Renames Gym Envs related extensions to Tasks (#228)

# Description Since there is a lot of confusion and debate around what is a scene vs. environment vs. task, this MR makes it explicit that Gym/RL-related definitions are always called "tasks". Thus, the corresponding extensions are renamed from `orbit_envs` to `orbit_tasks`. Fixes #143 ## Type of change - Breaking change (fix or feature that would cause existing functionality to not work as expected) - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./orbit.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file

Renames Gym Envs related extensions to Tasks (#228)
# Description Since there is a lot of confusion and debate around what is a scene vs. environment vs. task, this MR makes it explicit that Gym/RL-related definitions are always called "tasks". Thus, the corresponding extensions are renamed from `orbit_envs` to `orbit_tasks`. Fixes #143 ## Type of change - Breaking change (fix or feature that would cause existing functionality to not work as expected) - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./orbit.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file
3149af00 · Mayank Mittal · GitHub · 137f836d · 3149af00 · 3149af00
Unverified Commit 3149af00 authored Nov 02, 2023 by Mayank Mittal Committed by GitHub Nov 02, 2023
143 changed files
--- a/VERSION
+++ b/VERSION
-0.1.0
+0.2.0
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -20,8 +20,8 @@ import sys

 sys.path.insert(0, os.path.abspath("../source/extensions/omni.isaac.orbit"))
 sys.path.insert(0, os.path.abspath("../source/extensions/omni.isaac.orbit/omni/isaac/orbit"))
-sys.path.insert(0, os.path.abspath("../source/extensions/omni.isaac.orbit_envs"))
-sys.path.insert(0, os.path.abspath("../source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs"))
+sys.path.insert(0, os.path.abspath("../source/extensions/omni.isaac.orbit_tasks"))
+sys.path.insert(0, os.path.abspath("../source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks"))

 # -- Project information -----------------------------------------------------


--- a/docs/source/api/index.rst
+++ b/docs/source/api/index.rst
@@ -25,13 +25,13 @@ omni.isaac.orbit extension
   orbit.utils.mdp
   orbit.compat

-omni.isaac.orbit_envs extension
-------------------------------
+omni.isaac.orbit_tasks extension
+--------------------------------

 .. toctree::
   :maxdepth: 1

-   orbit_envs.isaac_env
-   orbit_envs.utils
-   orbit_envs.utils.data_collector
-   orbit_envs.utils.wrappers
+   orbit_tasks.isaac_env
+   orbit_tasks.utils
+   orbit_tasks.utils.data_collector
+   orbit_tasks.utils.wrappers
--- a/docs/source/api/orbit_envs.isaac_env.rst
+++ b/docs/source/api/orbit_envs.isaac_env.rst
-omni.isaac.orbit_envs.isaac_env
-===============================
+omni.isaac.orbit_tasks.isaac_env
+================================

 We use OpenAI Gym registry to register the environment and their default configuration file.
 The default configuration file is passed to the argument "kwargs" in the Gym specification registry.
@@ -18,8 +18,8 @@ class. This is done using the function :meth:`load_default_env_cfg` in the sub-m
 .. code-block:: python

   import gym
-   import omni.isaac.orbit_envs
-   from omni.isaac.orbit_envs.utils.parse_cfg import load_default_env_cfg
+   import omni.isaac.orbit_tasks
+   from omni.isaac.orbit_tasks.utils.parse_cfg import load_default_env_cfg

   task_name = "Isaac-Cartpole-v0"
   cfg = load_default_env_cfg(task_name)
@@ -27,7 +27,7 @@ class. This is done using the function :meth:`load_default_env_cfg` in the sub-m


 All environments must inherit from :class:`IsaacEnv` class which is defined in the sub-module
-:mod:`omni.isaac.orbit_envs.isaac_env`.
+:mod:`omni.isaac.orbit_tasks.isaac_env`.
 The main methods that needs to be implemented by an inherited environment class:

 * :meth:`_design_scene`: Design the template environment for cloning.
@@ -47,7 +47,7 @@ The action and observation space correspond to single environment (and not vecto
 Base Environment
 ----------------

-.. automodule:: omni.isaac.orbit_envs.isaac_env
+.. automodule:: omni.isaac.orbit_tasks.isaac_env
   :members:
   :undoc-members:
   :show-inheritance:
@@ -57,7 +57,7 @@ Base Environment
 Base Configuration
 ---------------------

-.. automodule:: omni.isaac.orbit_envs.isaac_env_cfg
+.. automodule:: omni.isaac.orbit_tasks.isaac_env_cfg
   :members:
   :undoc-members:
   :show-inheritance:
--- a/docs/source/api/orbit_envs.utils.data_collector.rst
+++ b/docs/source/api/orbit_envs.utils.data_collector.rst
-omni.isaac.orbit_envs.utils.data_collector
+omni.isaac.orbit_tasks.utils.data_collector
 ==========================================

 All post-processed robomimic compatible datasets share the same data structure. A single dataset is a
@@ -16,7 +16,7 @@ The following sample shows how to use the ``robomimic`` data collector:
   import os
   import torch

-   from omni.isaac.orbit_envs.utils.data_collector import RobomimicDataCollector
+   from omni.isaac.orbit_tasks.utils.data_collector import RobomimicDataCollector

   # name of the environment (needed by robomimic)
   task_name = "Isaac-Franka-Lift-v0"
@@ -73,7 +73,7 @@ The following sample shows how to use the ``robomimic`` data collector:
   collector_interface.close()


-.. automodule:: omni.isaac.orbit_envs.utils.data_collector
+.. automodule:: omni.isaac.orbit_tasks.utils.data_collector
   :members:
   :undoc-members:
   :show-inheritance:
--- a/docs/source/api/orbit_envs.utils.rst
+++ b/docs/source/api/orbit_envs.utils.rst
-omni.isaac.orbit_envs.utils
+omni.isaac.orbit_tasks.utils
 ===============================

-.. automodule:: omni.isaac.orbit_envs.utils
+.. automodule:: omni.isaac.orbit_tasks.utils
   :members:
   :undoc-members:
   :show-inheritance:
--- a/docs/source/api/orbit_envs.utils.wrappers.rst
+++ b/docs/source/api/orbit_envs.utils.wrappers.rst
-omni.isaac.orbit_envs.utils.wrappers
+omni.isaac.orbit_tasks.utils.wrappers
 ====================================

 Wrappers allow you to modify the behavior of an environment without modifying the environment itself.
@@ -14,7 +14,7 @@ environment instance to the wrapper constructor. For instance, to wrap an enviro

 .. code-block:: python

-   from omni.isaac.orbit_envs.utils.wrappers.sb3 import Sb3VecEnvWrapper
+   from omni.isaac.orbit_tasks.utils.wrappers.sb3 import Sb3VecEnvWrapper

   env = Sb3VecEnvWrapper(env)

@@ -28,27 +28,27 @@ environment instance to the wrapper constructor. For instance, to wrap an enviro
 RL-Games Wrapper
 ----------------

-.. automodule:: omni.isaac.orbit_envs.utils.wrappers.rl_games
+.. automodule:: omni.isaac.orbit_tasks.utils.wrappers.rl_games
   :members:
   :show-inheritance:

 RSL-RL Wrapper
 --------------

-.. automodule:: omni.isaac.orbit_envs.utils.wrappers.rsl_rl
+.. automodule:: omni.isaac.orbit_tasks.utils.wrappers.rsl_rl
   :members:
   :show-inheritance:

 SKRL Wrapper
 ------------

-.. automodule:: omni.isaac.orbit_envs.utils.wrappers.skrl
+.. automodule:: omni.isaac.orbit_tasks.utils.wrappers.skrl
   :members:
   :show-inheritance:

 Stable-Baselines3 Wrapper
 -------------------------

-.. automodule:: omni.isaac.orbit_envs.utils.wrappers.sb3
+.. automodule:: omni.isaac.orbit_tasks.utils.wrappers.sb3
   :members:
   :show-inheritance:
--- a/docs/source/refs/changelog.rst
+++ b/docs/source/refs/changelog.rst
@@ -15,19 +15,19 @@ Extension containing the core framework of Orbit.
   :start-line: 3


-omni.isaac.orbit_envs
---------------------
+omni.isaac.orbit_tasks
+----------------------

 Extension containing the environments built using Orbit.

-.. include:: ../../../source/extensions/omni.isaac.orbit_envs/docs/CHANGELOG.rst
+.. include:: ../../../source/extensions/omni.isaac.orbit_tasks/docs/CHANGELOG.rst
   :start-line: 3


-omni.isaac.contrib_envs
-----------------------
+omni.isaac.contrib_tasks
+------------------------

 Extension for environments contributed by the community.

