Delta Robot Simulation on Gazebo using MARA-Env

Delta robot pick and place simulation in Gazebo 9.0.0 using MARA environment

Tested on ROS2 Crystal and Gazebo 9.0.0

Download ROS2 MARA workspace (zip) file: https://github.com/AcutronicRobotics/MARA/releases/tag/crystal-v1.0.0

Install Prerequisites

Follow this well documented steps from MARA repo: https://github.com/AcutronicRobotics/MARA/tree/crystal

ROS2Learn for environment and RL algorithm

Follow this step for installation: https://github.com/AcutronicRobotics/ros2learn/tree/crystal

Steps Before Run

1. 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/.
2. 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/.
3. 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/.
4. 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/.
5. 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/.
6. 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/.
7. 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/.

Compile and Launch ROS2 Delta Robot Simulation

   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

References

1. Rotary Delta Robot Forward/Inverse Kinematics Calculations

2. MARA Robot RL algo implementation

3. Train Mask-RCNN model on Custom Dataset for Multiple Objects

4. Weed removal robot using Delta Arm