feat: add test tube pick task with custom assets and grasp annotations

- Add pick_test_tube task: USDC asset repackaging, grasp generation, task config
- Add tools: usdc_to_obj.py, repackage_test_tube.py, fix_test_tube_materials.py
- Add custom_task_guide.md: full Chinese documentation for creating custom tasks
- Add crawled InternDataEngine online docs (23 pages)
- Add grasp generation script (gen_tube_grasp.py) and pipeline config

docs_crawled/api_controllers.md

@@ -0,0 +1,209 @@
+# Source: https://internrobotics.github.io/InternDataEngine-Docs/api/controllers.html
+
+# Controllers API Reference [​](#controllers-api-reference)
+
+This page provides API documentation for the controller module.
+
+## TemplateController [​](#templatecontroller)
+
+Base class for all robot arm controllers.
+
+### Constructor [​](#constructor)
+python
+```
+TemplateController(cfg, task, robot_file: str, **kwargs)
+```
+1
+
+**Parameters: **
+
+| Parameter  | Type  | Description  |
+| `cfg ` | DictConfig  | Controller configuration  |
+| `task ` | BananaBaseTask  | Task instance  |
+| `robot_file ` | str  | Path to CuRobo robot config  |
+
+### Properties [​](#properties)
+
+| Property  | Type  | Description  |
+| `raw_js_names ` | List[str]  | Joint names in CuRobo order  |
+| `cmd_js_names ` | List[str]  | Joint names in simulation order  |
+| `arm_indices ` | np.ndarray  | Arm joint indices  |
+| `gripper_indices ` | np.ndarray  | Gripper joint indices  |
+| `_gripper_state ` | float  | Gripper state (1.0=open, -1.0=closed)  |
+
+### Methods [​](#methods)
+
+#### `_configure_joint_indices(robot_file: str) `[​](#configure-joint-indices-robot-file-str)
+
+Configure joint names and indices. **Must be implemented by subclass. **
+
+#### `_get_default_ignore_substring() -> List[str] `[​](#get-default-ignore-substring-list-str)
+
+Return default collision filter substrings. **Must be implemented by subclass. **
+
+#### `get_gripper_action() -> np.ndarray `[​](#get-gripper-action-np-ndarray)
+
+Map gripper state to joint targets. **Must be implemented by subclass. **
+
+#### `_load_world(use_default: bool = True) `[​](#load-world-use-default-bool-true)
+
+Load world configuration for motion planning.
+
+**Returns: **`WorldConfig `
+
+#### `_get_motion_gen_collision_cache() -> dict `[​](#get-motion-gen-collision-cache-dict)
+
+Return collision cache sizes.
+
+**Returns: **`{"obb": int, "mesh": int} `
+
+#### `_get_grasp_approach_linear_axis() -> int `[​](#get-grasp-approach-linear-axis-int)
+
+Return grasp approach axis (0=x, 1=y, 2=z).
+
+**Returns: **`int `(default: 2)
+
+#### `_get_sort_path_weights() -> Optional[List[float]] `[​](#get-sort-path-weights-optional-list-float)
+
+Return weights for path selection.
+
+**Returns: **`List[float] `or `None `
+
+#### `plan_to_pose(target_pose) `[​](#plan-to-pose-target-pose)
+
+Plan motion to target pose.
+
+**Parameters: **
+
+- `target_pose `: Tuple of (position, orientation)
+
+**Returns: **`bool `- Success status
+
+#### `execute_plan() `[​](#execute-plan)
+
+Execute the planned trajectory.
+
+#### `set_gripper_state(state: float) `[​](#set-gripper-state-state-float)
+
+Set gripper state.
+
+**Parameters: **
+
+- `state `: 1.0 for open, -1.0 for closed
+
+#### `get_current_joint_state() -> np.ndarray `[​](#get-current-joint-state-np-ndarray)
+
+Get current joint positions.
+
+**Returns: **`np.ndarray `of joint positions
+
+## Lift2Controller [​](#lift2controller)
+
+Controller for ARX-Lift2 dual-arm robot.
+python
+```
+@register_controller
+class Lift2Controller(TemplateController):
+    def _get_grasp_approach_linear_axis(self) -> int:
+        return 0  # x-axis
+```
+1
+2
+3
+4
+
+**Features: **
+
+- Dual-arm support
+- Custom world configuration
+- X-axis grasp approach
+
+## SplitAlohaController [​](#splitalohacontroller)
+
+Controller for Agilex Split Aloha dual-arm robot.
+python
+```
+@register_controller
+class SplitAlohaController(TemplateController):
+    def _get_grasp_approach_linear_axis(self) -> int:
+        return 2  # z-axis
+```
+1
+2
+3
+4
+
+**Features: **
+
+- Dual-arm support
+- Z-axis grasp approach
+- Optional joint control
+
+## Genie1Controller [​](#genie1controller)
+
+Controller for Genie1 dual-arm robot.
+python
+```
+@register_controller
+class Genie1Controller(TemplateController):
+    def _get_sort_path_weights(self) -> List[float]:
+        return [1, 1, 1, 1, 3, 3, 1]
+```
+1
+2
+3
+4
+
+**Features: **
+
+- 7-DOF per arm
+- Path selection weights
+- Custom world configuration
+
+## FR3Controller [​](#fr3controller)
+
+Controller for Franka FR3 single-arm robot.
+python
+```
+@register_controller
+class FR3Controller(TemplateController):
+    def _get_motion_gen_collision_cache(self):
+        return {"obb": 1000, "mesh": 1000}
+```
+1
+2
+3
+4
+
+**Features: **
+
+- Single-arm support
+- Panda gripper
+- Larger collision cache
+
+## FrankaRobotiq85Controller [​](#frankarobotiq85controller)
+
+Controller for Franka with Robotiq 2F-85 gripper.
+python
+```
+@register_controller
+class FrankaRobotiq85Controller(TemplateController):
+    def get_gripper_action(self):
+        return np.clip(
+            -self._gripper_state * self._gripper_joint_position,
+            0.0, 5.0
+        )
+```
+1
+2
+3
+4
+5
+6
+7
+
+**Features: **
+
+- Single-arm support
+- Robotiq 2F-85 gripper
+- Inverted gripper mapping