-.. include:: ../../../source/extensions/omni.isaac.contrib_envs/docs/CHANGELOG.rst
+.. include:: ../../../source/extensions/omni.isaac.contrib_tasks/docs/CHANGELOG.rst
   :start-line: 3
--- a/docs/source/refs/troubleshooting.rst
+++ b/docs/source/refs/troubleshooting.rst
@@ -68,7 +68,7 @@ argument to the :class:`SimulationContext` class. For example, to increase the s

    sim = SimulationContext(sim_params={"gpu_found_lost_pairs_capacity": 4096})

-These settings are also directly exposed through the :class:`PhysxCfg` class in the ``omni.isaac.orbit_envs``
+These settings are also directly exposed through the :class:`PhysxCfg` class in the ``omni.isaac.orbit_tasks``
 extension, which can be used to configure the simulation engine. Please see the documentation for
 :class:`PhysxCfg` for more details.


--- a/docs/source/setup/developer.rst
+++ b/docs/source/setup/developer.rst
@@ -90,8 +90,8 @@ The ``orbit`` repository is structured as follows:
   ├── source
   │   ├── extensions
   │   │   ├── omni.isaac.orbit
-   │   │   └── omni.isaac.orbit_envs
-   │   │   └── omni.isaac.contrib_envs
+   │   │   └── omni.isaac.orbit_tasks
+   │   │   └── omni.isaac.contrib_tasks
   │   ├── standalone
   │   │   ├── demo
   │   │   ├── environments
@@ -227,7 +227,7 @@ The ``source/standalone`` directory contains various standalone applications des
 provided by ``orbit``. These applications are written in python and are structured as follows:

 * **demo**: Contains various demo applications that showcase the core framework ``omni.isaac.orbit``.
-* **environments**: Contains applications for running environments defined in ``omni.isaac.orbit_envs`` with different agents.
+* **environments**: Contains applications for running environments defined in ``omni.isaac.orbit_tasks`` with different agents.
  These include a random policy, zero-action policy, teleoperation or scripted state machines.
 * **workflows**: Contains applications for using environments with various learning-based frameworks. These include different
  reinforcement learning or imitation learning libraries.
--- a/docs/source/setup/sample.rst
+++ b/docs/source/setup/sample.rst
@@ -44,7 +44,7 @@ Environments
 ------------

 With Orbit, we also provide a suite of benchmark environments included
-in the ``omni.isaac.orbit_envs`` extension. We use the OpenAI Gym registry
+in the ``omni.isaac.orbit_tasks`` extension. We use the OpenAI Gym registry
 to register these environments. For each environment, we provide a default
 configuration file that defines the scene, observations, rewards and action spaces.

@@ -141,7 +141,7 @@ format.
   .. code:: bash

      # install python module (for robomimic)
-      ./orbit.sh -p -m pip install -e 'source/extensions/omni.isaac.orbit_envs[robomimic]'
+      ./orbit.sh -p -m pip install -e 'source/extensions/omni.isaac.orbit_tasks[robomimic]'
      # split data
      ./orbit.sh -p source/standalone//workflows/robomimic/tools/split_train_val.py logs/robomimic/Isaac-Lift-Franka-v0/hdf_dataset.hdf5 --ratio 0.2

@@ -171,7 +171,7 @@ from the environments into the respective libraries function argument and return
   .. code:: bash

      # install python module (for stable-baselines3)
-      ./orbit.sh -p -m pip install -e 'source/extensions/omni.isaac.orbit_envs[sb3]'
+      ./orbit.sh -p -m pip install -e 'source/extensions/omni.isaac.orbit_tasks[sb3]'
      # run script for training
      # note: we enable cpu flag since SB3 doesn't optimize for GPU anyway
      ./orbit.sh -p source/standalone/workflows/sb3/train.py --task Isaac-Cartpole-v0 --headless --cpu
@@ -184,7 +184,7 @@ from the environments into the respective libraries function argument and return
   .. code:: bash

      # install python module (for skrl)
-      ./orbit.sh -p -m pip install -e 'source/extensions/omni.isaac.orbit_envs[skrl]'
+      ./orbit.sh -p -m pip install -e 'source/extensions/omni.isaac.orbit_tasks[skrl]'
      # run script for training
      ./orbit.sh -p source/standalone/workflows/skrl/train.py --task Isaac-Reach-Franka-v0 --headless
      # run script for playing with 32 environments
@@ -196,7 +196,7 @@ from the environments into the respective libraries function argument and return
   .. code:: bash

      # install python module (for rl-games)
-      ./orbit.sh -p -m pip install -e 'source/extensions/omni.isaac.orbit_envs[rl_games]'
+      ./orbit.sh -p -m pip install -e 'source/extensions/omni.isaac.orbit_tasks[rl_games]'
      # run script for training
      ./orbit.sh -p source/standalone/workflows/rl_games/train.py --task Isaac-Ant-v0 --headless
      # run script for playing with 32 environments
@@ -208,7 +208,7 @@ from the environments into the respective libraries function argument and return
   .. code:: bash

      # install python module (for rsl-rl)
-      ./orbit.sh -p -m pip install -e 'source/extensions/omni.isaac.orbit_envs[rsl_rl]'
+      ./orbit.sh -p -m pip install -e 'source/extensions/omni.isaac.orbit_tasks[rsl_rl]'
      # run script for training
      ./orbit.sh -p source/standalone/workflows/rsl_rl/train.py --task Isaac-Reach-Franka-v0 --headless
      # run script for playing with 32 environments

--- a/docs/source/tutorials_envs/00_gym_env.rst
+++ b/docs/source/tutorials_envs/00_gym_env.rst
 Running an RL environment
 =========================

-In this tutorial, we will learn how to run existing learning environments provided in the ``omni.isaac.orbit_envs``
+In this tutorial, we will learn how to run existing learning environments provided in the ``omni.isaac.orbit_tasks``
 extension. All the environments included in Orbit follow the ``gym.Env`` interface, which means that they can be used
 with any reinforcement learning framework that supports OpenAI Gym. However, since the environments are implemented
 in a vectorized fashion, they can only be used with frameworks that support vectorized environments.
@@ -9,7 +9,7 @@ in a vectorized fashion, they can only be used with frameworks that support vect
 Many common frameworks come with their own desired definitions of a vectorized environment and require the returned data
 to follow their supported data types and data structures. For example, ``stable-baselines3`` uses ``numpy`` arrays, while
 ``rsl-rl``, ``rl-games``, or ``skrl`` use ``torch.Tensor``. We provide wrappers for these different frameworks, which can be found
-in the ``omni.isaac.orbit_envs.utils.wrappers`` module.
+in the ``omni.isaac.orbit_tasks.utils.wrappers`` module.


 The Code
@@ -31,24 +31,24 @@ Using gym registry for environments

 All environments are registered using the ``gym`` registry, which means that you can create an instance of
 an environment by calling ``gym.make``. The environments are registered in the ``__init__.py`` file of the
-``omni.isaac.orbit_envs`` extension with the following syntax:
+``omni.isaac.orbit_tasks`` extension with the following syntax:

 .. code-block:: python

    # Cartpole environment
    gym.register(
        id="Isaac-Cartpole-v0",
-        entry_point="omni.isaac.orbit_envs.classic.cartpole:CartpoleEnv",
-        kwargs={"cfg_entry_point": "omni.isaac.orbit_envs.classic.cartpole:cartpole_cfg.yaml"},
+        entry_point="omni.isaac.orbit_tasks.classic.cartpole:CartpoleEnv",
+        kwargs={"cfg_entry_point": "omni.isaac.orbit_tasks.classic.cartpole:cartpole_cfg.yaml"},
    )

 The ``cfg_entry_point`` argument is used to load the default configuration for the environment. The default
-configuration is loaded using the :meth:`omni.isaac.orbit_envs.utils.parse_cfg.load_default_env_cfg` function.
+configuration is loaded using the :meth:`omni.isaac.orbit_tasks.utils.parse_cfg.load_default_env_cfg` function.
 The configuration entry point can correspond to both a YAML file or a python configuration
 class. The default configuration can be overridden by passing a custom configuration instance to the ``gym.make``
 function as shown later in the tutorial.

-To inform the ``gym`` registry with all the environments provided by the ``omni.isaac.orbit_envs`` extension,
+To inform the ``gym`` registry with all the environments provided by the ``omni.isaac.orbit_tasks`` extension,
 we must import the module at the start of the script.

 .. literalinclude:: ../../../source/standalone/environments/zero_agent.py
@@ -59,7 +59,7 @@ we must import the module at the start of the script.

