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

migrate/fix_test_tube_materials.py

@@ -0,0 +1,47 @@
+"""
+Fix material bindings on repackaged test tube USD.
+
+The referenced meshes have bindings pointing to /Test_Tube_AA_01/Looks/...
+which is outside the reference scope. This script overrides them to
+point to /World/Looks/... instead.
+
+Usage:
+    python migrate/fix_test_tube_materials.py
+"""
+from pxr import Usd, UsdShade
+
+USD_PATH = "workflows/simbox/example_assets/task/pick_test_tube/test_tube/Aligned_obj.usd"
+
+# Mapping: mesh prim path -> material path in new structure
+MATERIAL_BINDINGS = {
+    "/World/Aligned/_______005": "/World/Looks/SimPBR_Translucent",
+    "/World/Aligned/tags/_______007": "/World/Looks/OmniPBR",
+    "/World/Aligned/Test_Tube_lid/_______006": "/World/Looks/OmniPBR_01",
+}
+
+
+def fix():
+    stage = Usd.Stage.Open(USD_PATH)
+
+    for mesh_path, mat_path in MATERIAL_BINDINGS.items():
+        mesh_prim = stage.GetPrimAtPath(mesh_path)
+        mat_prim = stage.GetPrimAtPath(mat_path)
+
+        if not mesh_prim.IsValid():
+            print(f"  SKIP: {mesh_path} not found")
+            continue
+        if not mat_prim.IsValid():
+            print(f"  SKIP: material {mat_path} not found")
+            continue
+
+        mat = UsdShade.Material(mat_prim)
+        UsdShade.MaterialBindingAPI.Apply(mesh_prim)
+        UsdShade.MaterialBindingAPI(mesh_prim).Bind(mat)
+        print(f"  Bound {mesh_path} -> {mat_path}")
+
+    stage.GetRootLayer().Save()
+    print(f"\nSaved: {USD_PATH}")
+
+
+if __name__ == "__main__":
+    fix()