Migrate Franka Reach and Drawer to the flat asset

[maxkra15]

Description

Migrate Reach, Drawer, relevant contributed Franka tasks, controller examples, and the render benchmark to the opt-in flat asset from layer 2. Select Physics explicitly for each backend and keep gripper-only collisions unless a task requests arm_collisions. Correct Reach differential-IK offsets and OSC actuator contract. Lift and deformable tasks are deliberately excluded.

This is layer 3 of the draft isaac-sim#7829 split. The public-S3 asset and checkpoint requalification are separate deployment gates.

Validation

• Focused Reach/Drawer, DiffIK, and preset tests: 44 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

[coderabbitai]

Important

Draft PR not reviewed

Draft PRs are not automatically reviewed by default.

• Trigger a manual review

To automatically review draft PRs, update your CodeRabbit configuration:

reviews:
  auto_review:
    drafts: true

---

Thanks for using CodeRabbit! It's free for OSS, and your support helps us grow. If you like it, consider giving us a shout-out.

❤️ Share

• X
• Mastodon
• Reddit
• LinkedIn

_{Comment @coderabbitai help to get the list of available commands.}

[maxkra15]

Superseded by upstream isaac-sim#8170, targeting develop with the active-release backport selected.