 .. note::

-    As a convention, we name all the environments in ``omni.isaac.orbit_envs`` extension with the prefix ``Isaac-``.
+    As a convention, we name all the environments in ``omni.isaac.orbit_tasks`` extension with the prefix ``Isaac-``.
    For more complicated environments, we follow the pattern: ``Isaac-<TaskName>-<RobotName>-v<N>``,
    where `N` is used to specify different observations or action spaces within the same task definition. For example,
    for legged locomotion with ANYmal C, the environment is called ``Isaac-Velocity-Anymal-C-v0``.

--- a/docs/source/tutorials_envs/01_create_env.rst
+++ b/docs/source/tutorials_envs/01_create_env.rst
@@ -4,8 +4,8 @@ Creating an environment
 In Orbit, we provide a set of environments that are ready to use. However, you may want to create your own
 environment for your application. This tutorial will show you how to create a new environment from scratch.

-As a practice, we maintain all the environments that are *officially* provided in the ``omni.isaac.orbit_envs``
-extension. It is recommended to add your environment to the extension ``omni.isaac.contrib_envs``. This way, you can
+As a practice, we maintain all the environments that are *officially* provided in the ``omni.isaac.orbit_tasks``
+extension. It is recommended to add your environment to the extension ``omni.isaac.contrib_tasks``. This way, you can
 easily update your environment when the API changes and you can also contribute your environment to the community.

 In this tutorial, we will look at the base class :py:class:`IsaacEnv` and discuss the different methods that you
@@ -60,7 +60,7 @@ The base class :py:class:`IsaacEnv` is defined in the file ``isaac_env.py``:

 .. dropdown:: :fa:`eye,mr-1` Code for `isaac_env.py`

-   .. literalinclude:: ../../../source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/isaac_env.py
+   .. literalinclude:: ../../../source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/isaac_env.py
      :language: python
      :linenos:

@@ -91,7 +91,7 @@ under the prim path ``/World/defaultGroundPlane`` and optionally, markers for de

 .. dropdown:: :fa:`eye,mr-1` Code for `_design_scene` method in `lift_env.py`

-   .. literalinclude:: ../../../source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/lift/lift_env.py
+   .. literalinclude:: ../../../source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/lift_env.py
      :language: python
      :lines: 75-110
      :linenos:
@@ -114,7 +114,7 @@ various buffers corresponding to episode counter, episode reward, history, senso

 .. dropdown:: :fa:`eye,mr-1` Code for `_reset_idx` method in `lift_env.py`

-   .. literalinclude:: ../../../source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/lift/lift_env.py
+   .. literalinclude:: ../../../source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/lift_env.py
      :language: python
      :lines: 112-137
      :linenos:
@@ -126,7 +126,7 @@ instances are displaced correctly in the simulation stage (i.e. account for the

 An example of this is shown in the :py:meth:`_randomize_object_initial_pose` method for the Lift environment:

-.. literalinclude:: ../../../source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/lift/lift_env.py
+.. literalinclude:: ../../../source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/lift_env.py
   :language: python
   :lines: 298-326
   :lineno-start: 298
@@ -171,7 +171,7 @@ the simulator at a specified , updates the buffers and sensors, and computes the

 .. dropdown:: :fa:`eye,mr-1` Code for `_step_impl` method in `lift_env.py`

-   .. literalinclude:: ../../../source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/lift/lift_env.py
+   .. literalinclude:: ../../../source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/lift_env.py
      :language: python
      :lines: 139-189
      :emphasize-lines: 21-29,42-47
@@ -197,7 +197,7 @@ found in the `MDP managers <../api/orbit.utils.mdp.html>`_ section.

 .. dropdown:: :fa:`eye,mr-1` Code for `_get_observations` method in `lift_env.py`

-   .. literalinclude:: ../../../source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/lift/lift_env.py
+   .. literalinclude:: ../../../source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/lift_env.py
      :language: python
      :lines: 191-193
      :linenos:
@@ -209,7 +209,7 @@ Registering the environment
 Before you can run your environment, you need to register your environment with the OpenAI Gym interface.

 To register an environment, call the :py:meth:`gym.register` method in the :py:mod:`__init__.py` file of your environment package
-(for instance, in ``omni.isaac.contrib_envs.__init__.py``). This has the following components:
+(for instance, in ``omni.isaac.contrib_tasks.__init__.py``). This has the following components:

 * **Name of the environment:** This should ideally be in the format :py:const:`Isaac-\<EnvironmentName\>-\<Robot\>-\<Version\>`.
  However, this is not a strict requirement and you can use any name you want.
@@ -217,11 +217,11 @@ To register an environment, call the :py:meth:`gym.register` method in the :py:m
 * **Config entry point:** This is the import path of the environment configuration file. This is used to instantiate the environment configuration.
  The configuration file can be either a YAML file or a Python dataclass

-As examples of this in the ``omni.isaac.orbit_envs`` package, we have the following:
+As examples of this in the ``omni.isaac.orbit_tasks`` package, we have the following:

 .. dropdown:: :fa:`eye,mr-1` Registering an environment with a YAML configuration file

-   .. literalinclude:: ../../../source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/__init__.py
+   .. literalinclude:: ../../../source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/__init__.py
      :language: python
      :lines: 52-56
      :linenos:
@@ -229,7 +229,7 @@ As examples of this in the ``omni.isaac.orbit_envs`` package, we have the follow

 .. dropdown:: :fa:`eye,mr-1` Registering an environment with a Python dataclass configuration file

-   .. literalinclude:: ../../../source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/__init__.py
+   .. literalinclude:: ../../../source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/__init__.py
      :language: python
      :lines: 84-88
      :linenos:
@@ -239,8 +239,8 @@ As examples of this in the ``omni.isaac.orbit_envs`` package, we have the follow
 The Code Execution
 ~~~~~~~~~~~~~~~~~~

-Now that we have gone through the code, let's run the environment. All environments registered in the ``omni.isaac.orbit_envs``
-and ``omni.isaac.contrib_envs`` packages are automatically available in the included standalone environments and workflows scripts.
+Now that we have gone through the code, let's run the environment. All environments registered in the ``omni.isaac.orbit_tasks``
+and ``omni.isaac.contrib_tasks`` packages are automatically available in the included standalone environments and workflows scripts.

 As an example, to run the Lift environment, you can use the following command.


--- a/docs/source/tutorials_envs/02_wrappers.rst
+++ b/docs/source/tutorials_envs/02_wrappers.rst
@@ -6,7 +6,7 @@ This can be used to apply functions to modify observations or rewards, record vi
 A detailed description of the API is available in the `gym.Wrapper <https://gymnasium.farama.org/api/wrappers/>`_ class.


-At present, all environments inheriting from the :class:`omni.isaac.orbit_envs.isaac_env.IsaacEnv` class
+At present, all environments inheriting from the :class:`omni.isaac.orbit_tasks.isaac_env.IsaacEnv` class
 are compatible with ``gym.Wrapper``, since the base class implements the ``gym.Env`` interface.
 In order to wrap an environment, you need to first initialize the base environment. After that, you can
 wrap it with as many wrappers as you want by calling `env = wrapper(env, *args, **kwargs)` repeatedly.
@@ -28,8 +28,8 @@ For example, here is how you would wrap an environment to enforce that reset is

    import gym

-    import omni.isaac.orbit_envs  # noqa: F401
-    from omni.isaac.orbit_envs.utils import load_default_env_cfg
+    import omni.isaac.orbit_tasks  # noqa: F401
+    from omni.isaac.orbit_tasks.utils import load_default_env_cfg

    # create base environment
    cfg = load_default_env_cfg("Isaac-Reach-Franka-v0")
@@ -138,7 +138,7 @@ As an example of how to use the :class:`IsaacEnv` with Stable-Baselines3:

 .. code:: python

-    from omni.isaac.orbit_envs.utils.wrappers.sb3 import Sb3VecEnvWrapper
+    from omni.isaac.orbit_tasks.utils.wrappers.sb3 import Sb3VecEnvWrapper

    # create isaac-env instance
    env = gym.make(task_name, cfg=env_cfg, render=headless)
@@ -156,5 +156,5 @@ As an example of how to use the :class:`IsaacEnv` with Stable-Baselines3:
 To add support for a new learning framework, you need to implement a wrapper class that
 converts the :class:`IsaacEnv` to the learning framework's environment definition. This
 wrapper class should typically inherit from the ``gym.Wrapper`` class. We include a
-set of these wrappers in the :mod:`omni.isaac.orbit_envs.utils.wrappers` module. You can
+set of these wrappers in the :mod:`omni.isaac.orbit_tasks.utils.wrappers` module. You can
 use these wrappers as a reference to implement your own wrapper for a new learning framework.
--- a/orbit.sh
+++ b/orbit.sh
@@ -236,7 +236,7 @@ while [[ $# -gt 0 ]]; do
            echo "[INFO] Installing extra requirements such as learning frameworks..."
            python_exe=$(extract_python_exe)
            # install the rl-frameworks specified
-            ${python_exe} -m pip install -e ${ORBIT_PATH}/source/extensions/omni.isaac.orbit_envs[all]
+            ${python_exe} -m pip install -e ${ORBIT_PATH}/source/extensions/omni.isaac.orbit_tasks[all]
            shift # past argument
            ;;
        -c|--conda)

--- a/pyproject.toml
+++ b/pyproject.toml
@@ -51,8 +51,8 @@ known_third_party = [
 known_first_party = "omni.isaac.orbit"
 known_assets_firstparty = "omni.isaac.assets"
 known_extra_firstparty = [
-    "omni.isaac.contrib_envs",
-    "omni.isaac.orbit_envs"
+    "omni.isaac.contrib_tasks",
+    "omni.isaac.orbit_tasks"
 ]
 # Imports from the local folder
 known_local_folder = "config"

--- a/source/extensions/omni.isaac.contrib_envs/data/.gitkeep
+++ b/source/extensions/omni.isaac.contrib_envs/data/.gitkeep
--- a/source/extensions/omni.isaac.contrib_envs/config/extension.toml
+++ b/source/extensions/omni.isaac.contrib_envs/config/extension.toml
@@ -13,10 +13,10 @@ keywords = ["robotics", "rl", "il", "learning"]

 [dependencies]
 "omni.isaac.orbit" = {}
-"omni.isaac.orbit_envs" = {}
+"omni.isaac.orbit_tasks" = {}
 "omni.isaac.core" = {}
 "omni.isaac.gym" = {}
 "omni.replicator.isaac" = {}

 [[python.module]]
-name = "omni.isaac.contrib_envs"
+name = "omni.isaac.contrib_tasks"
--- a/source/extensions/omni.isaac.contrib_envs/docs/CHANGELOG.rst
+++ b/source/extensions/omni.isaac.contrib_envs/docs/CHANGELOG.rst
--- a/source/extensions/omni.isaac.contrib_envs/docs/README.md
+++ b/source/extensions/omni.isaac.contrib_envs/docs/README.md
 # Orbit: Contributed Environment

 This extension serves as a platform to host contributed environments from the robotics and machine learning
-community. The extension follows the same style as the `omni.isaac.orbit_envs` extension.
+community. The extension follows the same style as the `omni.isaac.orbit_tasks` extension.

 The environments should follow the `gym.Env` API from OpenAI Gym version `0.21.0`. They need to be registered using
 the Gym registry.
@@ -15,12 +15,12 @@ The environments can be configured using either Python classes (wrapped using `c
 YAML files. The template structure of the environment is always put at the same level as the environment file
 itself. However, its various instances should be included in directories within the environment directory itself.

-The environments should then be registered in the `omni/isaac/contrib_envs/__init__.py`:
+The environments should then be registered in the `omni/isaac/contrib_tasks/__init__.py`:

