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README.md		README.md
obstacle_avoidance.py		obstacle_avoidance.py
piper.xml		piper.xml
scene_with_obstacles.xml		scene_with_obstacles.xml
test.py		test.py

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机械臂避障运动规划

基于 MuJoCo 的 6-DOF 机械臂避障轨迹规划与平滑控制。

算法流程

IK 求解：多随机种子求解目标点关节角配置
RRT 规划：双树搜索无碰撞路径
路径平滑：Shortcut 算法优化路径
轨迹插值：Smoothstep 生成平滑轨迹
执行控制：PD 控制器跟踪，每点停留 1 秒

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