Swastika/docs/navigation relocalization#2764
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swstica
requested review from
leshy,
mustafab0,
paul-nechifor and
spomichter
as code owners
Greptile SummaryThis PR overhauls the navigation capability docs (
Confidence Score: 5/5Safe to merge — changes are documentation, SVG assets, and a test helper rename with no production logic impact. All changed files are documentation or test infrastructure. The SVG assets are now committed as plain text (fixing the LFS rendering issue). The _FakeTransport rename aligns the test helper with the attribute that _collect_topics() already reads, correcting previously ineffective test assertions. No production code paths are modified. No files require special attention. Important Files Changed
Flowchart%%{init: {'theme': 'neutral'}}%%
flowchart TD
A[Drive Go2 through space] --> B["Record: dimos run unitree-go2-memory"]
B --> C["Optional: dimos map summary / replay"]
C --> D["Build premap: dimos map global recording_go2 --export"]
D --> E["Test in replay: dimos --replay run unitree-go2-relocalization"]
E --> F{Relocalization logs OK?}
F -- No --> G[Check .rrd in Rerun / Re-record]
G --> B
F -- Yes --> H["Deploy on live robot: dimos --robot-ip IP run unitree-go2-relocalization"]
H --> I[Wait for world to map TF]
I --> J[Navigate via nav_to / agent skills]
%%{init: {'theme': 'base', 'themeVariables': {"darkMode": true, "background": "#0d1117", "primaryColor": "#21262d", "primaryTextColor": "#e6edf3", "primaryBorderColor": "#8b949e", "lineColor": "#8b949e", "textColor": "#e6edf3", "edgeLabelBackground": "#161b22", "actorBkg": "#21262d", "actorBorder": "#8b949e", "actorTextColor": "#e6edf3", "actorLineColor": "#8b949e", "signalColor": "#8b949e", "signalTextColor": "#e6edf3", "noteBkgColor": "#373320", "noteBorderColor": "#d4a72c", "noteTextColor": "#f0e6c0", "labelBoxBkgColor": "#21262d", "labelBoxBorderColor": "#8b949e", "labelTextColor": "#e6edf3", "loopTextColor": "#e6edf3", "activationBkgColor": "#30363d", "activationBorderColor": "#8b949e"}}}%%
flowchart TD
A[Drive Go2 through space] --> B["Record: dimos run unitree-go2-memory"]
B --> C["Optional: dimos map summary / replay"]
C --> D["Build premap: dimos map global recording_go2 --export"]
D --> E["Test in replay: dimos --replay run unitree-go2-relocalization"]
E --> F{Relocalization logs OK?}
F -- No --> G[Check .rrd in Rerun / Re-record]
G --> B
F -- Yes --> H["Deploy on live robot: dimos --robot-ip IP run unitree-go2-relocalization"]
H --> I[Wait for world to map TF]
I --> J[Navigate via nav_to / agent skills]
Reviews (10): Last reviewed commit: "fix(arduino): update test fake transport..." | Re-trigger Greptile |
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| # Mintlify deploy does not fetch Git LFS; keep published docs assets as normal blobs. | ||
| docs/assets/dimensional-logo-master-transparent.png -filter -diff -merge | ||
| docs/assets/favicon.png -filter -diff -merge | ||
| docs/capabilities/navigation/assets/** -filter -diff -merge |
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reloc_and_nav_to.webp is now a published docs asset, but .webp is not covered by any binary or non-LFS attribute here. If Git's text=auto misclassifies this large WebP during checkout or archive creation, line-ending conversion can corrupt the image and the relocalization page renders a broken asset.
| docs/capabilities/navigation/assets/** -filter -diff -merge | |
| docs/capabilities/navigation/assets/** -filter -diff -merge | |
| *.webp -text binary |
Codecov Report✅ All modified and coverable lines are covered by tests. @@ Coverage Diff @@
## main #2764 +/- ##
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Coverage ? 71.89%
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Files ? 984
Lines ? 88245
Branches ? 8082
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Hits ? 63448
Misses ? 22635
Partials ? 2162
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| ## How it works | ||
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| ```mermaid |
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we have an autogenerator for graphs for blueprints, this ensures our docs are easily up to date with blueprint changes, and we have consistent visuals when rendering blueprints
code block above the diagram in my link should be folded via
<details>
<summary>diagram source</summary>
like others, since this code is not important for docs
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| ```pikchr fold output=assets/go2nav_dataflow.svg | ||
| color = white | ||
| color = #1e293b |
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isn't mintlify also dark mode? this makes it look much worse, idk if there is a better solution, mintlify can't render transparent svg?
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it does render transparent svg, but mintlify theme is default to system/browser. so it was breaking for light theme. lmk if this works.
| docs/capabilities/memory/assets/.gitattributes -filter -diff -merge text | ||
| docs/capabilities/mapping/assets/** filter=lfs diff=lfs merge=lfs -text | ||
| # Mintlify deploy does not fetch Git LFS; keep site branding as normal blobs. | ||
| # Mintlify deploy does not fetch Git LFS; keep published docs assets as normal blobs. |
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the team concluded that we should not include blobs in github repo as it eventually significantly slows down all github checkouts. we have CI checks against this
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May need to store direct blobs somewhere becuase yes mintlify cant pull LFS. maybe seperate repo, or we just bite the bullet and put them in the main repo, i think theyre small anyway. Just want the docs site to look good and not reuqire a ton of maintance overhead
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If we were to include all the assets directly, it would quickly balloon the repo.
For example, in the current checkout we have 1510 text files, totaling 11MiB. But Just assets/5-all.png alone is 1.1 MiB, and some assets are larger.
I think one option would be to link directly to the GitHub hosted link, For example, docs/capabilities/navigation/assets/5-all.png would be https://media.githubusercontent.com/media/dimensionalOS/dimos/main/docs/capabilities/navigation/assets/5-all.png .
Another would be for us to host the assets somewhere ourselves.
If we do include the assets directly into Git, we'll have to carry those files forever!...
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main branch can have assets in LFS, i can create a new docs branch with git blobs and deploy mintlify docs on that new branch.
will remove the git blobs from this PR.
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@swstica I don't think that's a long term solution. That branch will have to be merged into main eventually, no? So it's just postponing things.
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@paul-nechifor agreed. will either host them somewhere as you suggested or move some assets to git blob.
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Are you getting this as well:
Pre-commit end-of-file-fixer fails when the generated SVG has multiple blank lines after </svg>. Co-authored-by: Cursor <cursoragent@cursor.com>
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…ion-relocalization Co-authored-by: Cursor <cursoragent@cursor.com> # Conflicts: # docs/docs.json
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The zenoh transport API refactor (#2753) renamed transport.topic to transport.channel in NativeModule._collect_topics, but the ArduinoModule test suite (#1879) landed independently with a _FakeTransport still exposing .topic. Once both merged to main, _collect_topics read .channel, found nothing, and three tests broke. Align the fake with the current transport API. Co-authored-by: Cursor <cursoragent@cursor.com>
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4 participants
Problem
The navigation pages were thin and partly inaccurate (stale defaults, LFS-pointer images that Mintlify couldn't render, links were broken for mintlify.
Solution
capabilities/navigationdocs into a clearer, workflow-driven set