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/concepts_skills.md

@@ -0,0 +1,61 @@
+# Source: https://internrobotics.github.io/InternDataEngine-Docs/concepts/skills.html
+
+# Skills [​](#skills)
+
+Skills are the fundamental building blocks of robotic manipulation in InternDataEngine. Each skill defines an atomic action that a robot can perform, from simple gripper operations to complex manipulation sequences.
+
+## Quick Navigation [​](#quick-navigation)
+
+| Category  | Description  |
+| [Overview](/InternDataEngine-Docs/concepts/skills/overview.html) | Skill architecture and available skills  |
+| [Pick Skill](/InternDataEngine-Docs/concepts/skills/pick.html) | Grasping and lifting objects  |
+| [Place Skill](/InternDataEngine-Docs/concepts/skills/place.html) | Placing objects at target locations  |
+| [Articulation Skill](/InternDataEngine-Docs/concepts/skills/articulation.html) | Operating articulated objects (doors, drawers)  |
+
+## What is a Skill? [​](#what-is-a-skill)
+
+A skill encapsulates:
+
+- **Motion Planning **: Trajectory generation using CuRobo
+- **Execution Control **: Step-by-step command execution
+- **State Monitoring **: Success/failure evaluation
+- **Gripper Actions **: Open/close operations
+
+## Skill Categories [​](#skill-categories)
+
+### Manipulation Skills [​](#manipulation-skills)
+
+Skills for interacting with objects in the environment:
+
+- **Pick **: Grasp and lift objects using sampled grasp poses
+- **Place **: Position objects at target locations
+- **Articulation **: Operate doors, drawers, and other articulated objects
+
+### Motion Skills [​](#motion-skills)
+
+Skills for robot movement:
+
+- `goto_pose `- Move to a target end-effector pose
+- `move `- Cartesian motion in a direction
+- `rotate `- Rotate the end-effector
+
+### Utility Skills [​](#utility-skills)
+
+Helper skills for common operations:
+
+- `home `- Return to home configuration
+- `open `/ `close `- Gripper control
+- `wait `- Pause execution
+
+## Getting Started [​](#getting-started)
+
+- Read the [Skills Overview](/InternDataEngine-Docs/concepts/skills/overview.html)to understand the architecture
+- Learn about [Pick Skill](/InternDataEngine-Docs/concepts/skills/pick.html)for grasping objects
+- Explore [Place Skill](/InternDataEngine-Docs/concepts/skills/place.html)for placing operations
+- Check [Articulation Skill](/InternDataEngine-Docs/concepts/skills/articulation.html)for operating doors and drawers
+
+## Related Topics [​](#related-topics)
+
+- [Tasks](/InternDataEngine-Docs/concepts/tasks/)- Combine skills into complete workflows
+- [Controllers](/InternDataEngine-Docs/concepts/controllers/)- Understand motion control
+- [Custom Skill](/InternDataEngine-Docs/custom/skill/)- Create your own skills