All the source code I used can be found, the terraform code need ansible still but it will get you an instance all u need is manually run the steps on the script to install OIGE:
The errors is as follows:
Carb fails
2023-05-09 01:40:28 [14,977ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2023-05-09 01:40:28 [14,977ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.3]) (impl: carb.windowing-glfw.plugin)
2023-05-09 01:40:28 [14,979ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2023-05-09 01:40:28 [14,979ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.3]) (impl: carb.windowing-glfw.plugin)
Steps to reproduce is:
To add a custom robot u must add a new script on tasks, on the repou can see I used anymal.py to build all the other quadrupes by only changing the Lines 108 to 145.
A reference to the task is added on Task Utils and the Hydra YAMLs are added to cfg-train and task. Very few changes are required on robots/articulations and robots/articulations/views.
The interesting is that the error only occurs with the Isaac-Sim Container. I can run all the custom robots locally. I also can run all the Anymal examples fine on the Container.
So it does not make much sense since the code is the same.
2 robots with similar dimensions to Anymal are the Spot and the B1