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

workflows/simbox/core/configs/tasks/example/pick_test_tube.yaml

@@ -0,0 +1,152 @@
+tasks:
+  -
+    name: banana_base_task
+    asset_root: workflows/simbox/example_assets
+    task: BananaBaseTask
+    task_id: 0
+
+    offset: null
+    render: True
+
+    neglect_collision_names: ["table"]
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/example.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: False
+      intensity_range: [5000, 5000]
+      rotation_range: [0, 0]
+
+    robots:
+      -
+        name: "split_aloha"
+        robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml
+        euler: [0.0, 0.0, 90.0]
+        ignore_substring: ["material", "table", "test_tube_rack"]
+
+    objects:
+      # Test tube - graspable rigid object
+      -
+        name: test_tube_right
+        path: task/pick_test_tube/test_tube/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: custom
+        category: test_tube
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [0.0, 0.0, 0.0]
+        scale: [1, 1, 1]
+        apply_randomization: False
+        orientation_mode: keep
+
+      # Test tube rack - static geometry
+      -
+        name: test_tube_rack
+        path: task/pick_test_tube/test_tube_rack/Test_Tube_Rack_AA_01.usdc
+        target_class: GeometryObject
+        dataset: custom
+        category: rack
+        prim_path_child: Test_Tube_Rack_AA_01
+        translation: [0.0, 0.0, 0.0]
+        euler: [0.0, 0.0, 0.0]
+        scale: [1, 1, 1]
+        apply_randomization: False
+
+    regions:
+      # Test tube on table (right side of robot)
+      -
+        object: test_tube_right
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [0.05, -0.05, 0.0],
+            [0.15, 0.05, 0.0]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+      # Test tube rack on table (left side)
+      -
+        object: test_tube_rack
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.25, -0.05, 0.0],
+            [-0.25, -0.05, 0.0]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+      # Robot position
+      -
+        object: split_aloha
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [0.0, -0.86, -0.75],
+            [0.0, -0.86, -0.75]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: split_aloha_hand_left
+        translation: [0.0, 0.08, 0.05]
+        orientation: [0.0, 0.0, 0.965, 0.259]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6"
+        apply_randomization: False
+      -
+        name: split_aloha_hand_right
+        translation: [0.0, 0.08, 0.04]
+        orientation: [0.0, 0.0, 0.972, 0.233]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6"
+        apply_randomization: False
+      -
+        name: split_aloha_head
+        translation: [0.0, -0.00818, 0.1]
+        orientation: [0.658, 0.259, -0.282, -0.648]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link"
+
+    data:
+      task_dir: "pick_test_tube"
+      language_instruction: "Pick up the test tube from the table."
+      detailed_language_instruction: "Use the right arm to grasp the test tube from the table and lift it up."
+      collect_info: "Test tube picking task with Split Aloha"
+      version: "v1.0"
+      update: True
+      max_episode_length: 2000
+
+    skills:
+      -
+        split_aloha:
+          -
+            right:
+              # Pick the test tube with right arm
+              -
+                name: pick
+                objects: [test_tube_right]
+                npy_name: Aligned_grasp_sparse.npy
+                filter_y_dir: ["forward", 60]
+                filter_z_dir: ["downward", 150]
+                pre_grasp_offset: 0.05
+                gripper_change_steps: 10
+                t_eps: 0.025
+                o_eps: 1
+                process_valid: True
+                lift_th: 0.02
+                post_grasp_offset_min: 0.10
+                post_grasp_offset_max: 0.15
+              # Return to home
+              -
+                name: heuristic__skill
+                mode: home
+                gripper_state: 1.0

workflows/simbox/example_assets/task/pick_test_tube/test_tube_rack/Test_Tube_Rack_AA_01.usdc

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+/home/tangger/LYT/maic_usd_assets_moudle/laboratory_equipment/Test_Tube_Rack/Test_Tube_Rack_AA_01.usdc