Adds two new robots with grippers (#3229)

# Description

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Adds two new robots with grippers:
- franka + robotiq_2f_85 gripper, with a new usd asset
- ur10e + robotiq_2f_140 gripper, with IsaacSim UR10E asset with
variants

Test the two new arms with gripper with this script:
[test_new_arms.py](https://github.com/user-attachments/files/22200295/test_new_arms.py)

`./isaaclab.sh -p test_new_arms.py`

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## Type of change

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- New feature (non-breaking change which adds functionality)

## Screenshots

![ur10e_franka_robotiq_grippers](https://github.com/user-attachments/assets/8f904de2-90ad-4534-a274-d0d9a220ccf4)

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## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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---------
Signed-off-by: rebeccazhang0707 <168459200+rebeccazhang0707@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

source/isaaclab_assets/isaaclab_assets/robots/franka.py

@@ -9,14 +9,16 @@ The following configurations are available:
 
 * :obj:`FRANKA_PANDA_CFG`: Franka Emika Panda robot with Panda hand
 * :obj:`FRANKA_PANDA_HIGH_PD_CFG`: Franka Emika Panda robot with Panda hand with stiffer PD control
+* :obj:`FRANKA_ROBOTIQ_GRIPPER_CFG`: Franka robot with Robotiq_2f_85 gripper
 
 Reference: https://github.com/frankaemika/franka_ros
 """
 
+
 import isaaclab.sim as sim_utils
 from isaaclab.actuators import ImplicitActuatorCfg
 from isaaclab.assets.articulation import ArticulationCfg
-from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
+from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
 
 ##
 # Configuration
@@ -82,3 +84,65 @@ FRANKA_PANDA_HIGH_PD_CFG.actuators["panda_forearm"].damping = 80.0
 
 This configuration is useful for task-space control using differential IK.
 """
+
+
+FRANKA_ROBOTIQ_GRIPPER_CFG = FRANKA_PANDA_CFG.copy()
+FRANKA_ROBOTIQ_GRIPPER_CFG.spawn.usd_path = f"{ISAAC_NUCLEUS_DIR}/Robots/FrankaRobotics/FrankaPanda/franka.usd"
+FRANKA_ROBOTIQ_GRIPPER_CFG.spawn.variants = {"Gripper": "Robotiq_2F_85"}
+FRANKA_ROBOTIQ_GRIPPER_CFG.spawn.rigid_props.disable_gravity = True
+FRANKA_ROBOTIQ_GRIPPER_CFG.init_state.joint_pos = {
+    "panda_joint1": 0.0,
+    "panda_joint2": -0.569,
+    "panda_joint3": 0.0,
+    "panda_joint4": -2.810,
+    "panda_joint5": 0.0,
+    "panda_joint6": 3.037,
+    "panda_joint7": 0.741,
+    "finger_joint": 0.0,
+    ".*_inner_finger_joint": 0.0,
+    ".*_inner_finger_knuckle_joint": 0.0,
+    ".*_outer_.*_joint": 0.0,
+}
+FRANKA_ROBOTIQ_GRIPPER_CFG.init_state.pos = (-0.85, 0, 0.76)
+FRANKA_ROBOTIQ_GRIPPER_CFG.actuators = {
+    "panda_shoulder": ImplicitActuatorCfg(
+        joint_names_expr=["panda_joint[1-4]"],
+        effort_limit_sim=5200.0,
+        velocity_limit_sim=2.175,
+        stiffness=1100.0,
+        damping=80.0,
+    ),
+    "panda_forearm": ImplicitActuatorCfg(
+        joint_names_expr=["panda_joint[5-7]"],
+        effort_limit_sim=720.0,
+        velocity_limit_sim=2.61,
+        stiffness=1000.0,
+        damping=80.0,
+    ),
+    "gripper_drive": ImplicitActuatorCfg(
+        joint_names_expr=["finger_joint"],  # "right_outer_knuckle_joint" is its mimic joint
+        effort_limit_sim=1650,
+        velocity_limit_sim=10.0,
+        stiffness=17,
+        damping=0.02,
+    ),
+    # enable the gripper to grasp in a parallel manner
+    "gripper_finger": ImplicitActuatorCfg(
+        joint_names_expr=[".*_inner_finger_joint"],
+        effort_limit_sim=50,
+        velocity_limit_sim=10.0,
+        stiffness=0.2,
+        damping=0.001,
+    ),
+    # set PD to zero for passive joints in close-loop gripper
+    "gripper_passive": ImplicitActuatorCfg(
+        joint_names_expr=[".*_inner_finger_knuckle_joint", "right_outer_knuckle_joint"],
+        effort_limit_sim=1.0,
+        velocity_limit_sim=10.0,
+        stiffness=0.0,
+        damping=0.0,
+    ),
+}
+
+
+"""Configuration of Franka Emika Panda robot with Robotiq_2f_85 gripper."""

