# Replace MARA components

In this tutorial we will learn how to launch the MARA with different components. At the time of writing this tutorial, we provide four different component combinations. This will grow over time, so can check the official repository for the latest additions.

The four options we are presenting in this tutorial are:

• MARA without additional end effector.
• MARA with robotiq 140 gripper on a table (default in gym-gazebo2).
• MARA with robotiq 85 gripper on a table.
• MARA with robotiq hande gripper on a table.

If you want to use one of the alternative models, you must use the corresponding spawner utility node.

Inside gazebo2/utils/ut_launch.py you must update the generate_launch_description_mara(...) function. Update the spawner node by replacing the following line.

# remove
Node(package='mara_utils_scripts', node_executable='spawn_mara_gripper_140.py', output='screen'),

Node(package='mara_utils_scripts', node_executable='spawn_mara.py', output='screen'),