Migrate Franka Lift and deformable tasks to the flat asset

[maxkra15]

Description

Migrate rigid Lift and the non-camera Soft/Cloth/Cable Lift configurations to the flat asset from layer 3. Use gripper-only collisions by default, fix rigid Lift's aligned pre-grasp reset and disabled-collider clearance, and tie Franka-only motion penalties to success-driven ADR. The latest develop all-shapes object default is preserved; no cube-only override is added.

This is layer 4 of the draft isaac-sim#7829 split. Camera checkpoint qualification is out of scope. Existing Lift checkpoints must be requalified because the reset distribution changed; public-S3 asset publication remains a separate merge gate.

Validation

• Lift task tests: 20 passed
• Combined Franka preset/Lift/Kit-decision tests: 73 passed
• Formatting, generated docs, and changelog checks passed

Type of change

• Bug fix
• Task configuration migration

Release backport

• Backport after upstream merge

Checklist

• Contribution guidelines followed
• Focused tests and formatting passed
• Documentation and changelog updated

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[maxkra15]

Superseded by upstream isaac-sim#8171, targeting develop with the active-release backport selected.