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Fix document according to bug 6198710 #5787

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kellyguo11 merged 1 commit into from
May 29, 2026
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Fix document according to bug 6198710 #5787

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32 changes: 17 additions & 15 deletions ...olicy_deployment/03_compass_with_NuRec/compass_navigation_policy_with_NuRec.rst
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Expand Up @@ -13,18 +13,18 @@ The following provides a high-level overview of the complete workflow:
1. **Create workspace**: Create the ``compass-nurec`` workspace directory
2. **Install Isaac Sim & Isaac Lab** (Terminal 1): Follow installation steps for Isaac Sim 6.0 and Isaac Lab 3.0
3. **Install COMPASS Repository** (Terminal 2): Clone and set up the COMPASS repository
4. **Test setup**: Verify installation using ``play.py``
5. **Authenticate with Hugging Face**: Generate access token and run ``hf auth login --token <token>``
6. **Download assets** (can be done in parallel):
4. **Authenticate with Hugging Face**: Generate access token and run ``hf auth login --token <token>``
5. **Download assets** (can be done in parallel):

- Download X-Mobility checkpoint: ``hf download nvidia/X-Mobility x_mobility-nav2-semantic_action_path.ckpt``
- Download COMPASS USD assets: ``hf download nvidia/COMPASS compass_usds.zip``
- Download NuRec Real2Sim assets: ``hf download nvidia/PhysicalAI-Robotics-NuRec --repo-type dataset``

7. **Prepare assets**:
6. **Prepare assets**:

- Extract and place ``usd/`` folder into ``compass/rl_env/exts/mobility_es/mobility_es/``
- Place environment files (e.g., ``nova_carter-galileo/``) in the appropriate location
7. **Test setup**: Verify installation using ``play.py``
8. **Train Residual RL Policy**: Run training with ``run.py`` and ``train_config_real2sim.gin``
9. **Evaluate Trained Policy**: Run evaluation with ``run.py`` and ``eval_config_real2sim.gin``
10. **Export to ONNX / TensorRT**: Convert the trained model for deployment
Expand Down Expand Up @@ -159,17 +159,6 @@ Open a second terminal and follow these steps to install the COMPASS repository.
${ISAACLAB_PATH}/isaaclab.sh -p -m pip install -e exts/mobility_es
cd -

Testing the Setup
~~~~~~~~~~~~~~~~~

Run the following command from the ``COMPASS`` directory to verify the setup:

.. code-block:: bash

cd compass/rl_env
${ISAACLAB_PATH}/isaaclab.sh -p scripts/play.py --enable_cameras --visualizer kit
cd -

Downloading Assets & Checkpoints
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

Expand Down Expand Up @@ -289,6 +278,19 @@ For example, for the Galileo environment (nova_carter-galileo):
- Conference room in NVIDIA Voyager building
- Yes

Testing the Setup
~~~~~~~~~~~~~~~~~

Once the COMPASS USD assets have been downloaded and placed under
``compass/rl_env/exts/mobility_es/mobility_es/usd/``, run the following command from the ``COMPASS``
directory to verify the setup:

.. code-block:: bash

cd compass/rl_env
${ISAACLAB_PATH}/isaaclab.sh -p scripts/play.py --enable_cameras --visualizer kit
cd -

Training the Policy
-------------------

Expand Down
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