Set up robot manipulation examples

[eric-heiden]

We need a typical manipulation setup in Newton, e.g. a Franka arm grasping a variety of assets. The first step is a Franka arm using a parallel gripper grasping a set of different rigid bodies (meshes and other primitive types). Control can be achieved through joint target commands from Newton's IKSolver.
This is needed to evaluate the feature gaps for SolverMuJoCo and investigate tuning issues.
This example will be a basis for unit tests and benchmarks.