Update compass doc

[sameerchavan0027]

Update compass doc with examples and mention xgrids assets as well

[greptile-apps]

Greptile Summary

This PR expands the COMPASS navigation policy documentation by adding visual examples (GIFs) of NuRec Real2Sim assets, introducing XGRIDS Portal Camera reconstructions, and updating the branch pointer from a personal branch to real2sim/isaaclab_3.0.

• Adds five GIF assets embedded in the RST doc with HuggingFace links, covering Galileo (4-camera), Living Room (1-camera), and XGRIDS Wormhole scenes.
• Updates the "Where to find it" section with the new branch name and removes the now-redundant git clone / git checkout code block.
• Adds sample training GIFs (G1 robot in Galileo, Carter robot in Wormhole) with captions, though the Wormhole caption inconsistently calls the room "babyroom" while the filename and alt text use "Wormhole".

Confidence Score: 4/5

Safe to merge after addressing the Wormhole/babyroom naming inconsistency and the two minor RST polish issues.

The caption on the second training example calls the room "babyroom" while the GIF filename, alt text, and the rest of the doc consistently say "Wormhole" — a reader following the link would land on the Wormhole asset page, making "babyroom" confusing or incorrect. The two other findings (a placeholder sentence and un-marked sub-headings) are presentation-only issues that don't affect links or asset references.

compass_navigation_policy_with_NuRec.rst — specifically the training-example captions and the camera-configuration sub-headings.

Important Files Changed

Filename	Overview
docs/source/policy_deployment/03_compass_with_NuRec/compass_navigation_policy_with_NuRec.rst	Major rewrite: adds arXiv link, asset examples with GIFs, XGRIDS support, updated branch name. Contains a placeholder sentence, missing RST heading markup, and a naming inconsistency between caption text and the GIF/alt-text.
docs/source/_static/policy_deployment/03_compass_with_NuRec/galileo.gif	New GIF asset for the Galileo NuRec scene (4-camera setup).
docs/source/_static/policy_deployment/03_compass_with_NuRec/galileo_g1_training.gif	New GIF asset showing G1 robot training in the Galileo scene.
docs/source/_static/policy_deployment/03_compass_with_NuRec/living_room.gif	New GIF asset for the Living Room NuRec scene (1-camera setup).
docs/source/_static/policy_deployment/03_compass_with_NuRec/wormhole.gif	New GIF asset for the XGRIDS Wormhole reconstruction.
docs/source/_static/policy_deployment/03_compass_with_NuRec/xgrid_wormhole_carter_training.gif	New GIF asset showing Carter robot training in the XGRIDS Wormhole scene.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    A[COMPASS Doc] --> B[NuRec Real2Sim Assets]
    A --> C[XGRIDS Assets]
    A --> D[Where to Find It]
    B --> E[Galileo - 4 stereo RGB cameras]
    B --> F[Living Room - 1 stereo RGB camera]
    C --> G[Wormhole - XGRIDS proprietary pipeline]
    D --> H[COMPASS GitHub - real2sim/isaaclab_3.0]
    A --> J[Sample Training]
    J --> K[Galileo + G1 robot]
    J --> L[Wormhole + Carter robot]

Loading

_{Reviews (1): Last reviewed commit: "Update compass doc" | Re-trigger Greptile}

[greptile-apps]

Incomplete placeholder text — "Examples of assets here." reads like an unfinished draft note rather than documentation prose. It will appear verbatim in the rendered HTML and doesn't give the reader any useful information. Consider replacing it with a brief descriptive sentence or removing it entirely.

Note: If this suggestion doesn't match your team's coding style, reply to this and let me know. I'll remember it for next time!

[greptile-apps]

Camera-count lines lack RST section markup — "Using 4 stereo RGB cameras" and "Using 1 stereo RGB camera" appear to be intended as sub-headings, but they have no RST underline characters beneath them. Without a heading marker (e.g., ~~~~~), they will render as plain paragraph text, losing the visual hierarchy. Either add proper RST heading underlines or reformat them as bold lead-in text so the intent is explicit.

Note: If this suggestion doesn't match your team's coding style, reply to this and let me know. I'll remember it for next time!

[greptile-apps]

Caption and alt text name a different room than the GIF filename — the description says "Xgrid babyroom" but the referenced file is xgrid_wormhole_carter_training.gif and the :alt: text reads "XGRIDS Wormhole training view". All three should agree on the room name to avoid confusing readers.