 ```python
 gym.register(
    id="Isaac-Contrib-<my-awesome-env>-v0",
-    entry_point="omni.isaac.contrib_envs.<your-env-package>:<your-env-class>",
-    kwargs={"cfg_entry_point": "omni.isaac.contrib_envs.<your-env-package-cfg>:<your-env-class-cfg>"},
+    entry_point="omni.isaac.contrib_tasks.<your-env-package>:<your-env-class>",
+    kwargs={"cfg_entry_point": "omni.isaac.contrib_tasks.<your-env-package-cfg>:<your-env-class-cfg>"},
 )
 ```
--- a/source/extensions/omni.isaac.contrib_envs/omni/isaac/contrib_envs/__init__.py
+++ b/source/extensions/omni.isaac.contrib_envs/omni/isaac/contrib_envs/__init__.py
@@ -19,8 +19,8 @@ Note:

 Usage:
    >>> import gym
-    >>> import omni.isaac.contrib_envs
-    >>> from omni.isaac.orbit_envs.utils.parse_cfg import load_default_env_cfg
+    >>> import omni.isaac.contrib_tasks
+    >>> from omni.isaac.orbit_tasks.utils.parse_cfg import load_default_env_cfg
    >>>
    >>> task_name = "Isaac-Contrib-<my-registered-env-name>-v0"
    >>> cfg = load_default_env_cfg(task_name)
@@ -34,14 +34,11 @@ import os
 import toml

 # Conveniences to other module directories via relative paths
-ORBIT_CONTRIB_ENVS_EXT_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), "../../../"))
+ORBIT_CONTRIB_TASKS_EXT_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), "../../../"))
 """Path to the extension source directory."""

-ORBIT_CONTRIB_ENVS_DATA_DIR = os.path.join(ORBIT_CONTRIB_ENVS_EXT_DIR, "data")
-"""Path to the extension data directory."""
-
-ORBIT_CONTRIB_ENVS_METADATA = toml.load(os.path.join(ORBIT_CONTRIB_ENVS_EXT_DIR, "config", "extension.toml"))
+ORBIT_CONTRIB_TASKS_METADATA = toml.load(os.path.join(ORBIT_CONTRIB_TASKS_EXT_DIR, "config", "extension.toml"))
 """Extension metadata dictionary parsed from the extension.toml file."""

 # Configure the module-level variables
-__version__ = ORBIT_CONTRIB_ENVS_METADATA["package"]["version"]
+__version__ = ORBIT_CONTRIB_TASKS_METADATA["package"]["version"]
--- a/source/extensions/omni.isaac.contrib_envs/setup.py
+++ b/source/extensions/omni.isaac.contrib_envs/setup.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause

-"""Installation script for the 'omni.isaac.contrib_envs' python package."""
+"""Installation script for the 'omni.isaac.contrib_tasks' python package."""

 from __future__ import annotations

@@ -19,7 +19,7 @@ EXTENSION_TOML_DATA = toml.load(os.path.join(EXTENSION_PATH, "config", "extensio

 # Installation operation
 setup(
-    name="omni-isaac-contrib_envs",
+    name="omni-isaac-contrib_tasks",
    author="Community",
    url=EXTENSION_TOML_DATA["package"]["repository"],
    version=EXTENSION_TOML_DATA["package"]["version"],
@@ -27,7 +27,7 @@ setup(
    keywords=EXTENSION_TOML_DATA["package"]["keywords"],
    include_package_data=True,
    python_requires=">=3.7",
-    packages=["omni.isaac.contrib_envs"],
+    packages=["omni.isaac.contrib_tasks"],
    classifiers=["Natural Language :: English", "Programming Language :: Python :: 3.7"],
    zip_safe=False,
 )
--- a/source/extensions/omni.isaac.orbit/config/extension.toml
+++ b/source/extensions/omni.isaac.orbit/config/extension.toml
 [package]

 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.9.31"
+version = "0.9.32"

 # Description
 title = "ORBIT framework for Robot Learning"

--- a/source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst
+++ b/source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst
 Changelog
 ---------

+0.9.32 (2023-11-02)
+~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Renamed the :class:`omni.isaac.orbit.envs.RLEnv` class to :class:`omni.isaac.orbit.envs.RLTaskEnv` to
+  avoid confusions in terminologies between environments and tasks.
+
+
 0.9.31 (2023-11-02)
 ~~~~~~~~~~~~~~~~~~~


--- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/__init__.py
+++ b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/__init__.py
@@ -5,8 +5,8 @@

 from .base_env import BaseEnv
 from .base_env_cfg import BaseEnvCfg, ViewerCfg
-from .rl_env import RLEnv, VecEnvObs, VecEnvStepReturn
-from .rl_env_cfg import RLEnvCfg
+from .rl_task_env import RLTaskEnv, VecEnvObs, VecEnvStepReturn
+from .rl_task_env_cfg import RLTaskEnvCfg

 __all__ = [
    # base
@@ -14,8 +14,8 @@ __all__ = [
    "BaseEnvCfg",
    "ViewerCfg",
    # rl
-    "RLEnv",
-    "RLEnvCfg",
+    "RLTaskEnv",
+    "RLTaskEnvCfg",
    # env type variables
    "VecEnvObs",
    "VecEnvStepReturn",

--- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/binary_joint_actions.py
+++ b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/binary_joint_actions.py
@@ -15,7 +15,7 @@ from omni.isaac.orbit.assets.articulation import Articulation
 from omni.isaac.orbit.managers.action_manager import ActionTerm

 if TYPE_CHECKING:
-    from omni.isaac.orbit.envs.rl_env import BaseEnv
+    from omni.isaac.orbit.envs import BaseEnv

    from . import actions_cfg


--- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/joint_actions.py
+++ b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/joint_actions.py
@@ -15,7 +15,7 @@ from omni.isaac.orbit.assets.articulation import Articulation
 from omni.isaac.orbit.managers.action_manager import ActionTerm

 if TYPE_CHECKING:
-    from omni.isaac.orbit.envs.rl_env import BaseEnv
+    from omni.isaac.orbit.envs import BaseEnv

    from . import actions_cfg


--- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/curriculums.py
+++ b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/curriculums.py
@@ -19,11 +19,11 @@ from omni.isaac.orbit.managers import SceneEntityCfg
 from omni.isaac.orbit.terrains import TerrainImporter

 if TYPE_CHECKING:
-    from omni.isaac.orbit.envs.rl_env import RLEnv
+    from omni.isaac.orbit.envs import RLTaskEnv


 def terrain_levels_vel(
-    env: RLEnv, env_ids: Sequence[int], asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")
+    env: RLTaskEnv, env_ids: Sequence[int], asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")
 ) -> torch.Tensor:
    """Curriculum based on the distance the robot walked when commanded to move at a desired velocity.

