Variant of RRT that makes the following important changes:
Rejection sampling on local distance metric. Pattern is same with Pang's code.
Random regrasp with some probability
(Very important) project dq into the range of Bu instead of B.
Got lucky one time and solved the planar hand in 6 seconds with 382 nodes!
@lujieyang if you have time, maybe you could try this variant on the allegro hand / planar pushing as well? I could help!
lujieyang
commented
2 years ago 
Variant of RRT that makes the following important changes:
Got lucky one time and solved the planar hand in 6 seconds with 382 nodes! @lujieyang if you have time, maybe you could try this variant on the allegro hand / planar pushing as well? I could help!
This change is