl_grey/ /visual collision origin xyz0 0 0.469 rpy1.5708 1.5708 3.1416 / geometry mesh filenamepackage://melfa_rv-8crl/meshes/forearm.stl/ /geometry /collision /link !-- Link 5 -- joint namejoint_5 typerevolute origin rpy0 0 0 xyz0.0 0.0 0.470/ axis xyz0 1 0/ parent linklink_4/ child linklink_5/ limit effort0 lower-2.094395 upper2.094395 velocity0/ /joint link namelink_5 visual origin xyz0 0 0 rpy1.5708 1.5708 0 / geometry mesh filenamepackage://melfa_rv-8crl/meshes/wrist.stl/ /geometry material namemelfa_rv-8crl_grey/ /visual collision origin xyz0 0 0 rpy1.5708 1.5708 0 / geometry mesh filenamepackage://melfa_rv-8crl/meshes/wrist.stl/ /geometry /collision /link !-- Link 6 -- joint namejoint_6 typerevolute origin rpy0 0 0 xyz0.0 0.0 0.085/ axis xyz0 0 1/ parent linklink_5/ child linklink_6/ limit effort0 lower-6.283185 upper6.283185 velocity0/ /joint link namelink_6 visual origin xyz0 0 -0.085 rpy0 1.5708 -1.5708 / geometry mesh filenamepackage://melfa_rv-8crl/meshes/hand_flange.stl/ /geometry material namemelfa_rv-8crl_grey/ /visual collision origin xyz0 0 -0.085 rpy0 1.5708 -1.5708 / geometry mesh filenamepackage://melfa_rv-8crl/meshes/hand_flange.stl/ /geometry /collision /link !-- Tool0 -- joint namelink_6-to-tool0 typefixed origin rpy0 0 0 xyz0 0 0/ parent linklink_6/ child linktool0/ /joint link nametool0/ joint namepanda_hand_joint typefixed parent linktool0/ child linkpanda_hand/ origin rpy0 0 -0.785398163397 xyz0 0 0/ /joint link namepanda_hand visual geometry mesh filenamepackage://melfa_rv-8crl/meshes/hand.dae/ /geometry /visual collision geometry mesh filenamepackage://melfa_rv-8crl/meshes/hand.stl/ /geometry /collision inertial origin rpy0 0 0 xyz0 0 0/ mass value0.5583304799/ inertia ixx0.0023394448 ixy0.0 ixz0.0 iyy0.0005782786 iyz0 izz0.0021310296/ /inertial /link link namepanda_leftfinger visual geometry mesh filenamepackage://melfa_rv-8crl/meshes/finger.dae/ /geometry /visual collision geometry mesh filenamepackage://melfa_rv-8crl/meshes/finger.stl/ /geometry /collision inertial origin rpy0 0 0 xyz0 0 0/ mass value0.0140552232/ inertia ixx4.20413082650939E-06 ixy0.0 ixz0.0 iyy3.90263687466755E-06 iyz0 izz1.33474964199095E-06/ /inertial /link link namepanda_rightfinger visual origin rpy0 0 3.14159265359 xyz0 0 0/ geometry mesh filenamepackage://melfa_rv-8crl/meshes/finger.dae/ /geometry /visual collision origin rpy0 0 3.14159265359 xyz0 0 0/ geometry mesh filenamepackage://melfa_rv-8crl/meshes/finger.stl/ /geometry /collision inertial origin rpy0 0 0 xyz0 0 0/ mass value0.0140552232/ inertia ixx4.20413082650939E-06 ixy0.0 ixz0.0 iyy3.90263687466755E-06 iyz0 izz1.33474964199095E-06/ /inertial /link joint namepanda_finger_joint1 typeprismatic parent linkpanda_hand/ child linkpanda_leftfinger/ origin rpy0 0 0 xyz0 0 0.0584/ axis xyz0 1 0/ limit effort20 lower0.0 upper0.04 velocity0.2/ /joint joint namepanda_finger_joint2 typeprismatic parent linkpanda_hand/ child linkpanda_rightfinger/ origin rpy0 0 0 xyz0 0 0.0584/ axis xyz0 -1 0/ limit effort20 lower0.0 upper0.04 velocity0.2/ mimic jointpanda_finger_joint1/ /joint /robot其中分为Link和Joint描述可以参考如下文章⑤Pybullet之URDF文件说明及示例_sketchup 导出urdf-CSDN博客由于夹爪属于联动因此在另一半夹爪描述时追加了“mimic”描述。最后通过“File”—“import”方式导入。以上为通过URDF文件导入方式介绍。