@@ -53,7 +53,7 @@ def terrain_levels_vel(
    return torch.mean(terrain.terrain_levels.float())


-def modify_reward_weight(env: RLEnv, env_ids: Sequence[int], term_name: str, weight: float, num_steps: int):
+def modify_reward_weight(env: RLTaskEnv, env_ids: Sequence[int], term_name: str, weight: float, num_steps: int):
    """Curriculum that modifies a reward weight a given number of steps.

    Args:

--- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/observations.py
+++ b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/observations.py
@@ -19,7 +19,7 @@ from omni.isaac.orbit.managers import SceneEntityCfg
 from omni.isaac.orbit.sensors import RayCaster

 if TYPE_CHECKING:
-    from omni.isaac.orbit.envs.base_env import BaseEnv
+    from omni.isaac.orbit.envs import BaseEnv

 """
 Root state.

--- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/randomizations.py
+++ b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/randomizations.py
@@ -22,7 +22,7 @@ from omni.isaac.orbit.managers import SceneEntityCfg
 from omni.isaac.orbit.utils.math import quat_from_euler_xyz, sample_uniform

 if TYPE_CHECKING:
-    from omni.isaac.orbit.envs.base_env import BaseEnv
+    from omni.isaac.orbit.envs import BaseEnv


 def randomize_rigid_body_material(

--- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/rewards.py
+++ b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/rewards.py
@@ -19,14 +19,14 @@ from omni.isaac.orbit.managers import SceneEntityCfg
 from omni.isaac.orbit.sensors import ContactSensor

 if TYPE_CHECKING:
-    from omni.isaac.orbit.envs.rl_env import RLEnv
+    from omni.isaac.orbit.envs import RLTaskEnv

 """
 General.
 """


-def termination_penalty(env: RLEnv) -> torch.Tensor:
+def termination_penalty(env: RLTaskEnv) -> torch.Tensor:
    """Penalize terminated episodes that don't correspond to episodic timeouts."""
    return env.reset_buf * (~env.termination_manager.time_outs)

@@ -36,21 +36,21 @@ Root penalties.
 """


-def lin_vel_z_l2(env: RLEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
+def lin_vel_z_l2(env: RLTaskEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
    """Penalize z-axis base linear velocity using L2-kernel."""
    # extract the used quantities (to enable type-hinting)
    asset: RigidObject = env.scene[asset_cfg.name]
    return torch.square(asset.data.root_lin_vel_b[:, 2])


-def ang_vel_xy_l2(env: RLEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
+def ang_vel_xy_l2(env: RLTaskEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
    """Penalize xy-axis base angular velocity using L2-kernel."""
    # extract the used quantities (to enable type-hinting)
    asset: RigidObject = env.scene[asset_cfg.name]
    return torch.sum(torch.square(asset.data.root_ang_vel_b[:, :2]), dim=1)


-def flat_orientation_l2(env: RLEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
+def flat_orientation_l2(env: RLTaskEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
    """Penalize non-flat base orientation using L2-kernel.

    This is computed by penalizing the xy-components of the projected gravity vector.
@@ -61,7 +61,7 @@ def flat_orientation_l2(env: RLEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("


 def base_height_l2(
-    env: RLEnv, target_height: float, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")
+    env: RLTaskEnv, target_height: float, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")
 ) -> torch.Tensor:
    """Penalize asset height from its target using L2-kernel.

@@ -74,7 +74,7 @@ def base_height_l2(
    return torch.square(asset.data.root_pos_w[:, 2] - target_height)


-def body_lin_acc_l2(env: RLEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
+def body_lin_acc_l2(env: RLTaskEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
    """Penalize the linear acceleration of bodies using L2-kernel."""
    asset: Articulation = env.scene[asset_cfg.name]
    return torch.sum(torch.norm(asset.data.body_lin_acc_w[:, asset_cfg.body_ids, :], dim=-1), dim=1)
@@ -85,28 +85,28 @@ Joint penalties.
 """


-def joint_torques_l2(env: RLEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
+def joint_torques_l2(env: RLTaskEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
    """Penalize torques applied on the articulation using L2-kernel."""
    # extract the used quantities (to enable type-hinting)
    asset: Articulation = env.scene[asset_cfg.name]
    return torch.sum(torch.square(asset.data.applied_torque), dim=1)


-def joint_vel_l2(env: RLEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
+def joint_vel_l2(env: RLTaskEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
    """Penalize joint velocities on the articulation."""
    # extract the used quantities (to enable type-hinting)
    asset: Articulation = env.scene[asset_cfg.name]
    return torch.sum(torch.square(asset.data.joint_vel), dim=1)


-def joint_acc_l2(env: RLEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
+def joint_acc_l2(env: RLTaskEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
    """Penalize joint accelerations on the articulation using L2-kernel."""
    # extract the used quantities (to enable type-hinting)
    asset: Articulation = env.scene[asset_cfg.name]
    return torch.sum(torch.square(asset.data.joint_acc), dim=1)


-def joint_pos_limits(env: RLEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
+def joint_pos_limits(env: RLTaskEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
    """Penalize joint positions if they cross the soft limits.

    This is computed as a sum of the absolute value of the difference between the joint position and the soft limits.
@@ -120,7 +120,7 @@ def joint_pos_limits(env: RLEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("rob


 def joint_vel_limits(
-    env: RLEnv, soft_ratio: float, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")
+    env: RLTaskEnv, soft_ratio: float, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")
 ) -> torch.Tensor:
    """Penalize joint velocities if they cross the soft limits.

@@ -143,7 +143,7 @@ Action penalties.
 """


-def applied_torque_limits(env: RLEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
+def applied_torque_limits(env: RLTaskEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
    """Penalize applied torques if they cross the limits.

    This is computed as a sum of the absolute value of the difference between the applied torques and the limits.
@@ -160,7 +160,7 @@ def applied_torque_limits(env: RLEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg
    return torch.sum(out_of_limits, dim=1)


-def action_rate_l2(env: RLEnv) -> torch.Tensor:
+def action_rate_l2(env: RLTaskEnv) -> torch.Tensor:
    """Penalize the rate of change of the actions using L2-kernel."""
    return torch.sum(torch.square(env.action_manager.action - env.action_manager.prev_action), dim=1)

@@ -170,7 +170,7 @@ Contact sensor.
 """


-def undesired_contacts(env: RLEnv, threshold: float, sensor_cfg: SceneEntityCfg) -> torch.Tensor:
+def undesired_contacts(env: RLTaskEnv, threshold: float, sensor_cfg: SceneEntityCfg) -> torch.Tensor:
    """Penalize undesired contacts as the number of violations that are above a threshold."""
    # extract the used quantities (to enable type-hinting)
    contact_sensor: ContactSensor = env.scene.sensors[sensor_cfg.name]
@@ -181,7 +181,7 @@ def undesired_contacts(env: RLEnv, threshold: float, sensor_cfg: SceneEntityCfg)
    return torch.sum(is_contact, dim=1)


-def contact_forces(env: RLEnv, threshold: float, sensor_cfg: SceneEntityCfg) -> torch.Tensor:
+def contact_forces(env: RLTaskEnv, threshold: float, sensor_cfg: SceneEntityCfg) -> torch.Tensor:
    """Penalize contact forces as the amount of violations of the net contact force."""
    # extract the used quantities (to enable type-hinting)
    contact_sensor: ContactSensor = env.scene.sensors[sensor_cfg.name]
@@ -197,7 +197,9 @@ Velocity-tracking rewards.
 """


