Trying to follow the Franka cuMotion demo on this link.
After start up, drag the target pose (the green ball on the robot hand), then plan (plan only, no execution) with chomp CHOMP and isaac_ros_cumotion cuMotion.
CHOMP takes ~ 0.110 s
cuMotion takes 1.3~1.9s
Tried different poses, the difference is true.
Jetson Orin Nano Super Dev Kit 8G
JetPack 6.2.1
Isaac ROS 3.2 docker flow
Thanks!
Hello @fishboneek,
Thanks for posting in the Isaac ROS forum!
CHOMP and cuMotion use different planning algorithms and planner pipelines, so I would be careful interpreting the planning time as a direct one-to-one performance comparison. CHOMP may be faster for a simple planning-only query, while cuMotion may spend more time on its default robust motion-generation path with multiple seeds/attempts and GPU-based collision checking.
If you would like to compare planner performance, please refer to the Isaac ROS MoveIt benchmark document, which benchmarks MoveIt planner plugins including Isaac ROS cuMotion and OMPL on standardized Franka and UR5 motion-planning problems.
Also, for performance testing on Jetson, please make sure the Jetson power mode and clocks are fixed before measuring.