Stage 3: Grasp Synthesis using GraspNet with collision checking

[Methasit-Pun]

Implement Stage 3 of the grasp pipeline: Grasp Synthesis using GraspNet with collision checking.

Requirements:

• Use graspnet-baseline with collision checking.
• Reject grasps near thin or noisy regions detected in the depth map.
• Integrate the following interface:

Args:
    image: RGB image
    depth: Depth map
    masks: List of object masks

Returns:
    grasps: List of grasp candidates with collision checking

• Ensure grasps are only accepted if they pass collision checks and avoid unreliable regions.

This feature will improve the robustness of grasp selection in cluttered or noisy scenes.