-def track_lin_vel_xy_exp(env: RLEnv, std: float, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
+def track_lin_vel_xy_exp(
+    env: RLTaskEnv, std: float, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")
+) -> torch.Tensor:
    """Reward tracking of linear velocity commands (xy axes) using exponential kernel."""
    # extract the used quantities (to enable type-hinting)
    asset: RigidObject = env.scene[asset_cfg.name]
@@ -208,7 +210,9 @@ def track_lin_vel_xy_exp(env: RLEnv, std: float, asset_cfg: SceneEntityCfg = Sce
    return torch.exp(-lin_vel_error / std**2)


-def track_ang_vel_z_exp(env: RLEnv, std: float, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
+def track_ang_vel_z_exp(
+    env: RLTaskEnv, std: float, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")
+) -> torch.Tensor:
    """Reward tracking of angular velocity commands (yaw) using exponential kernel."""
    # extract the used quantities (to enable type-hinting)
    asset: RigidObject = env.scene[asset_cfg.name]

--- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/terminations.py
+++ b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/terminations.py
@@ -19,19 +19,19 @@ from omni.isaac.orbit.managers import SceneEntityCfg
 from omni.isaac.orbit.sensors import ContactSensor

 if TYPE_CHECKING:
-    from omni.isaac.orbit.envs.rl_env import RLEnv
+    from omni.isaac.orbit.envs import RLTaskEnv

 """
 MDP terminations.
 """


-def time_out(env: RLEnv) -> torch.Tensor:
+def time_out(env: RLTaskEnv) -> torch.Tensor:
    """Terminate the episode when the episode length exceeds the maximum episode length."""
    return env.episode_length_buf >= env.max_episode_length


-def command_resample(env: RLEnv, num_resamples: int = 1) -> torch.Tensor:
+def command_resample(env: RLTaskEnv, num_resamples: int = 1) -> torch.Tensor:
    """Terminate the episode based on the total number of times commands have been re-sampled.

    This makes the maximum episode length fluid in nature as it depends on how the commands are
@@ -48,7 +48,7 @@ Root terminations.


 def bad_orientation(
-    env: RLEnv, limit_angle: float, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")
+    env: RLTaskEnv, limit_angle: float, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")
 ) -> torch.Tensor:
    """Terminate when the asset's orientation is too far from the desired orientation limits.

@@ -59,7 +59,9 @@ def bad_orientation(
    return torch.acos(-asset.data.projected_gravity_b[:, 2]).abs() > limit_angle


-def base_height(env: RLEnv, minimum_height: float, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
+def base_height(
+    env: RLTaskEnv, minimum_height: float, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")
+) -> torch.Tensor:
    """Terminate when the asset's height is below the minimum height.

    Note:
@@ -75,7 +77,7 @@ Joint terminations.
 """


-def joint_pos_limit(env: RLEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
+def joint_pos_limit(env: RLTaskEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
    """Terminate when the asset's joint positions are outside of the soft joint limits."""
    # extract the used quantities (to enable type-hinting)
    asset: Articulation = env.scene[asset_cfg.name]
@@ -85,7 +87,9 @@ def joint_pos_limit(env: RLEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robo
    return torch.logical_or(out_of_upper_limits, out_of_lower_limits)


-def joint_velocity_limit(env: RLEnv, max_velocity, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
+def joint_velocity_limit(
+    env: RLTaskEnv, max_velocity, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")
+) -> torch.Tensor:
    """Terminate when the asset's joint velocities are outside of the soft joint limits."""
    # extract the used quantities (to enable type-hinting)
    asset: Articulation = env.scene[asset_cfg.name]
@@ -93,7 +97,7 @@ def joint_velocity_limit(env: RLEnv, max_velocity, asset_cfg: SceneEntityCfg = S
    return torch.any(torch.abs(asset.data.joint_vel) > max_velocity, dim=1)


-def joint_torque_limit(env: RLEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
+def joint_torque_limit(env: RLTaskEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
    """Terminate when torque applied on the asset's joints are are outside of the soft joint limits."""
    # extract the used quantities (to enable type-hinting)
    asset: Articulation = env.scene[asset_cfg.name]
@@ -108,7 +112,7 @@ Contact sensor.
 """


-def illegal_contact(env: RLEnv, threshold: float, sensor_cfg: SceneEntityCfg) -> torch.Tensor:
+def illegal_contact(env: RLTaskEnv, threshold: float, sensor_cfg: SceneEntityCfg) -> torch.Tensor:
    """Terminate when the contact force on the sensor exceeds the force threshold."""
    # extract the used quantities (to enable type-hinting)
    contact_sensor: ContactSensor = env.scene.sensors[sensor_cfg.name]

--- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/rl_env.py
+++ b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/rl_env.py
@@ -15,7 +15,7 @@ from omni.isaac.orbit.command_generators import CommandGeneratorBase
 from omni.isaac.orbit.managers import CurriculumManager, RewardManager, TerminationManager

 from .base_env import BaseEnv
-from .rl_env_cfg import RLEnvCfg
+from .rl_task_env_cfg import RLTaskEnvCfg

 VecEnvObs = Dict[str, Union[torch.Tensor, Dict[str, torch.Tensor]]]
 """Observation returned by the environment.
@@ -32,7 +32,7 @@ observation term in the group, or a single tensor obtained from concatenating al

 Note:
    By default, most learning frameworks deal with default and privileged observations in different ways.
-    This handling must be taken care of by the wrapper around the :class:`RLEnv` instance.
+    This handling must be taken care of by the wrapper around the :class:`RLTaskEnv` instance.

    For included frameworks (RSL-RL, RL-Games, skrl), the observations must have the key "policy". In case,
    the key "critic" is also present, then the critic observations are taken from the "critic" group.
@@ -48,7 +48,7 @@ It contains the observation, reward, termination signal and additional informati
 """


-class RLEnv(BaseEnv, gym.Env):
+class RLTaskEnv(BaseEnv, gym.Env):
    """The superclass for reinforcement learning-based environments.

    This class inherits from :class:`BaseEnv` and implements the core functionality for
@@ -75,10 +75,10 @@ class RLEnv(BaseEnv, gym.Env):
    metadata: ClassVar[dict[str, Any]] = {"render.modes": ["human", "rgb_array"]}
    """Metadata for the environment."""

-    cfg: RLEnvCfg
+    cfg: RLTaskEnvCfg
    """Configuration for the environment."""

-    def __init__(self, cfg: RLEnvCfg, **kwargs):
+    def __init__(self, cfg: RLTaskEnvCfg, **kwargs):
        # initialize the base class to setup the scene.
        super().__init__(cfg=cfg)


--- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/rl_env_cfg.py
+++ b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/rl_env_cfg.py
@@ -11,15 +11,15 @@ from omni.isaac.orbit.command_generators import CommandGeneratorBaseCfg
 from omni.isaac.orbit.utils import configclass

 from .base_env_cfg import BaseEnvCfg
-from .ui import RLEnvWindow
+from .ui import RLTaskEnvWindow


 @configclass
-class RLEnvCfg(BaseEnvCfg):
+class RLTaskEnvCfg(BaseEnvCfg):
    """Configuration for a reinforcement learning environment."""

    # ui settings
-    ui_window_class_type: type | None = RLEnvWindow
+    ui_window_class_type: type | None = RLTaskEnvWindow

    # general settings
    episode_length_s: float = MISSING

--- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/ui/__init__.py
+++ b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/ui/__init__.py
@@ -19,6 +19,6 @@ enable_extension("omni.isaac.ui")

 # import all UI elements here
 from .base_env_window import BaseEnvWindow
-from .rl_env_window import RLEnvWindow
+from .rl_task_env_window import RLTaskEnvWindow

-__all__ = ["BaseEnvWindow", "RLEnvWindow"]
+__all__ = ["BaseEnvWindow", "RLTaskEnvWindow"]
--- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/ui/rl_env_window.py
+++ b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/ui/rl_env_window.py
@@ -10,17 +10,17 @@ from typing import TYPE_CHECKING
 from .base_env_window import BaseEnvWindow

 if TYPE_CHECKING:
-    from ..rl_env import RLEnv
+    from ..rl_task_env import RLTaskEnv


-class RLEnvWindow(BaseEnvWindow):
+class RLTaskEnvWindow(BaseEnvWindow):
    """Window manager for the RL environment.

    On top of the basic environment window, this class adds controls for the RL environment.
    This includes visualization of the command manager.
    """

-    def __init__(self, env: RLEnv, window_name: str = "Orbit"):
+    def __init__(self, env: RLTaskEnv, window_name: str = "Orbit"):
        """Initialize the window.

