Robot controller (save me..)

Hi all,

am planning to import UR10 USD and try path planning. I’ve thoroughly read various examples and related documents, but I have some questions.

Q1. Should I use the Articulation Controller, Lula Controller, or RMPflow Controller? The current default setting is the Lula RRT Controller, but I think it’s essential to change the Controller because I will be using a different algorithm than RRT.

Q2. What are the differences between these Controllers?"