├── .dockerignore ├── .gitattributes ├── .gitignore ├── .pre-commit-config.yaml ├── .pylintrc ├── .style.yapf ├── CHANGELOG.md ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── compass ├── __init__.py ├── distillation │ ├── distillation.py │ ├── distillation_trainer.py │ └── rl_specialists_dataset.py ├── residual_rl │ ├── __init__.py │ ├── actor_critic.py │ ├── constants.py │ ├── critic_state_assembler.py │ ├── gr00t_service.py │ ├── mlp.py │ ├── ppo.py │ ├── residual_ppo_trainer.py │ ├── rollout_storage.py │ ├── utils.py │ └── x_mobility_rl.py ├── rl_env │ ├── LICENCE │ ├── README.md │ ├── exts │ │ └── mobility_es │ │ │ ├── config │ │ │ └── extension.toml │ │ │ ├── docs │ │ │ └── CHANGELOG.rst │ │ │ ├── mobility_es │ │ │ ├── __init__.py │ │ │ ├── ckpt │ │ │ │ ├── digit_locomotion_policy.pt │ │ │ │ ├── g1_locomotion_policy.pt │ │ │ │ ├── h1_locomotion_policy.pt │ │ │ │ └── spot_locomotion_policy.pt │ │ │ ├── config │ │ │ │ ├── __init__.py │ │ │ │ ├── carter_env_cfg.py │ │ │ │ ├── digit_env_cfg.py │ │ │ │ ├── env_cfg.py │ │ │ │ ├── environments.py │ │ │ │ ├── g1_env_cfg.py │ │ │ │ ├── h1_env_cfg.py │ │ │ │ ├── robots.py │ │ │ │ ├── scene_assets.py │ │ │ │ └── spot_env_cfg.py │ │ │ ├── mdp │ │ │ │ ├── __init__.py │ │ │ │ ├── action │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── action_visualization.py │ │ │ │ │ ├── differential_drive_action.py │ │ │ │ │ ├── locomotion_policy_action.py │ │ │ │ │ └── non_holonomic_perfect_control_action.py │ │ │ │ ├── command │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── commands_cfg.py │ │ │ │ │ └── uniform_collision_free_pose_command.py │ │ │ │ ├── curriculum.py │ │ │ │ ├── events.py │ │ │ │ ├── observations.py │ │ │ │ ├── rewards.py │ │ │ │ ├── termination.py │ │ │ │ └── utils.py │ │ │ ├── utils │ │ │ │ ├── __init__.py │ │ │ │ └── occupancy_map.py │ │ │ └── wrapper │ │ │ │ └── env_wrapper.py │ │ │ └── setup.py │ ├── pyproject.toml │ └── scripts │ │ ├── __init__.py │ │ └── play.py └── utils │ └── logger.py ├── configs ├── distillation_config.gin ├── distillation_dataset_config_template.yaml ├── eval_config.gin ├── record_config.gin ├── shared.gin ├── train_config.gin └── x_mobility_config.gin ├── distillation_train.py ├── docker ├── Dockerfile.distillation └── Dockerfile.rl ├── images ├── carter_navigation.png ├── compass.jpg ├── compass_g1_zed.mp4 ├── locate3d_compass_w_side.mp4 ├── omap_generation.png ├── ros2_bridge_configuration.png └── ros2_navigation_with_rviz.png ├── onnx_conversion.py ├── record.py ├── requirements.txt ├── ros2_deployment ├── ISAACSIM_README.md ├── README.md ├── build_compass_docker.sh ├── compass_container.py ├── compass_navigator │ ├── compass_navigator │ │ ├── __init__.py │ │ ├── compass_inference.py │ │ └── obj_target_generator.py │ ├── launch │ │ └── compass_navigator.launch.py │ ├── package.xml │ ├── resource │ │ └── compass_navigator │ ├── rviz │ │ └── basic_view.rviz │ ├── setup.cfg │ └── setup.py ├── docker │ ├── .ros │ │ └── fastdds.xml │ ├── Dockerfile.deploy │ ├── 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