From 0272ec46992c171e03ec21c6300da1c9991f00c8 Mon Sep 17 00:00:00 2001 From: sameerchavan Date: Wed, 10 Jun 2026 22:15:49 -0700 Subject: [PATCH 1/7] Update compass docs with assets and proper links --- docs/source/_static/css/custom.css | 56 ++++++++ .../03_compass_with_NuRec/living_room.gif | 3 + .../wormhole_with_sim_objects.gif | 3 + .../xgrid_wormhole_carter_training.gif | 3 + .../compass_navigation_policy_with_NuRec.rst | 124 +++++++++++++++--- 5 files changed, 170 insertions(+), 19 deletions(-) create mode 100644 docs/source/_static/policy_deployment/03_compass_with_NuRec/living_room.gif create mode 100644 docs/source/_static/policy_deployment/03_compass_with_NuRec/wormhole_with_sim_objects.gif create mode 100644 docs/source/_static/policy_deployment/03_compass_with_NuRec/xgrid_wormhole_carter_training.gif diff --git a/docs/source/_static/css/custom.css b/docs/source/_static/css/custom.css index f077bd4ceb8f..565f2270002d 100644 --- a/docs/source/_static/css/custom.css +++ b/docs/source/_static/css/custom.css @@ -118,6 +118,62 @@ a { width: min(100%, 480px); } +.nurec-gif-grid, +.nurec-gif-grid td { + border: none; +} + +.nurec-gif-grid td { + vertical-align: top; +} + +.nurec-gif-grid figure { + margin-left: auto; + margin-right: auto; + max-width: 360px; +} + +.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; +} + +.nurec-gif-grid figcaption { + font-family: "NVIDIA Sans", "Inter", "Segoe UI", sans-serif; + font-size: 0.86rem; + line-height: 1.35; +} + +.nurec-gif-grid figcaption p { + margin-bottom: 0.15rem; +} + +.nurec-gif-grid figcaption .line-block { + margin-top: 0; +} + +.nurec-gif-grid-single figcaption { + margin-left: 50%; + max-width: calc(100vw - 2rem); + transform: translateX(-50%); + width: max-content; +} + +.nurec-gif-grid-single figcaption .line-block .line:nth-child(2) { + white-space: nowrap; +} + /* Keep sphinx-copybutton visible on code blocks (not only on hover). */ button.copybtn { opacity: 1; diff --git a/docs/source/_static/policy_deployment/03_compass_with_NuRec/living_room.gif b/docs/source/_static/policy_deployment/03_compass_with_NuRec/living_room.gif new file mode 100644 index 000000000000..a80304cb3361 --- /dev/null +++ b/docs/source/_static/policy_deployment/03_compass_with_NuRec/living_room.gif @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5c1299127b39cf1ad733ab76dde9b89890ef3d15192e5228be51691261b19849 +size 9880422 diff --git a/docs/source/_static/policy_deployment/03_compass_with_NuRec/wormhole_with_sim_objects.gif b/docs/source/_static/policy_deployment/03_compass_with_NuRec/wormhole_with_sim_objects.gif new file mode 100644 index 000000000000..131a37b6e52c --- /dev/null +++ b/docs/source/_static/policy_deployment/03_compass_with_NuRec/wormhole_with_sim_objects.gif @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba3ee4e228c36cdaa42a63a8f4c4bbb7b7f7dff2b921b02b6baca8ee88d5e3d1 +size 5674511 diff --git a/docs/source/_static/policy_deployment/03_compass_with_NuRec/xgrid_wormhole_carter_training.gif b/docs/source/_static/policy_deployment/03_compass_with_NuRec/xgrid_wormhole_carter_training.gif new file mode 100644 index 000000000000..073a339fb87b --- /dev/null +++ b/docs/source/_static/policy_deployment/03_compass_with_NuRec/xgrid_wormhole_carter_training.gif @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3e844659d047c1a30d3c074a2906a219138a3feb21e6867554f7d9162b724a63 +size 1431302 diff --git a/docs/source/policy_deployment/03_compass_with_NuRec/compass_navigation_policy_with_NuRec.rst b/docs/source/policy_deployment/03_compass_with_NuRec/compass_navigation_policy_with_NuRec.rst index 0f11d31bc7fd..2f9d8b8ae385 100644 --- a/docs/source/policy_deployment/03_compass_with_NuRec/compass_navigation_policy_with_NuRec.rst +++ b/docs/source/policy_deployment/03_compass_with_NuRec/compass_navigation_policy_with_NuRec.rst @@ -1,27 +1,113 @@ -Training & Deploying