Add six-vessel grasp, lift, and placement qualification environment

[Steafy7]

Scope

Adds the dedicated MatteriX qualification environment for the six-vessel asset set.

• registers the six-vessel Franka task;
• adds the six asset capability profiles and qualification task;
• adds the implemented lift/pick-place workflow launcher options, including recording and user-controlled livestream use;
• propagates settling_time through MoveRelative.

The task applies the visual glass material and explicit runtime contact policy without fixed or kinematic asset positioning. Asset payloads, measured capacity evidence, and WebRTC commands are in the separate asset-side PR.

Verification

• offline contract/regression suite: 41/41 PASS;
• headless aggregate: {"overall_status":"PASS"} across all six assets and required repeats.

This is a draft for review and is not merged.