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install_furniture.md

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Install IsaacGym and Furniture-Bench (borrowed from robust-rearrangement)

IsaacGym

Download the IsaacGym installer from the IsaacGym website 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:

cd ~
wget https://iai-robust-rearrangement.s3.us-east-2.amazonaws.com/packages/IsaacGym_Preview_4_Package.tar.gz

Once the zipped file is downloaded, move it to the desired location and unzip it by running:

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

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):

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:

git clone [email protected]:ankile/furniture-bench.git
cd furniture-bench
pip install -e .