Description

Add a complete antipodal grasp-annotation and pose-generation toolkit for parallel-jaw grippers (embodichain.toolkits.graspkit.pg_grasp), plus a dedicated CLI sub-command and documentation.

Core modules (new):

• antipodal_generator.py — GraspGenerator with interactive Viser-based region annotation, antipodal sampling, pose construction, and collision-aware filtering.
• antipodal_sampler.py — AntipodalSampler for ray-cast antipodal pair detection on mesh surfaces.
• collision_checker.py — Batch convex-hull collision checking (Warp kernel).
• gripper_collision_checker.py — Parallel-jaw gripper collision model and query.

CLI:

• annotate-grasp sub-command registered in embodichain/__main__.py. Loads a mesh via trimesh, launches browser-based annotation UI, and caches antipodal point pairs.

Usage:

python -m embodichain annotate-grasp --mesh_path /path/to/object.ply

Other changes:

• Tutorial script: scripts/tutorials/grasp/grasp_generator.py
• Documentation: docs/source/features/toolkits/grasp_generator.rst
• Unit test: tests/toolkits/test_batch_convex_collision.py
• Utility: embodichain/utils/warp/collision/ for GPU-accelerated convex queries
• Removed legacy antipodal.py and cone_sampler.py (replaced by the new modules above)

Type of change

• Bug fix (non-breaking change which fixes an issue)
• Enhancement (non-breaking change which improves an existing functionality)
• New feature (non-breaking change which adds functionality)
• Breaking change (existing functionality will not work without user modification)
• Documentation update

Screenshots

Checklist

• I have run the black . command to format the code base.
• I have made corresponding changes to the documentation
• I have added tests that prove my fix is effective or that my feature works
• Dependencies have been updated, if applicable.

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