diff --git a/src/RL/Envs/COMCompass.jl b/src/RL/Envs/COMCompass.jl
new file mode 100644
index 0000000..2a926e7
--- /dev/null
+++ b/src/RL/Envs/COMCompass.jl
@@ -0,0 +1,157 @@
+using ..ReCo: ReCo
+
+struct COMCompassEnv <: Env
+    shared::EnvSharedProps
+
+    distance_state_space::Vector{Interval}
+    direction_angle_state_space::Vector{Interval}
+    position_angle_state_space::Vector{Interval}
+
+    function COMCompassEnv(;
+        n_distance_states::Int64=3,
+        n_direction_angle_states::Int64=3,
+        n_position_angle_states::Int64=8,
+        args,
+    )
+        @assert n_distance_states > 1
+        @assert n_direction_angle_states > 1
+        @assert n_position_angle_states > 1
+
+        direction_angle_state_space = gen_angle_state_space(n_direction_angle_states)
+        position_angle_state_space = gen_angle_state_space(n_position_angle_states)
+
+        min_distance = 0.0
+        max_distance = sqrt(2) * args.half_box_len
+
+        distance_state_space = gen_distance_state_space(
+            min_distance, max_distance, n_distance_states
+        )
+
+        n_states = n_distance_states * n_direction_angle_states * n_position_angle_states
+
+        state_spaces_labels = gen_state_spaces_labels(
+            ("d", "\\theta", "\\alpha"),
+            (distance_state_space, direction_angle_state_space, position_angle_state_space),
+        )
+
+        shared = EnvSharedProps(
+            n_states,
+            (n_distance_states, n_direction_angle_states, n_position_angle_states),
+            state_spaces_labels,
+        )
+
+        return new(
+            shared,
+            distance_state_space,
+            direction_angle_state_space,
+            position_angle_state_space,
+        )
+    end
+end
+
+mutable struct COMCompassEnvHelper <: EnvHelper
+    shared::EnvHelperSharedProps
+
+    center_of_mass::SVector{2,Float64}
+    gyration_tensor_eigvec_to_smaller_eigval::SVector{2,Float64}
+    gyration_tensor_eigvec_to_bigger_eigval::SVector{2,Float64}
+
+    half_box_len::Float64
+    max_elliptical_distance::Float64
+
+    function COMCompassEnvHelper(shared::EnvHelperSharedProps, half_box_len::Float64)
+        max_elliptical_distance = sqrt(
+            half_box_len^2 + (half_box_len / shared.elliptical_a_b_ratio)^2
+        )
+
+        return new(
+            shared,
+            SVector(0.0, 0.0),
+            SVector(0.0, 0.0),
+            SVector(0.0, 0.0),
+            half_box_len,
+            max_elliptical_distance,
+        )
+    end
+end
+
+function gen_env_helper(::COMCompassEnv, env_helper_shared::EnvHelperSharedProps; args)
+    return COMCompassEnvHelper(env_helper_shared, args.half_box_len)
+end
+
+function pre_integration_hook!(::COMCompassEnvHelper)
+    return nothing
+end
+
+function state_update_helper_hook!(
+    ::COMCompassEnvHelper,
+    id1::Int64,
+    id2::Int64,
+    r⃗₁₂::SVector{2,Float64},
+    distance²::Float64,
+)
+    return nothing
+end
+
+function state_update_hook!(
+    env_helper::COMCompassEnvHelper, particles::Vector{ReCo.Particle}
+)
+    n_particles = env_helper.shared.n_particles
+
+    env = env_helper.shared.env
+
+    env_helper.center_of_mass = ReCo.center_of_mass(particles, env_helper.half_box_len)
+
+    for particle_id in 1:n_particles
+        vec_to_center_of_mass = ReCo.restrict_coordinates(
+            env_helper.center_of_mass - particles[particle_id].c, env_helper.half_box_len
+        )
+        distance_to_center_of_mass = ReCo.norm2d(vec_to_center_of_mass)
+        distance_state_ind = find_state_ind(
+            distance_to_center_of_mass, env.distance_state_space
+        )
+
+        si, co = sincos(particles[particle_id].φ)
+        direction_angle = ReCo.angle2(SVector(co, si), vec_to_center_of_mass)
+        direction_state_ind = find_state_ind(
+            direction_angle, env.direction_angle_state_space
+        )
+
+        position_angle = atan(si, co)
+        position_state_ind = find_state_ind(position_angle, env.position_angle_state_space)
+
+        state_id = env.shared.state_id_tensor[
+            distance_state_ind, direction_state_ind, position_state_ind
+        ]
+
+        env_helper.shared.states_id[particle_id] = state_id
+    end
+
+    v1, v2 = ReCo.gyration_tensor_eigvecs(
+        particles, env_helper.half_box_len, env_helper.center_of_mass
+    )
+
+    env_helper.gyration_tensor_eigvec_to_smaller_eigval = v1
+    env_helper.gyration_tensor_eigvec_to_bigger_eigval = v2
+
+    return nothing
+end
+
+function update_reward!(
+    env::COMCompassEnv, env_helper::COMCompassEnvHelper, particle::ReCo.Particle
+)
+    elliptical_distance = ReCo.elliptical_distance(
+        particle.c,
+        env_helper.center_of_mass,
+        env_helper.gyration_tensor_eigvec_to_smaller_eigval,
+        env_helper.gyration_tensor_eigvec_to_bigger_eigval,
+        env_helper.shared.elliptical_a_b_ratio,
+        env_helper.half_box_len,
+    )
+
+    reward = minimizing_reward(elliptical_distance, env_helper.max_elliptical_distance)
+
+    set_normalized_reward!(env, reward, env_helper)
+
+    return nothing
+end
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