        Args:

--- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/curriculum_manager.py
+++ b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/curriculum_manager.py
@@ -15,7 +15,7 @@ from .manager_base import ManagerBase
 from .manager_cfg import CurriculumTermCfg

 if TYPE_CHECKING:
-    from omni.isaac.orbit.envs import RLEnv
+    from omni.isaac.orbit.envs import RLTaskEnv


 class CurriculumManager(ManagerBase):
@@ -29,10 +29,10 @@ class CurriculumManager(ManagerBase):
    parameters. Each curriculum term should instantiate the :class:`CurriculumTermCfg` class.
    """

-    _env: RLEnv
+    _env: RLTaskEnv
    """The environment instance."""

-    def __init__(self, cfg: object, env: RLEnv):
+    def __init__(self, cfg: object, env: RLTaskEnv):
        """Initialize the manager.

        Args:

--- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/randomization_manager.py
+++ b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/randomization_manager.py
@@ -17,7 +17,7 @@ from .manager_base import ManagerBase
 from .manager_cfg import RandomizationTermCfg

 if TYPE_CHECKING:
-    from omni.isaac.orbit.envs import RLEnv
+    from omni.isaac.orbit.envs import RLTaskEnv


 class RandomizationManager(ManagerBase):
@@ -49,10 +49,10 @@ class RandomizationManager(ManagerBase):

    """

-    _env: RLEnv
+    _env: RLTaskEnv
    """The environment instance."""

-    def __init__(self, cfg: object, env: RLEnv):
+    def __init__(self, cfg: object, env: RLTaskEnv):
        """Initialize the randomization manager.

        Args:

--- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/reward_manager.py
+++ b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/reward_manager.py
@@ -15,7 +15,7 @@ from .manager_base import ManagerBase
 from .manager_cfg import RewardTermCfg

 if TYPE_CHECKING:
-    from omni.isaac.orbit.envs import RLEnv
+    from omni.isaac.orbit.envs import RLTaskEnv


 class RewardManager(ManagerBase):
@@ -36,10 +36,10 @@ class RewardManager(ManagerBase):

    """

-    _env: RLEnv
+    _env: RLTaskEnv
    """The environment instance."""

-    def __init__(self, cfg: object, env: RLEnv):
+    def __init__(self, cfg: object, env: RLTaskEnv):
        """Initialize the reward manager.

        Args:

--- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/termination_manager.py
+++ b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/termination_manager.py
@@ -15,7 +15,7 @@ from .manager_base import ManagerBase
 from .manager_cfg import TerminationTermCfg

 if TYPE_CHECKING:
-    from omni.isaac.orbit.envs import RLEnv
+    from omni.isaac.orbit.envs import RLTaskEnv


 class TerminationManager(ManagerBase):
@@ -30,10 +30,10 @@ class TerminationManager(ManagerBase):
    parameters. Each termination term should instantiate the :class:`TerminationTermCfg` class.
    """

-    _env: RLEnv
+    _env: RLTaskEnv
    """The environment instance."""

-    def __init__(self, cfg: object, env: RLEnv):
+    def __init__(self, cfg: object, env: RLTaskEnv):
        """Initializes the termination manager.

        Args:

--- a/source/extensions/omni.isaac.orbit_envs/config/extension.toml
+++ b/source/extensions/omni.isaac.orbit_envs/config/extension.toml
@@ -18,4 +18,4 @@ keywords = ["robotics", "rl", "il", "learning"]
 "omni.replicator.isaac" = {}

 [[python.module]]
-name = "omni.isaac.orbit_envs"
+name = "omni.isaac.orbit_tasks"
--- a/source/extensions/omni.isaac.orbit_envs/docs/CHANGELOG.rst
+++ b/source/extensions/omni.isaac.orbit_envs/docs/CHANGELOG.rst
@@ -9,6 +9,12 @@ Changed

 * Changed the way agent configs are handled for environments and learning agents. Switched from yaml to configclasses.

+Fixed
+^^^^^
+
+* Fixed the way package import automation is handled in the :mod:`omni.isaac.orbit_tasks` module. Earlier it was
+  not skipping the blacklisted packages properly.
+

 0.4.3 (2023-09-25)
 ~~~~~~~~~~~~~~~~~~

--- a/source/extensions/omni.isaac.orbit_envs/docs/README.md
+++ b/source/extensions/omni.isaac.orbit_envs/docs/README.md
@@ -14,7 +14,7 @@ itself. However, its various instances are included in directories within the en
 This looks like as follows:

 ```tree
-omni/isaac/orbit_envs/locomotion/
+omni/isaac/orbit_tasks/locomotion/
 ├── __init__.py
 └── velocity
    ├── a1
@@ -26,19 +26,19 @@ omni/isaac/orbit_envs/locomotion/
    └── velocity_env.py
 ```

-The environments are then registered in the `omni/isaac/orbit_envs/__init__.py`:
+The environments are then registered in the `omni/isaac/orbit_tasks/__init__.py`:

 ```python
 gym.register(
    id="Isaac-Velocity-Anymal-C-v0",
-    entry_point="omni.isaac.orbit_envs.locomotion.velocity:LocomotionEnv",
-    kwargs={"cfg_entry_point": "omni.isaac.orbit_envs.locomotion.velocity.anymal_c.flat_terrain_cfg:FlatTerrainCfg"},
+    entry_point="omni.isaac.orbit_tasks.locomotion.velocity:LocomotionEnv",
+    kwargs={"cfg_entry_point": "omni.isaac.orbit_tasks.locomotion.velocity.anymal_c.flat_terrain_cfg:FlatTerrainCfg"},
 )

