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_skills.md

@@ -0,0 +1,230 @@
+# Source: https://internrobotics.github.io/InternDataEngine-Docs/api/skills.html
+
+# Skills API Reference [​](#skills-api-reference)
+
+This page provides API documentation for the skills module.
+
+## BaseSkill [​](#baseskill)
+
+Base class for all manipulation skills.
+
+### Constructor [​](#constructor)
+python
+```
+BaseSkill(cfg, task, controller, **kwargs)
+```
+1
+
+**Parameters: **
+
+| Parameter  | Type  | Description  |
+| `cfg ` | DictConfig  | Skill configuration  |
+| `task ` | BananaBaseTask  | Task instance  |
+| `controller ` | TemplateController  | Controller instance  |
+
+### Properties [​](#properties)
+
+| Property  | Type  | Description  |
+| `skill_cfg ` | dict  | Skill-specific configuration  |
+| `task ` | BananaBaseTask  | Reference to task  |
+| `controller ` | TemplateController  | Reference to controller  |
+
+### Methods [​](#methods)
+
+#### `run() -> bool `[​](#run-bool)
+
+Execute the skill. **Must be implemented by subclass. **
+
+**Returns: **`bool `- Success status
+
+## Dexpick [​](#dexpick)
+
+Dex-style picking skill with approach planning.
+python
+```
+class Dexpick(BaseSkill):
+    def __init__(self, cfg, task, controller, **kwargs)
+    def run(self) -> bool
+```
+1
+2
+3
+
+**Configuration: **
+
+| Parameter  | Type  | Default  | Description  |
+| `objects ` | List[str]  | required  | Objects to pick  |
+| `pick_pose_idx ` | int  | 0  | Pick pose group index  |
+| `pre_grasp_offset ` | float  | 0.0  | Pre-grasp approach offset  |
+| `post_grasp_offset ` | float  | 0.1  | Post-grasp lift offset  |
+
+## Dexplace [​](#dexplace)
+
+Dex-style placing skill with constraints.
+python
+```
+class Dexplace(BaseSkill):
+    def __init__(self, cfg, task, controller, **kwargs)
+    def run(self) -> bool
+```
+1
+2
+3
+
+**Configuration: **
+
+| Parameter  | Type  | Default  | Description  |
+| `objects ` | List[str]  | required  | [object, target]  |
+| `camera_axis_filter ` | dict  | None  | Camera constraint  |
+
+## Pick [​](#pick)
+
+Standard pick skill.
+python
+```
+class Pick(BaseSkill):
+    def run(self) -> bool
+```
+1
+2
+
+**Configuration: **
+
+| Parameter  | Type  | Default  | Description  |
+| `objects ` | List[str]  | required  | Objects to pick  |
+
+## Place [​](#place)
+
+Standard place skill.
+python
+```
+class Place(BaseSkill):
+    def run(self) -> bool
+```
+1
+2
+
+**Configuration: **
+
+| Parameter  | Type  | Default  | Description  |
+| `objects ` | List[str]  | required  | [object, target]  |
+
+## GotoPose [​](#gotopose)
+
+Move to target pose skill.
+python
+```
+class GotoPose(BaseSkill):
+    def run(self) -> bool
+```
+1
+2
+
+**Configuration: **
+
+| Parameter  | Type  | Default  | Description  |
+| `target_pose ` | tuple  | required  | (position, orientation)  |
+
+## Home [​](#home)
+
+Return to home configuration.
+python
+```
+class Home(BaseSkill):
+    def run(self) -> bool
+```
+1
+2
+
+**Configuration: **
+
+| Parameter  | Type  | Default  | Description  |
+| `mode ` | str  | "default"  | Home configuration mode  |
+
+## Open / Close [​](#open-close)
+
+Gripper control skills.
+python
+```
+class Open(BaseSkill):
+    def run(self) -> bool
+        self.controller.set_gripper_state(1.0)
+
+class Close(BaseSkill):
+    def run(self) -> bool
+        self.controller.set_gripper_state(-1.0)
+```
+1
+2
+3
+4
+5
+6
+7
+
+## PourWaterSucc [​](#pourwatersucc)
+
+Pouring skill for liquid simulation.
+python
+```
+class PourWaterSucc(BaseSkill):
+    def run(self) -> bool
+```
+1
+2
+
+**Configuration: **
+
+| Parameter  | Type  | Default  | Description  |
+| `objects ` | List[str]  | required  | [container, target]  |
+| `pour_angle ` | float  | 90.0  | Pouring angle (degrees)  |
+
+## Rotate [​](#rotate)
+
+Rotation skill.
+python
+```
+class Rotate(BaseSkill):
+    def run(self) -> bool
+```
+1
+2
+
+**Configuration: **
+
+| Parameter  | Type  | Default  | Description  |
+| `axis ` | str  | "z"  | Rotation axis  |
+| `angle ` | float  | 90.0  | Rotation angle (degrees)  |
+
+## Wait [​](#wait)
+
+Wait skill for timing control.
+python
+```
+class Wait(BaseSkill):
+    def run(self) -> bool
+```
+1
+2
+
+**Configuration: **
+
+| Parameter  | Type  | Default  | Description  |
+| `duration ` | float  | 1.0  | Wait duration (seconds)  |
+
+## HeuristicSkill [​](#heuristicskill)
+
+Configurable skill for simple actions.
+python
+```
+class HeuristicSkill(BaseSkill):
+    def run(self) -> bool
+```
+1
+2
+
+**Configuration: **
+
+| Parameter  | Type  | Default  | Description  |
+| `mode ` | str  | "home"  | Action mode  |
+| `gripper_state ` | float  | None  | Gripper state to set  |