Options for Motion Generation Lula vs. Moveit 2

[vanthome]

Hi,

please correct me if I’m wrong but there are two options for path planning in the context of Isaac Sim that Nvidia seems to propose, which are:

• Lula: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/advanced_tutorials/tutorial_motion_generation_lula_kinematics.html
• Ros2/ Moveit 2: https://docs.omniverse.nvidia.com/prod_digital-twins/app_isaacsim/tutorial_ros2_moveit.html#isaac-sim-app-tutorial-ros2-moveit

Is that the case or am I overlooking something? If so, what are the pros and cons of both, which one will give a better real life performance? Which one is better suited for RL training in a simulation?

BG

[edsonbffilho]

Yes, you are right, there are two options.

I’m not an expert, but my take on this:

Lula: Easier to use, less configurable, less reliable, only provides one probabilistic motion planning algorithm (RRT).

Moveit2: Harder to set up, more options of motion planning algorithms, configurable, possible to regulate the tradeoff between computation and precision, possible to integrate with other ROS related software (for example, occupation maps), more reliable.