From 24f74462672e8531c068f9a67e43415082987c0b Mon Sep 17 00:00:00 2001 From: sameerchavan Date: Tue, 26 May 2026 14:32:58 -0700 Subject: [PATCH 1/4] Update doc according to bug 6199408 --- .../compass_navigation_policy_with_NuRec.rst | 13 ++++--------- 1 file changed, 4 insertions(+), 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 ad60d7fb5533..db6ffa523c18 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 @@ -206,18 +206,13 @@ Download the pre-packaged COMPASS USD assets using the Hugging Face CLI: Alternatively, you can download it manually from: https://huggingface.co/nvidia/COMPASS/blob/main/compass_usds.zip -Extract the downloaded ``compass_usds.zip`` file. Then move/copy the ``usd`` folder from the extracted location: +Extract the downloaded ``compass_usds.zip`` file and move the ``usd`` folder into the COMPASS extension directory: .. code-block:: bash - /compass_usds/groot_mobility_rl_es_usds/usd - -into the COMPASS extension directory: - -.. code-block:: bash - - # Ensure that you are in COMPASS root directory - compass/rl_env/exts/mobility_es/mobility_es/ + cd /COMPASS + unzip compass_usds.zip + mv groot_mobility_rl_es_usds/usd compass/rl_env/exts/mobility_es/mobility_es/ **3. NuRec Real2Sim Assets** From dc715c48a7caf2e8a32d0dea1f11ec8352e884bb Mon Sep 17 00:00:00 2001 From: sameerchavan Date: Tue, 26 May 2026 15:29:08 -0700 Subject: [PATCH 2/4] Doc update --- .../compass_navigation_policy_with_NuRec.rst | 1 + 1 file changed, 1 insertion(+) 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 db6ffa523c18..54edbe2b82fc 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 @@ -213,6 +213,7 @@ Extract the downloaded ``compass_usds.zip`` file and move the ``usd`` folder int cd /COMPASS unzip compass_usds.zip mv groot_mobility_rl_es_usds/usd compass/rl_env/exts/mobility_es/mobility_es/ + cd - **3. NuRec Real2Sim Assets** From f6c7e4e89e2a76b17e1b18634e2effd107c153db Mon Sep 17 00:00:00 2001 From: sameerchavan Date: Tue, 26 May 2026 15:32:46 -0700 Subject: [PATCH 3/4] Doc update --- .../compass_navigation_policy_with_NuRec.rst | 1 - 1 file changed, 1 deletion(-) 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 54edbe2b82fc..db6ffa523c18 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 @@ -213,7 +213,6 @@ Extract the downloaded ``compass_usds.zip`` file and move the ``usd`` folder int cd /COMPASS unzip compass_usds.zip mv groot_mobility_rl_es_usds/usd compass/rl_env/exts/mobility_es/mobility_es/ - cd - **3. NuRec Real2Sim Assets** From 226d3c50e50663cd3f1cbaf3a09a88218b726015 Mon Sep 17 00:00:00 2001 From: sameerchavan Date: Tue, 26 May 2026 16:33:00 -0700 Subject: [PATCH 4/4] Doc update --- .../compass_navigation_policy_with_NuRec.rst | 44 ++++++++++++++++++- 1 file changed, 43 insertions(+), 1 deletion(-) 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 db6ffa523c18..c206647af446 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 @@ -222,6 +222,39 @@ Download the NuRec Real2Sim assets from the `PhysicalAI-Robotics-NuRec dataset`_ hf download nvidia/PhysicalAI-Robotics-NuRec --repo-type dataset --local-dir /PhysicalAI-Robotics-NuRec +.. tip:: + + The full dataset is large. To download only the environment(s) you need, use the ``--include`` and + ``--exclude`` glob filters supported by ``hf download``. Quote the patterns so your shell does not + expand them, and the original folder structure is preserved under ``--local-dir``. + + .. code-block:: bash + + # Download a single environment + hf download nvidia/PhysicalAI-Robotics-NuRec --repo-type dataset \ + --local-dir /PhysicalAI-Robotics-NuRec \ + --include "nova_carter-galileo/*" + + # Download multiple environments at once + hf download nvidia/PhysicalAI-Robotics-NuRec --repo-type dataset \ + --local-dir /PhysicalAI-Robotics-NuRec \ + --include "nova_carter-galileo/*" "nova_carter-cafe/*" + + # Recursively include sub-folders + hf download nvidia/PhysicalAI-Robotics-NuRec --repo-type dataset \ + --local-dir /PhysicalAI-Robotics-NuRec \ + --include "nova_carter-galileo/**" + + # Pull only specific files within an environment + hf download nvidia/PhysicalAI-Robotics-NuRec --repo-type dataset \ + --local-dir /PhysicalAI-Robotics-NuRec \ + --include "nova_carter-galileo/stage.usdz" "nova_carter-galileo/3dgrt/**" + + # Download everything except the large mesh files + hf download nvidia/PhysicalAI-Robotics-NuRec --repo-type dataset \ + --local-dir /PhysicalAI-Robotics-NuRec \ + --exclude "**/*.usdz" + Alternatively, you can download them manually from the `PhysicalAI-Robotics-NuRec dataset`_ on Hugging Face: .. note:: @@ -236,7 +269,16 @@ The dataset provides several environments. For COMPASS, download the environment # Ensure that you are in COMPASS root directory compass/rl_env/exts/mobility_es/mobility_es/usd// -For example, for the Galileo environment (nova_carter-galileo): +For example, for the Galileo environment (nova_carter-galileo), move the downloaded folder into +the COMPASS extension directory: + +.. code-block:: bash + + # Run from the COMPASS root directory + mv /PhysicalAI-Robotics-NuRec/nova_carter-galileo \ + compass/rl_env/exts/mobility_es/mobility_es/usd/ + +The resulting layout should look like: .. code-block:: bash