Update Compass tutorial doc by sameerchavan0027 · Pull Request #6134 · isaac-sim/IsaacLab

sameerchavan0027 · 2026-06-11T05:22:34Z

Update Compass training doc with gifs and proper links

greptile-apps · 2026-06-11T05:24:54Z

Greptile Summary

This PR rewrites the COMPASS tutorial page to include NuRec asset overviews, animated GIF grids for Real2Sim/XGRIDS/training examples, and updated links pointing to the real2sim/isaaclab_3.0 branch. Six new Git LFS assets and a block of custom CSS are added to support the layout.

The RST document is substantially expanded with structured list-table GIF grids, properly linked headings for Real2Sim and XGRIDS assets, and a new Training Examples section.
Five new GIF assets are correctly referenced; one (wormhole.gif, ~10.4 MB) is added but never used in the document.
New CSS classes (.nurec-gif-cover, .nurec-gif-contain) apply object-fit/object-position to the <figure> wrapper rather than the inner <img>, so the cropping and fitting behavior will not render as intended.

Confidence Score: 3/5

The documentation changes are largely correct, but the CSS targeting mismatch means the GIF grid images will not display with the intended aspect-ratio cropping, which is the primary visual feature introduced by this PR.

The CSS classes nurec-gif-cover and nurec-gif-contain are placed on figure elements via Sphinx :class:, but object-fit and object-position only take effect on replaced elements such as img. The images will render without the intended 16:9 cropping or object-fit behavior. Additionally, wormhole.gif (~10.4 MB) is committed via LFS but referenced nowhere, adding dead weight to the repository.

docs/source/_static/css/custom.css needs the selectors updated to target img elements inside the figure classes. docs/source/_static/policy_deployment/03_compass_with_NuRec/wormhole.gif should be removed or linked if it is actually needed.

Important Files Changed

Filename	Overview
docs/source/policy_deployment/03_compass_with_NuRec/compass_navigation_policy_with_NuRec.rst	Major rewrite: adds NuRec asset overview, GIF grids for Real2Sim/XGRIDS/training examples, and updated links pointing to the real2sim/isaaclab_3.0 branch of COMPASS.
docs/source/_static/css/custom.css	Adds .nurec-gif-grid and related CSS classes; object-fit/object-position are placed on figure elements (via Sphinx :class:) where they have no effect — the selectors need to target the inner img instead.
docs/source/_static/policy_deployment/03_compass_with_NuRec/wormhole.gif	~10.4 MB LFS asset added but never referenced in the RST document; likely an accidental inclusion.
docs/source/_static/policy_deployment/03_compass_with_NuRec/galileo.gif	New LFS asset referenced in the Real2Sim Assets table.
docs/source/_static/policy_deployment/03_compass_with_NuRec/living_room.gif	New LFS asset referenced in the Real2Sim Assets table.
docs/source/_static/policy_deployment/03_compass_with_NuRec/wormhole_with_sim_objects.gif	New LFS asset referenced in the XGRIDS Assets table.
docs/source/_static/policy_deployment/03_compass_with_NuRec/galileo_g1_training.gif	New LFS asset referenced in the Training Examples table.
docs/source/_static/policy_deployment/03_compass_with_NuRec/xgrid_wormhole_carter_training.gif	New LFS asset referenced in the Training Examples table.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    RST["compass_navigation_policy_with_NuRec.rst"]
    CSS["custom.css\n(.nurec-gif-* classes)"]

    RST -->|"list-table :class: nurec-gif-grid"| Grid["HTML table.nurec-gif-grid"]
    RST -->|".. figure:: :class: nurec-gif-cover"| Fig["HTML figure.nurec-gif-cover"]
    Fig --> Img["img src='galileo.gif'"]

    CSS -->|"object-fit: cover applied to..."| Fig
    CSS -.->|"object-fit has no effect on figure"| Fig
    CSS -.->|"should target"| Img

    RST -->|referenced| G1["galileo.gif (LFS)"]
    RST -->|referenced| LR["living_room.gif (LFS)"]
    RST -->|referenced| WS["wormhole_with_sim_objects.gif (LFS)"]
    RST -->|referenced| GT["galileo_g1_training.gif (LFS)"]
    RST -->|referenced| XT["xgrid_wormhole_carter_training.gif (LFS)"]
    RST -. "not referenced" .-> W["wormhole.gif (LFS ~10.4 MB)"]

_{Reviews (1): Last reviewed commit: "Update compass docs with assets and prop..." | Re-trigger Greptile}

greptile-apps · 2026-06-11T05:24:58Z

+version https://git-lfs.github.com/spec/v1
+oid sha256:b23ab980c9ead551433bbc469850528887e15d96b5c06be76e2c7deccc2b84c8
+size 6913566


Unreferenced LFS asset added

wormhole.gif (~10.4 MB) is committed via Git LFS but is never referenced in the RST document. The RST uses wormhole_with_sim_objects.gif for the XGRIDS section; wormhole.gif is not linked anywhere. This adds dead weight to the repository without serving any documentation purpose.

