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Swastika/docs/navigation relocalization#2764

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swastika/docs/navigation-relocalization
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Swastika/docs/navigation relocalization#2764
swstica wants to merge 14 commits into
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swastika/docs/navigation-relocalization

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@swstica

@swstica swstica commented Jul 7, 2026

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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

  • Reworked the capabilities/navigation docs into a clearer, workflow-driven set
  • Fixed how the pages and their assets render on both mintlify and github.

@greptile-apps

greptile-apps Bot commented Jul 7, 2026

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Greptile Summary

This PR rewrites the Go2 navigation docs into a clearer workflow guide.

  • Adds a navigation overview for live mapping and premap relocalization.
  • Expands the relocalization guide with recording, export, replay, live robot, configuration, and troubleshooting steps.
  • Adds generated SVG diagrams for the navigation and relocalization flows.
  • Updates Mintlify redirects and Go2 platform navigation links.

Confidence Score: 5/5

This looks safe to merge.

  • No blocking issues found in the changed code.

Important Files Changed

Filename Overview
docs/capabilities/navigation/relocalization.md Reworks the relocalization page into a complete workflow guide with examples, configuration, and troubleshooting.
docs/capabilities/navigation/deep_dive.md Refreshes the navigation deep dive with clearer wording, updated diagrams, and added exploration details.
docs/capabilities/navigation/index.md Replaces the short landing page with a workflow-oriented navigation overview.
docs/docs.json Adds redirects for docs and source links so Mintlify routes resolve cleanly.
docs/platforms/quadruped/go2/index.md Updates Go2 platform links and lists the memory and relocalization blueprints.

Reviews (7): Last reviewed commit: "fix(docs): remove extra trailing newline..." | Re-trigger Greptile

Comment thread .gitattributes Outdated
# 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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P2 WebP Uses Text Auto-Detection

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.

Suggested change
docs/capabilities/navigation/assets/** -filter -diff -merge
docs/capabilities/navigation/assets/** -filter -diff -merge
*.webp -text binary

@codecov

codecov Bot commented Jul 7, 2026

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Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ All tests successful. No failed tests found.

@@           Coverage Diff           @@
##             main    #2764   +/-   ##
=======================================
  Coverage   71.91%   71.92%           
=======================================
  Files         979      979           
  Lines       87346    87346           
  Branches     7982     7982           
=======================================
+ Hits        62819    62820    +1     
  Misses      22387    22387           
+ Partials     2140     2139    -1     
Flag Coverage Δ
OS-ubuntu-24.04-arm 64.57% <ø> (-0.01%) ⬇️
OS-ubuntu-latest 67.05% <ø> (+<0.01%) ⬆️
Py-3.10 67.04% <ø> (ø)
Py-3.11 67.03% <ø> (-0.01%) ⬇️
Py-3.12 67.05% <ø> (+<0.01%) ⬆️
Py-3.13 67.04% <ø> (-0.01%) ⬇️
Py-3.14 67.05% <ø> (-0.01%) ⬇️
Py-3.14t 67.04% <ø> (-0.01%) ⬇️
SelfHosted-Large 30.10% <ø> (ø)
SelfHosted-Linux 37.66% <ø> (ø)
SelfHosted-macOS 36.02% <ø> (+<0.01%) ⬆️

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see 1 file with indirect coverage changes

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@mintlify

mintlify Bot commented Jul 7, 2026

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Preview deployment for your docs. Learn more about Mintlify Previews.

Project Status Preview Updated (UTC)
dimensional 🟢 Ready View Preview Jul 7, 2026, 12:14 PM

💡 Tip: Enable Workflows to automatically generate PRs for you.


## How it works

```mermaid

@leshy leshy Jul 7, 2026

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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

https://github.com/dimensionalOS/dimos/blob/main/docs/capabilities/navigation/deep_dive.md#blueprint-composition

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


```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?

Image Image

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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.
Screenshot 2026-07-08 at 8 19 44 PM

Comment thread .gitattributes Outdated
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.

@leshy leshy Jul 7, 2026

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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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@leshy @spomichter

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:

Image

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removed

Comment thread docs/capabilities/navigation/relocalization.md
Comment thread docs/capabilities/navigation/relocalization.md
Comment thread docs/capabilities/navigation/relocalization.md
Pre-commit end-of-file-fixer fails when the generated SVG has multiple
blank lines after </svg>.

Co-authored-by: Cursor <cursoragent@cursor.com>
@github-actions github-actions Bot added the ready-to-merge Required CI checks have passed on this PR label Jul 9, 2026
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4 participants