Demo showcasing nonhomogeneous grasping object scenes leveraging the unified collision library

[preist-nvidia]

We want to showcase how the unified collision library can be used to simulate heterogeneous grasping scenarios in Newton. So we should:

• Have a grid of Franka robots grasp different objects.
• The objects are loaded from USD from newton-assets, setup in the preferred USDA for physics attributes plus binary USD for mesh / other binary data like textures.
• Consider parametrizing the demo with the contact model that should be used: e.g. SDF/unified/mjWarp contacts
• The objects start on the table, Franka grasps them and pulls them off the table, then the user can interact with the objects
• Make sure there is an example UT that tests for succesful grasps (that is robust and does not cause issues in CI/CD)