Add workspace analyzer and user docs

[chase6305]

Description

This PR introduces a comprehensive Workspace Analyzer module for robotic workspace analysis in EmbodiChain. The module provides both joint space and Cartesian space analysis capabilities to help understand robot reachability, workspace volume, and performance metrics.

Key Features Added:

• Modular Configuration System: Type-safe configuration classes for sampling, caching, visualization, constraints, and metrics
• Multiple Sampling Strategies: UniformSampler, RandomSampler, HaltonSampler, SobolSampler, LatinHypercubeSampler, ImportanceSampler, and GaussianSampler
• Comprehensive Documentation: Complete user guides and API documentation for all components
• Factory Pattern Implementation: Unified sampler creation and management system
• Performance Optimization: Caching mechanisms and efficient sampling algorithms

Components Implemented:

1. Core Workspace Analyzer (workspace_analyzer.py)

   • Joint space and Cartesian space analysis modes
   • Configurable analysis parameters
   • Integration with simulation manager and robot models

2. Configuration System (configs/)

   • WorkspaceAnalyzerConfig: Main configuration dataclass
   • SamplingConfig: Sampling strategy configuration
   • CacheConfig: Result caching configuration
   • VisualizationConfig: Visualization settings
   • MetricConfig: Metric computation settings
   • DimensionConstraint: Workspace constraints

3. Sampling Strategies (samplers/)

   • Multiple statistical and quasi-random sampling methods
   • Factory pattern for sampler creation
   • Performance-optimized implementations

4. Supporting Modules

   • Caching system for performance optimization
   • Constraint handling for joint limits and collision detection
   • Visualization utilities for analysis results
   • Metric computation for workspace characteristics

Documentation Added:

• Main Documentation (workspace_analyzer.md): Comprehensive usage guide with examples
• Configuration Guide (configs.md): Detailed configuration system documentation
• Sampling Strategies (samplers.md): In-depth sampling method descriptions
• Visualization Options (visualizers.md): Visualization configuration guide
• Caching System (caches.md): Performance optimization documentation
• Constraint Handling (constraints.md): Constraint system documentation
• Metric Computation (metrics.md): Analysis metrics documentation
  dexsim.tar.gz

Type of change

• Bug fix (non-breaking change which fixes an issue)
• Documentation update

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.

[Copilot]

Pull request overview

This PR introduces a comprehensive Workspace Analyzer module for robotic workspace analysis in EmbodiChain. The module provides both joint space and Cartesian space analysis capabilities with extensive configuration options, multiple sampling strategies, visualization tools, caching mechanisms, and performance metrics.

Key Changes:

• Added modular workspace analyzer with joint/Cartesian space analysis modes
• Implemented 7 sampling strategies (Uniform, Random, Halton, Sobol, LHS, Importance, Gaussian)
• Created visualization system with point cloud, voxel, and sphere renderers
• Added caching, constraint handling, and metrics computation modules
• Provided comprehensive documentation and example scripts

Reviewed changes

Copilot reviewed 50 out of 52 changed files in this pull request and generated 29 comments.

Show a summary per file

File	Description
workspace_analyzer.py	Core analyzer with FK/IK computation and analysis modes
samplers/iniform_sampler.py	File name typo: should be "uniform_sampler.py"
samplers/sobol_sampler.py	Sobol sampler with missing import for SamplingStrategy
samplers/sampler_factory.py	Factory pattern for sampler creation
visualizers/*.py	Point cloud, voxel, and sphere visualizers with multiple backends
configs/*.py	Type-safe configuration classes for all components
caches/*.py	Memory and disk caching implementations
constraints/*.py	Workspace constraint checking system
metrics/*.py	Reachability, manipulability, and density metrics
examples/*.py	Working examples for joint and Cartesian analysis
docs/*.md	Comprehensive user documentation

---

💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.

[Copilot]

@chase6305 I've opened a new pull request, #21, to work on those changes. Once the pull request is ready, I'll request review from you.

[chase6305]

@copilot open a new pull request to apply changes based on the comments in this thread

[Copilot]

@chase6305 I've opened a new pull request, #22, to work on those changes. Once the pull request is ready, I'll request review from you.