Module rrt_star_seven_joint_arm 

RRT* path planner for 7-DOF robotic arms

Plans collision-free paths in joint space using RRT* with:

• Random sampling in joint-angle space with configurable limits
• Collision checking via forward kinematics + sphere obstacle model
• Near-node rewiring for asymptotic optimality
• Goal biasing for faster convergence

Structs

RRTStarArmConfig

Configuration for the RRT* arm planner.

RRTStarArmPath

Result of a successful RRT* plan.

RRTStarArmPlanner

RRT* planner operating in joint space with FK-based collision checking.

SphereObstacle

Spherical obstacle in 3D workspace.