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Restore primitive gripper contacts for Franka Lift and Reorient - #7875

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Restore primitive gripper contacts for Franka Lift and Reorient#7875
ooctipus wants to merge 2 commits into
isaac-sim:developfrom
ooctipus:fix/franka-lift-primitive-contacts

Keep Franka task regression coverage minimal

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succeeded Sep 17, 2026 in 4s