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 · 2026-06-11T05:24:59Z

+.nurec-gif-cover,
+.nurec-gif-contain {
+    aspect-ratio: 16 / 9;
+    display: block;
+    object-position: center;
+    width: 100%;
+}
+
+.nurec-gif-cover {
+    object-fit: cover;
+}
+
+.nurec-gif-contain {
+    object-fit: contain;
+}


object-fit on <figure> has no effect

In Sphinx, the :class: option on a .. figure:: directive applies the class to the <figure> wrapper element, not to the <img> inside it. The CSS properties object-fit and object-position are only defined for replaced elements (e.g., <img>, <video>), so setting them on <figure> has no visual effect. The images will not be cropped or fitted as intended. To fix this, the selectors should target figure.nurec-gif-cover img and figure.nurec-gif-contain img.

wormhole.gif was committed but never referenced in the RST document. The XGRIDS section uses wormhole_with_sim_objects.gif instead.

isaaclab-review-bot

Documentation Review — COMPASS Tutorial Update

Thanks for improving the COMPASS NuRec tutorial with visual assets and better structure! The content expansion is valuable. A few issues need attention before merge:

🚨 CI Failures

Both failing CI checks are caused by issues in this PR:

Broken Links check — The COMPASS handbook URL returns 404 (see inline comment).
Pre-commit (codespell) — segway on line 45 is flagged by codespell as a misspelling of segue. Since this is the company name "Segway" (Segway Robotics), you'll need to add it to the codespell ignore list (.codespellrc or similar) or check how other docs in this repo handle brand names that collide with common words.

Summary

Severity	Count
🔴 Must fix (CI blockers)	2
🟡 Should fix	1
🟢 Nit	1

Overall the doc restructuring, GIF assets (properly LFS-tracked), and CSS additions look good. The custom CSS is well-scoped with .nurec-gif-* class prefixes, which avoids unintended side effects on other pages.

isaaclab-review-bot · 2026-06-11T05:37:26Z

-stays in sync with the NuRec support branch.
+This page gives a short overview of the supported NuRec assets and example COMPASS training clips. For
+installation, asset registration, training, evaluation, export, and ROS 2 deployment instructions, see the
+`COMPASS handbook <https://github.com/NVlabs/COMPASS/blob/real2sim/isaaclab_3.0/docs/handbook/workflows/nurec_real2sim.md>`_.


🔴 CI Blocker — Broken link (404)

This URL returns 404:

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

The branch real2sim/isaaclab_3.0 doesn't appear to exist on the COMPASS repo (or the path has changed). This also fails the "Check for Broken Links" CI job.

Please verify the correct branch name and path. If the branch hasn't been pushed yet, consider linking to a commit SHA or the repo root until it's available.

isaaclab-review-bot · 2026-06-11T05:37:26Z

+
+          **Galileo**
+
+          | Embodiment: `Nova Carter [wheeled robot] <https://robotics.segway.com/nova-carter/>`_


🔴 CI Blocker — codespell false positive

codespell flags segway → segue here. Since this is the brand name Segway Robotics, you'll need to tell codespell to ignore it.

Check the repo's codespell config (likely .pre-commit-config.yaml or a .codespellrc/setup.cfg section) for an ignore-words-list and add segway there. Other Isaac Lab docs may already handle this — worth checking.

isaaclab-review-bot · 2026-06-11T05:37:26Z

+          **Wormhole**
+
+          | Embodiment: Hand-Held
+          | Sensor Rig: `XGRIDS PortalCam <https://www.xgrids.com/intl/portalcamp>`_ [2 x fish-eye cameras, 2 x front cameras, 1 x LiDAR]


🟡 Possible URL typo: The link target is portalcamp (with trailing "p") but the product is called "PortalCam". The correct URL is likely:

https://www.xgrids.com/intl/portalcam

Both URLs currently resolve (200), so this isn't a CI failure, but it may break if XGRIDS fixes the redirect in the future.

isaaclab-review-bot · 2026-06-11T05:37:26Z

+    transform: translateX(-50%);
+    width: max-content;
+}
+


🟢 Nit (robustness): The white-space: nowrap rule on the second line of single-grid captions could cause horizontal overflow on narrow viewports (mobile). Consider adding overflow: hidden; text-overflow: ellipsis; or testing on small screens. Low priority since docs are primarily consumed on desktop.

sameerchavan0027 added 3 commits June 10, 2026 17:36

Update compass doc

7e0e879

Update compass doc

526f514

Update compass docs with assets and proper links

c2842d1

sameerchavan0027 requested review from Mayankm96, jtigue-bdai and kellyguo11 as code owners June 11, 2026 05:22

github-actions Bot added the documentation Improvements or additions to documentation label Jun 11, 2026

greptile-apps Bot reviewed Jun 11, 2026

View reviewed changes

sameerchavan0027 added 2 commits June 10, 2026 22:31

Remove unused wormhole.gif from static assets

d5219ff

wormhole.gif was committed but never referenced in the RST document. The XGRIDS section uses wormhole_with_sim_objects.gif instead.

Update css

d77a606

isaaclab-review-bot Bot reviewed Jun 11, 2026

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Update Compass tutorial doc#6134

Update Compass tutorial doc#6134
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sameerchavan0027:sc/compass-nurec-patch

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		Galileo

		\| Embodiment: `Nova Carter [wheeled robot] <https://robotics.segway.com/nova-carter/>`_

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Greptile Summary

Confidence Score: 3/5

Important Files Changed

Flowchart

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Documentation Review — COMPASS Tutorial Update

🚨 CI Failures

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