# Description

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We only have a surface gripper sample with direct workflow, whereas in
manager-based workflow it is not supported yet.
- Add surface gripper as an asset instance to the scene (CPU only)
- Add SurfaceGripperAction and SurfaceGripperActionCfg
- Add two TaskEnvs for testing: 

1. Isaac-Stack-Cube-UR10-Long-Suction-IK-Rel-v0  
2. Isaac-Stack-Cube-UR10-Short-Suction-IK-Rel-v0

You can test recording demos by:
`./isaaclab.sh -p scripts/tools/record_demos.py --task
Isaac-Stack-Cube-UR10-Long-Suction-IK-Rel-v0 --teleop_device keyboard
--device cpu`

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## Type of change

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

## Screenshot
<img width="1386" height="273" alt="environments_surface_gripper"
src="https://github.com/user-attachments/assets/4c1cb5a4-4325-4861-b20c-9204e98e7dff"
/>




## 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>