# 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>