New FR3 (v2) robot model with the cobot pump end-effector

[rpapallas]

Description

This PR introduces a variant of the FR3 (v2) robot with a different end-effector, the cobot pump. An official vacuum/suction end-effector by Franka made by SCHMALZ (see here).

The mesh file and the inertia parameters are derived from official franka description files, see here (although the visual version cannot be converted reliably to obj/stl from dae and therefore the collision and visual mesh is the same). You can also see the inertia parameters here.

The new model also introduces a suction control using the adhesion actuator.

Checklist

• Added your name to CONTRIBUTORS.md (alphabetically by first name)
• Updated CHANGELOG.md:
  • Global changelog (if your change affects the overall repo)
  • Model-specific changelog (if it affects a specific model only)
• Followed the XML formatting/style guidelines (if editing MJCF)
• Ran pytest test/ locally and ensured all tests pass
• Signed the Contributor License Agreement (CLA)