Suggested change

	2. Xgrid babyroom (along with sim obstacles) with Carter robot
	.. figure:: ../../_static/policy_deployment/03_compass_with_NuRec/xgrid_wormhole_carter_training.gif
	:alt: XGRIDS Wormhole training view
	:width: 480px
	2. XGRIDS Wormhole (along with sim obstacles) with Carter robot
	.. figure:: ../../_static/policy_deployment/03_compass_with_NuRec/xgrid_wormhole_carter_training.gif
	:alt: XGRIDS Wormhole training view
	:width: 480px

[isaaclab-review-bot]

Documentation Review

Thanks for expanding the COMPASS documentation with asset examples, training visualizations, and XGRIDS support, @sameerchavan0027!

🚨 CI Failure: Broken Link (Must Fix)

The "Check for Broken Links" CI job is failing because the branch referenced in the updated documentation does not exist:

[404] https://github.com/NVlabs/COMPASS/blob/real2sim/isaaclab_3.0/docs/handbook/workflows/nurec_real2sim.md

I verified that only these branches exist on NVlabs/COMPASS:

• samc/support_nurec_assets_isaaclab_3.0 ✅ (exists, was the old reference)
• samc/support_nurec_assets_isaaclab_2.3.1 ✅ (exists)
• real2sim/isaaclab_3.0 ❌ (does not exist)

Action required: Either create the real2sim/isaaclab_3.0 branch on the COMPASS repo before merging this PR, or revert to the existing branch name samc/support_nurec_assets_isaaclab_3.0. The link checker will continue to fail until this is resolved.

Issues

1. Inconsistent asset name (line ~51): The numbered list says "Xgrid babyroom (along with sim obstacles)" but the figure file is xgrid_wormhole_carter_training.gif and the alt text says "XGRIDS Wormhole training view". The HuggingFace path also points to xgrid-wormhole. Should this read "Xgrid Wormhole" instead of "Xgrid babyroom"?

2. Incomplete sentence (line ~14): "Examples of assets here." reads as a fragment. Consider something like: "Examples of supported assets are shown below:" or "Below are examples of assets generated through these pipelines.".

3. RST structure — plain-text pseudo-headings: The lines "Using 4 stereo RGB cameras" and "Using 1 stereo RGB camera" function as subsection headings but lack RST underlines. Sphinx will render these as ordinary paragraphs rather than headings, breaking the document outline and TOC. Consider adding an underline (e.g., ^^^ or """), or at minimum making them bold (e.g., **Using 4 stereo RGB cameras**).

4. Similarly for "Sample training with NuRec assets with different embodiments." — this line introduces a new section but isn't formatted as an RST heading. Recommend adding a subsection underline or using bold emphasis.

5. Removed code-block for git clone: The old version included a convenient copy-paste snippet showing how to clone and checkout. While the handbook reference is fine, users landing on this page may appreciate having a quick-start snippet (even a one-liner like git clone -b real2sim/isaaclab_3.0 https://github.com/NVlabs/COMPASS.git). Optional, but consider keeping it for user convenience.

Minor / Nits

• The GIFs total ~33.7 MB via LFS. This is fine for the repo, but consider whether optimized/compressed versions would improve doc page load times for readers.
• The XGRIDS link (https://www.xgrids.com/intl/portalcam) resolves correctly ✅.
• The arXiv citation link is valid ✅.
• The HuggingFace dataset links point to a gated dataset (access-controlled). This is expected but worth noting in the doc text so readers know they'll need to request access.

Summary

The content additions are valuable — visual examples significantly improve documentation quality. The blocking issue is the broken branch link causing CI failure. The RST structural issues and asset name inconsistency should also be addressed before merge.

---

Automated review by isaaclab-review-bot

---

Update (commit 526f514): Reviewed incremental changes. The new commit adds a proper RST section heading ("NuRec Assets" with underline) which improves document structure — ✅ partial progress on the RST formatting concerns. The training GIF was also replaced with a higher-quality version (7.5 MB via LFS).

Previous concerns still outstanding: broken branch link (CI still failing), asset name inconsistency ("babyroom" vs "wormhole"), incomplete sentence on line 14, and remaining heading markup issues. No new issues introduced.