Adds the teddy bear pick and lift example (#128)

# Description

Adds the teddy bear pick and lift example

## Type of change

- New feature (non-breaking change which adds functionality)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/lift/config/franka/__init__.py

@@ -52,6 +52,14 @@ gym.register(
     disable_env_checker=True,
 )
 
+gym.register(
+    id="Isaac-Lift-Teddy-Bear-Franka-IK-Abs-v0",
+    entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
+    kwargs={
+        "env_cfg_entry_point": ik_abs_env_cfg.FrankaTeddyBearLiftEnvCfg,
+    },
+    disable_env_checker=True,
+)
 
 ##
 # Inverse Kinematics - Relative Pose Control

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/lift/config/franka/ik_abs_env_cfg.py

@@ -3,9 +3,12 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+from omni.isaac.lab.assets import DeformableObjectCfg
 from omni.isaac.lab.controllers.differential_ik_cfg import DifferentialIKControllerCfg
 from omni.isaac.lab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg
+from omni.isaac.lab.sim.spawners import UsdFileCfg
 from omni.isaac.lab.utils import configclass
+from omni.isaac.lab.utils.assets import ISAACLAB_NUCLEUS_DIR
 
 from . import joint_pos_env_cfg
 
@@ -45,3 +48,33 @@ class FrankaCubeLiftEnvCfg_PLAY(FrankaCubeLiftEnvCfg):
         self.scene.env_spacing = 2.5
         # disable randomization for play
         self.observations.policy.enable_corruption = False
+
+
+@configclass
+class FrankaTeddyBearLiftEnvCfg(FrankaCubeLiftEnvCfg):
+    def __post_init__(self):
+        # post init of parent
+        super().__post_init__()
+
+        self.scene.object = DeformableObjectCfg(
+            prim_path="{ENV_REGEX_NS}/Object",
+            init_state=DeformableObjectCfg.InitialStateCfg(pos=[0.5, 0, 0.05], rot=[0.707, 0, 0, 0.707]),
+            spawn=UsdFileCfg(
+                usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Objects/teddy_bear.usd",
+                scale=(0.01, 0.01, 0.01),
+            ),
+        )
+
+        # Make the end effector less stiff to not hurt the poor teddy bear
+        self.scene.robot.actuators["panda_hand"].effort_limit = 50.0
+        self.scene.robot.actuators["panda_hand"].stiffness = 40.0
+        self.scene.robot.actuators["panda_hand"].damping = 10.0
+
+        # Remove all the terms for the lift_teddy_bear_sm demo
+        self.terminations.object_dropping = None
+        self.rewards.reaching_object = None
+        self.rewards.lifting_object = None
+        self.rewards.object_goal_tracking = None
+        self.rewards.object_goal_tracking_fine_grained = None
+        self.events.reset_object_position = None
+        self.observations.policy.object_position = None