Simulating Robotiq 144mm Gripper with Franka Arm

How do I replace Franka default gripper with Robotiq Gripper 144mm in the Franka Arm?

Gripper URDF: link

The URDF contains a mimic joint which IssacGym doesn’t support, hence importing this through URDF throws a mapAt:error.

How to resolve this issue and use this gripper with Franka?

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