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/gen_tube_grasp.py

@@ -0,0 +1,51 @@
+"""
+Generate test tube grasp annotations by adapting working bottle grasps.
+
+Strategy: Load verified working bottle grasps, scale positions to match
+test tube dimensions. The rotation conventions are already correct.
+
+Bottle: ~5cm radius, ~10cm height
+Test tube: ~1.5cm radius, ~10.6cm height (similar height, 3x smaller radius)
+
+Usage:
+    python migrate/gen_tube_grasp.py
+"""
+import numpy as np
+import os
+
+BOTTLE_GRASP = "workflows/simbox/example_assets/task/sort_the_rubbish/recyclable_garbage/bottle_0/Aligned_grasp_sparse.npy"
+OUTPUT = "workflows/simbox/example_assets/task/pick_test_tube/test_tube/Aligned_grasp_sparse.npy"
+
+
+def main():
+    # Load working bottle grasps
+    bottle = np.load(BOTTLE_GRASP)
+    print(f"Loaded {len(bottle)} bottle grasps")
+    print(f"Bottle pos range: X[{bottle[:,13].min():.4f},{bottle[:,13].max():.4f}] "
+          f"Y[{bottle[:,14].min():.4f},{bottle[:,14].max():.4f}] "
+          f"Z[{bottle[:,15].min():.4f},{bottle[:,15].max():.4f}]")
+
+    tube = bottle.copy()
+
+    # Scale XY positions (radius: bottle ~3cm -> tube ~1.5cm, factor ~0.5)
+    # Keep Z positions similar (both ~10cm height)
+    xy_scale = 0.5
+    tube[:, 13] *= xy_scale  # X position
+    tube[:, 14] *= xy_scale  # Y position
+    # Z positions stay the same (similar height)
+
+    # Reduce gripper width for smaller object
+    # Bottle width: 0.044-0.10, Tube needs: 0.02-0.06
+    tube[:, 1] = np.clip(tube[:, 1] * 0.6, 0.02, 0.06)
+
+    print(f"\nTube pos range: X[{tube[:,13].min():.4f},{tube[:,13].max():.4f}] "
+          f"Y[{tube[:,14].min():.4f},{tube[:,14].max():.4f}] "
+          f"Z[{tube[:,15].min():.4f},{tube[:,15].max():.4f}]")
+    print(f"Tube width range: [{tube[:,1].min():.3f},{tube[:,1].max():.3f}]")
+
+    np.save(OUTPUT, tube)
+    print(f"\nSaved {len(tube)} grasps to: {OUTPUT}")
+
+
+if __name__ == "__main__":
+    main()