COMPASS Navigation Policy with Real2Sim NuRec -==================================================================== +Training and Deploying COMPASS Policies with NuRec Assets +========================================================= -COMPASS (Cross-embodiment Mobility Policy via Residual RL and Skill Synthesis) trains and -deploys cross-embodiment navigation policies on NuRec Real2Sim assets — photoreal -Gaussian-splat reconstructions of real spaces — in Isaac Lab. +`COMPASS `_ (Cross-embodiment Mobility Policy via Residual RL and +Skill Synthesis) trains navigation policies that can transfer across robot embodiments. Isaac Lab supports +COMPASS training with NuRec scene assets, so policies can be developed in reconstructed real-world +environments instead of relying only on hand-authored simulation scenes. -This tutorial now lives in the **COMPASS handbook**, next to the code it documents, where it -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 `_. -Where to find it +NuRec Assets for COMPASS +------------------------ + +NuRec assets matter for COMPASS because they allow navigation policies to train in simulation on realistic +geometry, visual appearance, and obstacle layouts. This, in turn, should reduce the sim-to-real gap between +training scenes and real operating environments and improve zero-shot transfer. They also make it possible +to evaluate policies in reconstructed simulation scenes that better reflect target deployment spaces. + +Some sample assets compatible with COMPASS training are available in the +`PhysicalAI-Robotics-NuRec dataset on Hugging Face `_. + +Real2Sim Assets +~~~~~~~~~~~~~~~ + +`NVIDIA Neural Reconstruction (NuRec) `_ converts real-world +sensor data into digital simulation-ready assets for training and testing Physical AI agents. The Real2Sim +workflow converts stereo RGB captures into Isaac Sim-ready assets with aligned geometry, collision meshes, +and simulation-ready scene augmentation. The PhysicalAI-Robotics-NuRec dataset includes several robotics +scenes produced with this workflow; two examples are shown below. + +.. list-table:: + :widths: 50 50 + :class: nurec-gif-grid + + * - .. figure:: ../../_static/policy_deployment/03_compass_with_NuRec/galileo.gif + :alt: Galileo Real2Sim NuRec asset + :target: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-NuRec/tree/v0.2/nova_carter-galileo + :class: nurec-gif-cover + :align: center + + **Galileo** + + | Embodiment: `Nova Carter [wheeled robot] `_ + | Sensor Rig: 4 x `Stereo Camera `_ + - .. figure:: ../../_static/policy_deployment/03_compass_with_NuRec/living_room.gif + :alt: Living Room Real2Sim NuRec asset + :target: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-NuRec/tree/v0.2/hand_hold-endeavor-livingroom + :class: nurec-gif-cover + :align: center + + **Living Room** + + | Embodiment: Hand-Held + | Sensor Rig: 1 x Stereo Camera + +XGRIDS Assets +~~~~~~~~~~~~~ + +COMPASS also supports compatible assets reconstructed with XGRIDS. These assets are post-processed into the +NuRec format used by the COMPASS workflow, including mesh alignment and augmentation with simulation-ready +assets available in Isaac Sim. + +.. list-table:: + :widths: 100 + :class: nurec-gif-grid nurec-gif-grid-single + + * - .. figure:: ../../_static/policy_deployment/03_compass_with_NuRec/wormhole_with_sim_objects.gif + :alt: Wormhole XGRIDS reconstruction + :target: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-NuRec/tree/v0.2/xgrid-wormhole + :class: nurec-gif-cover + :align: center + + **Wormhole** + + | Embodiment: Hand-Held + | Sensor Rig: `XGRIDS PortalCam `_ [2 x fish-eye cameras, 2 x front cameras, 1 x LiDAR] + +COMPASS Workflow ---------------- -- **Repository:** `COMPASS on GitHub `_ -- **Branch:** ``samc/support_nurec_assets_isaaclab_3.0`` (NuRec Real2Sim support) -- **Guide:** `docs/handbook/workflows/nurec_real2sim.md `_ in the COMPASS repository. +The complete COMPASS workflow is maintained in the COMPASS repository: + +- **Repository:** `NVlabs/COMPASS `_ +- **Branch:** ``real2sim/isaaclab_3.0`` +- **Guide:** `NuRec asset workflow `_ + +The guide covers the COMPASS code path for training with NuRec assets generated by the Real2Sim workflow, +including Isaac Sim and Isaac Lab setup, COMPASS installation, asset download and registration, residual RL +specialist training, evaluation, ONNX and TensorRT export, and ROS 2 sim-to-real deployment. + +Training Examples +----------------- + +The following clips show COMPASS training with different robot embodiments in NuRec scenes. + +.. list-table:: + :widths: 50 50 + :class: nurec-gif-grid -.. code-block:: bash + * - .. figure:: ../../_static/policy_deployment/03_compass_with_NuRec/galileo_g1_training.gif + :alt: COMPASS training with a G1 robot in the Galileo scene + :class: nurec-gif-contain + :align: center - git clone https://github.com/NVlabs/COMPASS.git - cd COMPASS - git checkout samc/support_nurec_assets_isaaclab_3.0 - # Open docs/handbook/workflows/nurec_real2sim.md + **Galileo** with G1 + - .. figure:: ../../_static/policy_deployment/03_compass_with_NuRec/xgrid_wormhole_carter_training.gif + :alt: COMPASS training with a Carter robot in the XGRIDS Wormhole scene + :class: nurec-gif-contain + :align: center -The guide covers Isaac Sim / Isaac Lab installation, COMPASS setup, downloading and -registering NuRec Real2Sim scenes, training a residual RL specialist, evaluation, -ONNX / TensorRT export, and ROS2 / sim-to-real deployment. + **Wormhole** with Carter From 562e4564303873a7716adf66b84182d8fb43b0ab Mon Sep 17 00:00:00 2001 From: sameerchavan Date: Wed, 10 Jun 2026 22:32:51 -0700 Subject: [PATCH 2/7] Update css --- docs/source/_static/css/custom.css | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/docs/source/_static/css/custom.css b/docs/source/_static/css/custom.css index 565f2270002d..ba1d962c0f90 100644 --- a/docs/source/_static/css/custom.css +++ b/docs/source/_static/css/custom.css @@ -133,19 +133,19 @@ a { max-width: 360px; } -.nurec-gif-cover, -.nurec-gif-contain { +figure.nurec-gif-cover img, +figure.nurec-gif-contain img { aspect-ratio: 16 / 9; display: block; object-position: center; width: 100%; } -.nurec-gif-cover { +figure.nurec-gif-cover img { object-fit: cover; } -.nurec-gif-contain { +figure.nurec-gif-contain img { object-fit: contain; } From 0cfb0c63dbe73fafcba26e0d916f9258014ab6cb Mon Sep 17 00:00:00 2001 From: sameerchavan Date: Wed, 10 Jun 2026 22:35:53 -0700 Subject: [PATCH 3/7] Add missing galileo and galileo_g1_training GIFs --- .../policy_deployment/03_compass_with_NuRec/galileo.gif | 3 +++ .../03_compass_with_NuRec/galileo_g1_training.gif | 3 +++ 2 files changed, 6 insertions(+) create mode 100644 docs/source/_static/policy_deployment/03_compass_with_NuRec/galileo.gif create mode 100644 docs/source/_static/policy_deployment/03_compass_with_NuRec/galileo_g1_training.gif diff --git a/docs/source/_static/policy_deployment/03_compass_with_NuRec/galileo.gif b/docs/source/_static/policy_deployment/03_compass_with_NuRec/galileo.gif new file mode 100644 index 000000000000..ae49fc92b42d --- /dev/null +++ b/docs/source/_static/policy_deployment/03_compass_with_NuRec/galileo.gif @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1634907b792b7000b097bb272df46d33bab5a2c16d1b91df99268c833da5ad8d +size 10939128 diff --git a/docs/source/_static/policy_deployment/03_compass_with_NuRec/galileo_g1_training.gif b/docs/source/_static/policy_deployment/03_compass_with_NuRec/galileo_g1_training.gif new file mode 100644 index 000000000000..5b3f787b1d60 --- /dev/null +++ b/docs/source/_static/policy_deployment/03_compass_with_NuRec/galileo_g1_training.gif @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6cbbfe6ed78033cf6d3a25cd0cb9f2fb2028beee3e457b8050e8d96e9d23f5e2 +size 1614156 From 4d665a5fe8b1b0ade8f74420209227e48db345fe Mon Sep 17 00:00:00 2001 From: sameerchavan Date: Wed, 10 Jun 2026 23:22:11 -0700 Subject: [PATCH 4/7] Remove GIFs and nurec-gif CSS; replace figures with text GIFs will be added in a later release. Replace list-table/figure blocks with plain bullet lists and remove nurec-gif-* CSS rules that were only needed to style the GIF grid. --- docs/source/_static/css/custom.css | 55 --------------- .../03_compass_with_NuRec/galileo.gif | 3 - .../galileo_g1_training.gif | 3 - .../03_compass_with_NuRec/living_room.gif | 3 - .../wormhole_with_sim_objects.gif | 3 - .../xgrid_wormhole_carter_training.gif | 3 - .../compass_navigation_policy_with_NuRec.rst | 68 ++++--------------- 7 files changed, 13 insertions(+), 125 deletions(-) delete mode 100644 docs/source/_static/policy_deployment/03_compass_with_NuRec/galileo.gif delete mode 100644 docs/source/_static/policy_deployment/03_compass_with_NuRec/galileo_g1_training.gif delete mode 100644 docs/source/_static/policy_deployment/03_compass_with_NuRec/living_room.gif delete mode 100644 docs/source/_static/policy_deployment/03_compass_with_NuRec/wormhole_with_sim_objects.gif delete mode 100644 docs/source/_static/policy_deployment/03_compass_with_NuRec/xgrid_wormhole_carter_training.gif diff --git a/docs/source/_static/css/custom.css b/docs/source/_static/css/custom.css index ba1d962c0f90..73e2a180ecb7 100644 --- a/docs/source/_static/css/custom.css +++ b/docs/source/_static/css/custom.css @@ -118,61 +118,6 @@ a { width: min(100%, 480px); } -.nurec-gif-grid, -.nurec-gif-grid td { - border: none; -} - -.nurec-gif-grid td { - vertical-align: top; -} - -.nurec-gif-grid figure { - margin-left: auto; - margin-right: auto; - max-width: 360px; -} - -figure.nurec-gif-cover img, -figure.nurec-gif-contain img { - aspect-ratio: 16 / 9; - display: block; - object-position: center; - width: 100%; -} - -figure.nurec-gif-cover img { - object-fit: cover; -} - -figure.nurec-gif-contain img { - object-fit: contain; -} - -.nurec-gif-grid figcaption { - font-family: "NVIDIA Sans", "Inter", "Segoe UI", sans-serif; - font-size: 0.86rem; - line-height: 1.35; -} - -.nurec-gif-grid figcaption p { - margin-bottom: 0.15rem; -} - -.nurec-gif-grid figcaption .line-block { - margin-top: 0; -} - -.nurec-gif-grid-single figcaption { - margin-left: 50%; - max-width: calc(100vw - 2rem); - transform: translateX(-50%); - width: max-content; -} - -.nurec-gif-grid-single figcaption .line-block .line:nth-child(2) { - white-space: nowrap; -} /* Keep sphinx-copybutton visible on code blocks (not only on hover). */ button.copybtn { diff --git a/docs/source/_static/policy_deployment/03_compass_with_NuRec/galileo.gif b/docs/source/_static/policy_deployment/03_compass_with_NuRec/galileo.gif deleted file mode 100644 index ae49fc92b42d..000000000000 --- a/docs/source/_static/policy_deployment/03_compass_with_NuRec/galileo.gif +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:1634907b792b7000b097bb272df46d33bab5a2c16d1b91df99268c833da5ad8d -size 10939128 diff --git a/docs/source/_static/policy_deployment/03_compass_with_NuRec/galileo_g1_training.gif b/docs/source/_static/policy_deployment/03_compass_with_NuRec/galileo_g1_training.gif deleted file mode 100644 index 5b3f787b1d60..000000000000 --- a/docs/source/_static/policy_deployment/03_compass_with_NuRec/galileo_g1_training.gif +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:6cbbfe6ed78033cf6d3a25cd0cb9f2fb2028beee3e457b8050e8d96e9d23f5e2 -size 1614156 diff --git a/docs/source/_static/policy_deployment/03_compass_with_NuRec/living_room.gif b/docs/source/_static/policy_deployment/03_compass_with_NuRec/living_room.gif deleted file mode 100644 index a80304cb3361..000000000000 --- a/docs/source/_static/policy_deployment/03_compass_with_NuRec/living_room.gif +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:5c1299127b39cf1ad733ab76dde9b89890ef3d15192e5228be51691261b19849 -size 9880422 diff --git a/docs/source/_static/policy_deployment/03_compass_with_NuRec/wormhole_with_sim_objects.gif b/docs/source/_static/policy_deployment/03_compass_with_NuRec/wormhole_with_sim_objects.gif deleted file mode 100644 index 131a37b6e52c..000000000000 --- a/docs/source/_static/policy_deployment/03_compass_with_NuRec/wormhole_with_sim_objects.gif +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:ba3ee4e228c36cdaa42a63a8f4c4bbb7b7f7dff2b921b02b6baca8ee88d5e3d1 -size 5674511 diff --git a/docs/source/_static/policy_deployment/03_compass_with_NuRec/xgrid_wormhole_carter_training.gif b/docs/source/_static/policy_deployment/03_compass_with_NuRec/xgrid_wormhole_carter_training.gif deleted file mode 100644 index 073a339fb87b..000000000000 --- a/docs/source/_static/policy_deployment/03_compass_with_NuRec/xgrid_wormhole_carter_training.gif +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:3e844659d047c1a30d3c074a2906a219138a3feb21e6867554f7d9162b724a63 -size 1431302 diff --git a/docs/source/policy_deployment/03_compass_with_NuRec/compass_navigation_policy_with_NuRec.rst b/docs/source/policy_deployment/03_compass_with_NuRec/compass_navigation_policy_with_NuRec.rst index 2f9d8b8ae385..3872c9e41cbb 100644 --- a/docs/source/policy_deployment/03_compass_with_NuRec/compass_navigation_policy_with_NuRec.rst +++ b/docs/source/policy_deployment/03_compass_with_NuRec/compass_navigation_policy_with_NuRec.rst @@ -28,32 +28,15 @@ Real2Sim Assets sensor data into digital simulation-ready assets for training and testing Physical AI agents. The Real2Sim workflow converts stereo RGB captures into Isaac Sim-ready assets with aligned geometry, collision meshes, and simulation-ready scene augmentation. The PhysicalAI-Robotics-NuRec dataset includes several robotics -scenes produced with this workflow; two examples are shown below. +scenes produced with this workflow; two examples are: -.. list-table:: - :widths: 50 50 - :class: nurec-gif-grid +- `Galileo `_ — + Embodiment: `Nova Carter `_, + Sensor Rig: 4 x `Stereo Camera `_ - * - .. figure:: ../../_static/policy_deployment/03_compass_with_NuRec/galileo.gif - :alt: Galileo Real2Sim NuRec asset - :target: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-NuRec/tree/v0.2/nova_carter-galileo - :class: nurec-gif-cover - :align: center - - **Galileo** - - | Embodiment: `Nova Carter [wheeled robot] `_ - | Sensor Rig: 4 x `Stereo Camera `_ - - .. figure:: ../../_static/policy_deployment/03_compass_with_NuRec/living_room.gif - :alt: Living Room Real2Sim NuRec asset - :target: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-NuRec/tree/v0.2/hand_hold-endeavor-livingroom - :class: nurec-gif-cover - :align: center - - **Living Room** - - | Embodiment: Hand-Held - | Sensor Rig: 1 x Stereo Camera +- `Living Room `_ — + Embodiment: Hand-Held, + Sensor Rig: 1 x Stereo Camera XGRIDS Assets ~~~~~~~~~~~~~ @@ -62,20 +45,9 @@ COMPASS also supports compatible assets reconstructed with XGRIDS. These assets NuRec format used by the COMPASS workflow, including mesh alignment and augmentation with simulation-ready assets available in Isaac Sim. -.. list-table:: - :widths: 100 - :class: nurec-gif-grid nurec-gif-grid-single - - * - .. figure:: ../../_static/policy_deployment/03_compass_with_NuRec/wormhole_with_sim_objects.gif - :alt: Wormhole XGRIDS reconstruction - :target: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-NuRec/tree/v0.2/xgrid-wormhole - :class: nurec-gif-cover - :align: center - - **Wormhole** - - | Embodiment: Hand-Held - | Sensor Rig: `XGRIDS PortalCam `_ [2 x fish-eye cameras, 2 x front cameras, 1 x LiDAR] +- `Wormhole `_ — + Embodiment: Hand-Held, + Sensor Rig: `XGRIDS PortalCam `_ [2 x fish-eye cameras, 2 x front cameras, 1 x LiDAR] COMPASS Workflow ---------------- @@ -93,21 +65,7 @@ specialist