gym_fetch_tutorial

A tutorial to get a Fetch Mobile Manipulator in the Gymnasium-Robotics simulator for Reinforcement Learning.

References and Resources

This tutorial referenced the guides from Nicholas Renotte. Below are other resources to help learn about Gymnaisum

OpenAI Gymnasium-Robotics: https://robotics.farama.org/

Youtube Video: https://www.youtube.com/watch?v=Mut_u40Sqz4

Referenced Code: https://github.com/nicknochnack/ReinforcementLearningCourse

Workspace

Make sure that you have Ubuntu 20.04 or above installed on your computer. The tutorial was created on a Jupyter Notebook; thus, you should install the web-based interactive development environment on your local machine.

sudo apt-get update
pip install notebook

This will install Jupyter Notebook on your computer. Once your system is set up, clone the gym_fetch_tutorial to your desired workspace.

Getting Started

Run the below command in your terminal.

Then, to run the notebook, type the following command in your terminal:

jupyter notebook

Navigate to the Fetch_tutorial.ipynb file and in the directory you saved this package, then open the file. From there, you can follow through the tutorial. Ideally, you should have the Fetch simulator behave the same as the gif below