add robotics learning grasp contact example

add wsg50 gripper with modified r2d2 gripper tip
expose a fudge factor to scale inertia, to make grasping more stable
(until we have better grasping contact model/implementation)

examples/RoboticsLearning/R2D2GraspExample.h

@@ -20,6 +20,7 @@ enum RobotLearningExampleOptions
 {
 	eROBOTIC_LEARN_GRASP=1,
 	eROBOTIC_LEARN_COMPLIANT_CONTACT=2,
+    eROBOTIC_LEARN_GRASP_CONTACT=3,
 };
 
 class CommonExampleInterface*    R2D2GraspExampleCreateFunc(struct CommonExampleOptions& options);