training, evaluation, ONNX and TensorRT export, and ROS 2 sim-to-real Training Examples ----------------- -The following clips show COMPASS training with different robot embodiments in NuRec scenes. - -.. list-table:: - :widths: 50 50 - :class: nurec-gif-grid - - * - .. figure:: ../../_static/policy_deployment/03_compass_with_NuRec/galileo_g1_training.gif - :alt: COMPASS training with a G1 robot in the Galileo scene - :class: nurec-gif-contain - :align: center - - **Galileo** with G1 - - .. figure:: ../../_static/policy_deployment/03_compass_with_NuRec/xgrid_wormhole_carter_training.gif - :alt: COMPASS training with a Carter robot in the XGRIDS Wormhole scene - :class: nurec-gif-contain - :align: center +Some example COMPASS training configurations with NuRec scenes: - **Wormhole** with Carter +- **Galileo** scene with G1 robot +- **Wormhole** scene with Carter robot From ddcc577ffe8f737a0fcf17a56561bf7a6ab9a0aa Mon Sep 17 00:00:00 2001 From: sameerchavan Date: Wed, 10 Jun 2026 23:23:58 -0700 Subject: [PATCH 5/7] Remove extra line --- docs/source/_static/css/custom.css | 1 - 1 file changed, 1 deletion(-) diff --git a/docs/source/_static/css/custom.css b/docs/source/_static/css/custom.css index 73e2a180ecb7..f077bd4ceb8f 100644 --- a/docs/source/_static/css/custom.css +++ b/docs/source/_static/css/custom.css @@ -118,7 +118,6 @@ a { width: min(100%, 480px); } - /* Keep sphinx-copybutton visible on code blocks (not only on hover). */ button.copybtn { opacity: 1; From f69be8ec837e550bdc52032817f721de11d7a4a6 Mon Sep 17 00:00:00 2001 From: sameerchavan Date: Wed, 10 Jun 2026 23:41:17 -0700 Subject: [PATCH 6/7] Fix codespell: add segway to ignore-words-list "segway" in robotics.segway.com was flagged as a misspelling of "segue". Segway is the brand name for the Nova Carter robot platform. --- pyproject.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pyproject.toml b/pyproject.toml index 84ebbcc3269a..a0797f74d3eb 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -188,7 +188,7 @@ reportPrivateUsage = "warning" skip = '*.usd,*.usda,*.usdz,*.svg,*.png,_isaac_sim*,*.bib,*.css,*/_build' quiet-level = 0 # the world list should always have words in lower case -ignore-words-list = "haa,slq,collapsable,buss,reacher,thirdparty" +ignore-words-list = "haa,slq,collapsable,buss,reacher,thirdparty,segway" [tool.pytest.ini_options] From 63a59e02814bfe99bc0198218c121763b14c81b0 Mon Sep 17 00:00:00 2001 From: sameerchavan Date: Wed, 10 Jun 2026 23:51:19 -0700 Subject: [PATCH 7/7] Add stereo camera link for Living Room asset --- .../compass_navigation_policy_with_NuRec.rst | 10 +--------- 1 file changed, 1 insertion(+), 9 deletions(-) diff --git a/docs/source/policy_deployment/03_compass_with_NuRec/compass_navigation_policy_with_NuRec.rst b/docs/source/policy_deployment/03_compass_with_NuRec/compass_navigation_policy_with_NuRec.rst index 3872c9e41cbb..0dac9decaab6 100644 --- a/docs/source/policy_deployment/03_compass_with_NuRec/compass_navigation_policy_with_NuRec.rst +++ b/docs/source/policy_deployment/03_compass_with_NuRec/compass_navigation_policy_with_NuRec.rst @@ -36,7 +36,7 @@ scenes produced with this workflow; two examples are: - `Living Room `_ — Embodiment: Hand-Held, - Sensor Rig: 1 x Stereo Camera + Sensor Rig: 1 x `Stereo Camera `_ XGRIDS Assets ~~~~~~~~~~~~~ @@ -61,11 +61,3 @@ The complete COMPASS workflow is maintained in the COMPASS repository: The guide covers the COMPASS code path for training with NuRec assets generated by the Real2Sim workflow, including Isaac Sim and Isaac Lab setup, COMPASS installation, asset download and registration, residual RL specialist training, evaluation, ONNX and TensorRT export, and ROS 2 sim-to-real deployment. - -Training Examples ------------------ - -Some example COMPASS training configurations with NuRec scenes: - -- **Galileo** scene with G1 robot -- **Wormhole** scene with Carter robot