Delta robot pick and place simulation in Gazebo 9.0.0 using MARA environment
Download ROS2 MARA workspace (zip) file: https://github.com/AcutronicRobotics/MARA/releases/tag/crystal-v1.0.0
Follow this well documented steps from MARA repo: https://github.com/AcutronicRobotics/MARA/tree/crystal
Follow this step for installation: https://github.com/AcutronicRobotics/ros2learn/tree/crystal
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Copy mara.py from MARA_env folder and move it to ~/ros2learn/environments/gym-gazebo2/gym_gazebo2/envs/MARA
cp MARA_env/mara.py ~/ros2learn/environments/gym-gazebo2/gym_gazebo2/envs/MARA/.
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Copy delta_arm.py from example folder and move it to ~/ros2learn/environments/gym-gazebo2/examples/MARA
cp example/delta_arm.py ~/ros2learn/environments/gym-gazebo2/examples/MARA/.
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Copy all delta_meshes files and move it to ~/ros2_mara_ws/src/mara/mara_description/meshes
cp delta_meshes/* ~/ros2_mara_ws/src/mara/mara_description/meshes/.
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Copy mara.launch.py from launch folder and move it to ~/ros2_mara_ws/src/mara/mara_bringup/launch
cp launch/mara.launch.py ~/ros2_mara_ws/src/mara/mara_bringup/launch/.
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Copy whole mara_gazebo_plugins folder and replace with ~/ros2_mara_ws/src/mara/mara_gazebo_plugins
cp -rf mara_gazebo_plugins/* ~/ros2_mara_ws/src/mara/mara_gazebo_plugins/.
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Copy arc_delta_onTable.urdf from urdf folder and move it to ~/ros2_mara_ws/src/mara/mara_description/urdf/reinforcement_learning
cp urdf/arc_delta_onTable.urdf ~/ros2_mara_ws/src/mara/mara_description/urdf/reinforcement_learning/.
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Copy libdeltaKinematics.so from delta_kinematic_lib folder and move to ~/ros2_mara_ws/install/lib (Note: make sure you have build ros2_mara_ws before this command)
cp delta_kinematic_lib/libdeltaKinematics.so ~/ros2_mara_ws/install/lib/.
source ~/ros2learn/environments/gym-gazebo2/provision/mara_setup.sh
cd ros2_mara_ws
colcon build && cd
python3 ros2learn/environments/gym-gazebo2/examples/MARA/delta_arm.py -g