source/isaaclab_assets/isaaclab_assets/robots/universal_robots.py

@@ -9,6 +9,7 @@
 The following configuration parameters are available:
 
 * :obj:`UR10_CFG`: The UR10 arm without a gripper.
+* :obj:`UR10E_ROBOTIQ_GRIPPER_CFG`: The UR10E arm with Robotiq_2f_140 gripper.
 
 Reference: https://github.com/ros-industrial/universal_robot
 """
@@ -122,3 +123,43 @@ UR10_SHORT_SUCTION_CFG = UR10_LONG_SUCTION_CFG.copy()
 UR10_SHORT_SUCTION_CFG.spawn.variants = {"Gripper": "Short_Suction"}
 
 """Configuration of UR10 arm with short suction gripper."""
+
+UR10e_ROBOTIQ_GRIPPER_CFG = UR10e_CFG.copy()
+UR10e_ROBOTIQ_GRIPPER_CFG.spawn.variants = {"Gripper": "Robotiq_2f_140"}
+UR10e_ROBOTIQ_GRIPPER_CFG.spawn.rigid_props.disable_gravity = True
+UR10e_ROBOTIQ_GRIPPER_CFG.init_state.joint_pos["finger_joint"] = 0.0
+UR10e_ROBOTIQ_GRIPPER_CFG.init_state.joint_pos[".*_inner_finger_joint"] = 0.0
+UR10e_ROBOTIQ_GRIPPER_CFG.init_state.joint_pos[".*_inner_finger_pad_joint"] = 0.0
+UR10e_ROBOTIQ_GRIPPER_CFG.init_state.joint_pos[".*_outer_.*_joint"] = 0.0
+# the major actuator joint for gripper
+UR10e_ROBOTIQ_GRIPPER_CFG.actuators["gripper_drive"] = ImplicitActuatorCfg(
+    joint_names_expr=["finger_joint"],
+    effort_limit_sim=10.0,
+    velocity_limit_sim=1.0,
+    stiffness=11.25,
+    damping=0.1,
+    friction=0.0,
+    armature=0.0,
+)
+# the auxiliary actuator joint for gripper
+UR10e_ROBOTIQ_GRIPPER_CFG.actuators["gripper_finger"] = ImplicitActuatorCfg(
+    joint_names_expr=[".*_inner_finger_joint"],
+    effort_limit_sim=1.0,
+    velocity_limit_sim=1.0,
+    stiffness=0.2,
+    damping=0.001,
+    friction=0.0,
+    armature=0.0,
+)
+# the passive joints for gripper
+UR10e_ROBOTIQ_GRIPPER_CFG.actuators["gripper_passive"] = ImplicitActuatorCfg(
+    joint_names_expr=[".*_inner_finger_pad_joint", ".*_outer_finger_joint", "right_outer_knuckle_joint"],
+    effort_limit_sim=1.0,
+    velocity_limit_sim=1.0,
+    stiffness=0.0,
+    damping=0.0,
+    friction=0.0,
+    armature=0.0,
+)
+
+"""Configuration of UR-10E arm with Robotiq_2f_140 gripper."""