release

installation/install_d3il.md

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+## Install D3IL
+
+Install our fork at your desired location: 
+```console
+git clone https://github.com/allenzren/d3il
+cd d3il
+pip install -e environments/d3il
+pip install -e environments/d3il/envs/gym_avoiding_env/
+```

installation/install_furniture.md

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+## Install IsaacGym and Furniture-Bench (borrowed from [robust-rearrangement](https://github.com/ankile/robust-rearrangement/tree/main?tab=readme-ov-file#install-isaacgym)) 
+
+### IsaacGym
+Download the IsaacGym installer from the [IsaacGym website](https://developer.nvidia.com/isaac-gym) and follow the instructions to download the package by running:
+* Click "Join now" and log into your NVIDIA account.
+* Click "Member area".
+* Read and check the box for the license agreement.
+* Download and unzip Isaac Gym - Ubuntu Linux 18.04 / 20.04 Preview 4 release.
+
+You can also download a copy of the file from their AWS S3 bucket for your convenience:
+```console
+cd ~
+wget https://iai-robust-rearrangement.s3.us-east-2.amazonaws.com/IsaacGym_Preview_4_Package.tar.gz
+```
+
+Once the zipped file is downloaded, move it to the desired location and unzip it by running:
+```console
+tar -xzf IsaacGym_Preview_4_Package.tar.gz
+```
+
+Now, you can install the IsaacGym package by navigating to the isaacgym directory and running:
+```
+cd isaacgym
+pip install -e python --no-cache-dir --force-reinstall
+```
+<!-- The --no-cache-dir and --force-reinstall flags are used to avoid potential issues with the installation we encountered. Also ignore Pip's notice that [notice] To update, run: pip install --upgrade pip as the current version of Pip is necessary for compatibility with the codebase. -->
+
+**Note:** You will most likely encounter the error ```ImportError: libpython3.8.so.1.0: cannot open shared object file: No such file or directory``` when you run fine-tuning. You may fix it by (add to .bashrc if you want it permanently):
+```console 
+conda env list # print your conda_path
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:<conda_path>/envs/dppo/lib
+```
+
+### Furniture-Bench
+
+Install our fork at your desired location:
+```console
+git clone git@github.com:ankile/furniture-bench.git
+cd furniture-bench
+pip install -e .
+```

installation/install_mujoco.md

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+## Install MuJoCo
+
+```console
+cd ~
+wget https://mujoco.org/download/mujoco210-linux-x86_64.tar.gz
+mkdir $HOME/.mujoco
+tar -xvf mujoco210-linux-x86_64.tar.gz -C ~/.mujoco/
+echo -e 'export LD_LIBRARY_PATH=$HOME/.mujoco/mujoco210/bin' >> ~/.bashrc
+echo -e 'export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/nvidia' >> ~/.bashrc
+echo -e 'export PATH="$LD_LIBRARY_PATH:$PATH"' >> ~/.bashrc
+```
+For visualizing mujoco in a GUI viewer:
+```console
+export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libGLEW.so
+```