Dextreme and ADR release

.gitignore

@@ -1,6 +1,7 @@
 videos
 /isaacgymenvs/logs
 *train_dir*
+*wandb*
 *ige_logs*
 *.egg-info
 /.vs

README.md

@@ -302,3 +302,17 @@ If you use the Factory simulation methods (e.g., SDF collisions, contact reducti
 	year = {2022}
 } 
 ```
+
+If you use the DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality work or the code related to Automatic Domain Randomisation, please cite the following paper:
+
+```
+@inproceedings{
+	handa2023dextreme,
+	author = {Ankur Handa, Arthur Allshire, Viktor Makoviychuk, Aleksei Petrenko, Ritvik Singh, Jingzhou Liu, Denys Makoviichuk, Karl Van Wyk, Alexander Zhurkevich, Balakumar Sundaralingam, Yashraj Narang, Jean-Francois Lafleche, Dieter Fox, Gavriel State},
+	title = {DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality},
+	booktitle = {ICRA},
+	year = {2023}
+} 
+```
+
+

assets/asset_templates/cube_multicolor.mtl

@@ -0,0 +1,60 @@
+newmtl red
+Ns 10.0
+Ka 1.0 1.0 1.0
+Kd 1.0 0.0 0.0
+Ks 0.125 0.125 0.125
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1.0
+illum 2
+
+newmtl green
+Ns 10.0
+Ka 1.0 1.0 1.0
+Kd 0.0 1.0 0.0
+Ks 0.125 0.125 0.125
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1.0
+illum 2
+
+newmtl blue
+Ns 10.0
+Ka 1.0 1.0 1.0
+Kd 0.0 0.0 1.0
+Ks 0.125 0.125 0.125
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1.0
+illum 2
+
+newmtl yellow
+Ns 10.0
+Ka 1.0 1.0 1.0
+Kd 1.0 1.0 0.0
+Ks 0.125 0.125 0.125
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1.0
+illum 2
+
+newmtl cyan
+Ns 10.0
+Ka 1.0 1.0 1.0
+Kd 0.0 1.0 1.0
+Ks 0.125 0.125 0.125
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1.0
+illum 2
+
+newmtl white
+Ns 10.0
+Ka 1.0 1.0 1.0
+Kd 1.0 1.0 1.0
+Ks 0.125 0.125 0.125
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1.0
+illum 2
+

assets/asset_templates/cube_multicolor_allegro.urdf.template

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<robot name="object">
+  <link name="object">
+    <visual>
+      <origin xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="$base_mesh" scale="$x_scale $y_scale $z_scale"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0"/>
+      <geometry>
+        <box size="$x_scale $y_scale $z_scale"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <density value="$density"/>
+    </inertial>
+  </link>
+</robot>