removing goat references

.gitmodules

@@ -1,3 +0,0 @@
-[submodule "external/goat"]
-	path = external/goat
-	url = git@github.com:ethanweber/goat.git

README.md

@@ -12,11 +12,6 @@ conda create --name mattport python=3.8.13
 conda activate mattport
 pip install -r environment/requirements.txt
 
-# Install helper library
-cd external/goat
-python setup.py develop
-# then go back, i.e., `cd /path/to/mattport`
-
 # Install mattport as a library
 python setup.py develop
 
@@ -49,4 +44,23 @@ python scripts/run_train.py machine_config.num_gpus=1
 ```
 python -m jupyter lab build
 bash environments/run_jupyter.sh
-```
+```
+
+# Tooling
+
+We use [autoenv](https://github.com/hyperupcall/autoenv) to make setting up the environment and environment variables easier. This will run the `.envrc` file upon entering the `/path/to/mattport` folder. It will also remove the set environment parameters upon leaving.
+
+```
+# Install direnv.
+sudo apt install direnv
+
+# Add the following line to the bottom of your ~/.bashrc file.
+eval "$(direnv hook bash)"
+
+# Populate your .envrc with commands you want to run. Then, run the following to allow updates.
+cd /path/to/mattport
+direnv allow .
+```
+
+<!-- Our PyTorch version uses cuda-11.3. -->
+<!-- export PATH=/usr/local/cuda-11.3/bin:$PATH -->

external/goat

@@ -1 +0,0 @@
-Subproject commit 65bdfebc71d87c4c8863af879160a4b9b64c9c7a