 gym.register(
    id="Isaac-Velocity-A1-v0",
-    entry_point="omni.isaac.orbit_envs.locomotion.velocity:LocomotionEnv",
-    kwargs={"cfg_entry_point": "omni.isaac.orbit_envs.locomotion.velocity.a1.flat_terrain_cfg:FlatTerrainCfg"},
+    entry_point="omni.isaac.orbit_tasks.locomotion.velocity:LocomotionEnv",
+    kwargs={"cfg_entry_point": "omni.isaac.orbit_tasks.locomotion.velocity.a1.flat_terrain_cfg:FlatTerrainCfg"},
 )
 ```


--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/__init__.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/__init__.py
@@ -19,8 +19,8 @@ Note:

 Usage:
    >>> import gym
-    >>> import omni.isaac.orbit_envs
-    >>> from omni.isaac.orbit_envs.utils.parse_cfg import load_default_env_cfg
+    >>> import omni.isaac.orbit_tasks
+    >>> from omni.isaac.orbit_tasks.utils.parse_cfg import load_default_env_cfg
    >>>
    >>> task_name = "Isaac-Cartpole-v0"
    >>> cfg = load_default_env_cfg(task_name)
@@ -29,64 +29,26 @@ Usage:

 from __future__ import annotations

-import importlib
 import os
-import pkgutil
 import toml

 # Conveniences to other module directories via relative paths
-ORBIT_ENVS_EXT_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), "../../../"))
+ORBIT_TASKS_EXT_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), "../../../"))
 """Path to the extension source directory."""

-ORBIT_ENVS_DATA_DIR = os.path.join(ORBIT_ENVS_EXT_DIR, "data")
-"""Path to the extension data directory."""
-
-ORBIT_ENVS_METADATA = toml.load(os.path.join(ORBIT_ENVS_EXT_DIR, "config", "extension.toml"))
+ORBIT_TASKS_METADATA = toml.load(os.path.join(ORBIT_TASKS_EXT_DIR, "config", "extension.toml"))
 """Extension metadata dictionary parsed from the extension.toml file."""

 # Configure the module-level variables
-__version__ = ORBIT_ENVS_METADATA["package"]["version"]
+__version__ = ORBIT_TASKS_METADATA["package"]["version"]

 ##
 # Register Gym environments.
 ##

-
-def _import_all(package_name: str, blacklist_pkgs: list[str] = None):
-    """Import all sub-packages in a package recursively.
-
-    It is easier to use this function to import all sub-packages in a package recursively
-    than to manually import each sub-package.
-
-    It replaces the need of the following code:
-
-    .. code-block:: python
-
-        import .locomotion.velocity
-        import .manipulation.reach
-        import .manipulation.lift
-
-    Args:
-        package_name: The package name.
-        blacklist_pkgs: The list of blacklisted packages to skip. Defaults to None,
-            which means no packages are blacklisted.
-    """
-    # Default blacklist
-    if blacklist_pkgs is None:
-        blacklist_pkgs = []
-    # Import the package
-    package = importlib.import_module(package_name)
-    # Import all Python files
-    for file_name, module_name, is_pkg in pkgutil.walk_packages(package.__path__, package.__name__ + "."):
-        # check blacklisted
-        if any([pkg_name in module_name for pkg_name in blacklist_pkgs]):
-            continue
-        if is_pkg:
-            importlib.import_module(module_name)
-            _import_all(module_name, blacklist_pkgs)
-
+from .utils import import_packages

 # The blacklist is used to prevent importing configs from sub-packages
 _BLACKLIST_PKGS = ["locomotion.velocity.config.anymal_d", "classic", "manipulation", "utils"]
 # Import all configs in this package
-_import_all(__name__, _BLACKLIST_PKGS)
+import_packages(__name__, _BLACKLIST_PKGS)
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/__init__.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/__init__.py
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/ant/__init__.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/ant/__init__.py
@@ -17,7 +17,7 @@ from . import agents

 gym.register(
    id="Isaac-Ant-v0",
-    entry_point="omni.isaac.orbit.envs.rl_env:RLEnv",
+    entry_point="omni.isaac.orbit.envs:RLTaskEnv",
    kwargs={
        "env_cfg_entry_point": f"{__name__}:ant_env_cfg.yaml",
        "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",

--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/ant/agents/rl_games_ppo_cfg.yaml
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/ant/agents/rl_games_ppo_cfg.yaml
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/ant/agents/sb3_ppo_cfg.yaml
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/ant/agents/sb3_ppo_cfg.yaml
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/ant/agents/skrl_ppo_cfg.yaml
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/ant/agents/skrl_ppo_cfg.yaml
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/ant/ant_cfg.yaml
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/ant/ant_cfg.yaml
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/ant/ant_env.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/ant/ant_env.py
@@ -16,8 +16,8 @@ from omni.isaac.core.articulations import ArticulationView

 import omni.isaac.orbit.compat.utils.kit as kit_utils

-from omni.isaac.orbit_envs.isaac_env import IsaacEnv, VecEnvIndices, VecEnvObs
-from omni.isaac.orbit_envs.isaac_env_cfg import EnvCfg, IsaacEnvCfg
+from omni.isaac.orbit_tasks.isaac_env import IsaacEnv, VecEnvIndices, VecEnvObs
+from omni.isaac.orbit_tasks.isaac_env_cfg import EnvCfg, IsaacEnvCfg


 class AntEnv(IsaacEnv):

--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/cartpole/__init__.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/cartpole/__init__.py
@@ -17,7 +17,7 @@ from . import agents

 gym.register(
    id="Isaac-Cartpole-v0",
-    entry_point="omni.isaac.orbit.envs.rl_env:RLEnv",
+    entry_point="omni.isaac.orbit.envs:RLTaskEnv",
    kwargs={
        "env_cfg_entry_point": f"{__name__}:ant_env_cfg.yaml",
        "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",

--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/cartpole/agents/rl_games_ppo_cfg.yaml
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/cartpole/agents/rl_games_ppo_cfg.yaml
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/cartpole/agents/rsl_rl_ppo_cfg.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/cartpole/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause

-from omni.isaac.orbit_envs.utils.wrappers.rsl_rl import (
+from omni.isaac.orbit_tasks.utils.wrappers.rsl_rl import (
    RslRlOnPolicyRunnerCfg,
    RslRlPpoActorCriticCfg,
    RslRlPpoAlgorithmCfg,

--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/cartpole/agents/sb3_ppo_cfg.yaml
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/cartpole/agents/sb3_ppo_cfg.yaml
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/cartpole/agents/skrl_ppo_cfg.yaml
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/cartpole/agents/skrl_ppo_cfg.yaml
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/cartpole/cartpole_cfg.yaml
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/cartpole/cartpole_cfg.yaml
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/cartpole/cartpole_env.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/cartpole/cartpole_env.py
@@ -15,8 +15,8 @@ from omni.isaac.core.articulations import ArticulationView

 import omni.isaac.orbit.compat.utils.kit as kit_utils

-from omni.isaac.orbit_envs.isaac_env import IsaacEnv, VecEnvIndices, VecEnvObs
-from omni.isaac.orbit_envs.isaac_env_cfg import EnvCfg, IsaacEnvCfg
+from omni.isaac.orbit_tasks.isaac_env import IsaacEnv, VecEnvIndices, VecEnvObs
+from omni.isaac.orbit_tasks.isaac_env_cfg import EnvCfg, IsaacEnvCfg


 class CartpoleEnv(IsaacEnv):

--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/humanoid/__init__.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/humanoid/__init__.py
@@ -17,7 +17,7 @@ from . import agents

 gym.register(
    id="Isaac-Humanoid-v0",
-    entry_point="omni.isaac.orbit.envs.rl_env:RLEnv",
+    entry_point="omni.isaac.orbit.envs:RLTaskEnv",
    kwargs={
        "env_cfg_entry_point": f"{__name__}:ant_env_cfg.yaml",
        "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",

--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/humanoid/agents/rl_games_ppo.yaml
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/humanoid/agents/rl_games_ppo.yaml
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/humanoid/agents/sb3_ppo_cfg.yaml
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/humanoid/agents/sb3_ppo_cfg.yaml
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/humanoid/agents/skrl_ppo_cfg.yaml
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/humanoid/agents/skrl_ppo_cfg.yaml
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/humanoid/humanoid_cfg.yaml
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/humanoid/humanoid_cfg.yaml
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/humanoid/humanoid_env.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/humanoid/humanoid_env.py
@@ -16,8 +16,8 @@ from omni.isaac.core.articulations import ArticulationView

 import omni.isaac.orbit.compat.utils.kit as kit_utils

-from omni.isaac.orbit_envs.isaac_env import IsaacEnv, VecEnvIndices, VecEnvObs
-from omni.isaac.orbit_envs.isaac_env_cfg import EnvCfg, IsaacEnvCfg
+from omni.isaac.orbit_tasks.isaac_env import IsaacEnv, VecEnvIndices, VecEnvObs
+from omni.isaac.orbit_tasks.isaac_env_cfg import EnvCfg, IsaacEnvCfg


 class HumanoidEnv(IsaacEnv):

--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/__init__.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/__init__.py
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/__init__.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/__init__.py
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/__init__.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/__init__.py
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/anymal_b/__init__.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/anymal_b/__init__.py
@@ -13,7 +13,7 @@ from . import agents, flat_env_cfg, rough_env_cfg

 gym.register(
    id="Isaac-Velocity-Flat-Anymal-B-v0",
-    entry_point="omni.isaac.orbit.envs.rl_env:RLEnv",
+    entry_point="omni.isaac.orbit.envs:RLTaskEnv",
    kwargs={
        "env_cfg_entry_point": flat_env_cfg.AnymalBFlatEnvCfg,
        "rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AnymalBFlatPPORunnerCfg,
@@ -22,7 +22,7 @@ gym.register(

 gym.register(
    id="Isaac-Velocity-Flat-Anymal-B-Play-v0",
-    entry_point="omni.isaac.orbit.envs.rl_env:RLEnv",
+    entry_point="omni.isaac.orbit.envs:RLTaskEnv",
    kwargs={
        "env_cfg_entry_point": flat_env_cfg.AnymalBFlatEnvCfg_PLAY,
        "rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AnymalBFlatPPORunnerCfg,
@@ -31,7 +31,7 @@ gym.register(

 gym.register(
    id="Isaac-Velocity-Rough-Anymal-B-v0",
-    entry_point="omni.isaac.orbit.envs.rl_env:RLEnv",
+    entry_point="omni.isaac.orbit.envs:RLTaskEnv",
    kwargs={
        "env_cfg_entry_point": rough_env_cfg.AnymalBRoughEnvCfg,
        "rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AnymalBRoughPPORunnerCfg,
@@ -40,7 +40,7 @@ gym.register(

 gym.register(
    id="Isaac-Velocity-Rough-Anymal-B-Play-v0",
-    entry_point="omni.isaac.orbit.envs.rl_env:RLEnv",
+    entry_point="omni.isaac.orbit.envs:RLTaskEnv",
    kwargs={
        "env_cfg_entry_point": rough_env_cfg.AnymalBRoughEnvCfg_PLAY,
        "rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AnymalBRoughPPORunnerCfg,

--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/anymal_b/agents/__init__.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/anymal_b/agents/__init__.py
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/anymal_b/agents/rsl_rl_cfg.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/anymal_b/agents/rsl_rl_cfg.py
@@ -5,7 +5,7 @@

 from omni.isaac.orbit.utils import configclass

-from omni.isaac.orbit_envs.utils.wrappers.rsl_rl import (
+from omni.isaac.orbit_tasks.utils.wrappers.rsl_rl import (
    RslRlOnPolicyRunnerCfg,
    RslRlPpoActorCriticCfg,
    RslRlPpoAlgorithmCfg,

--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/anymal_b/flat_env_cfg.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/anymal_b/flat_env_cfg.py
@@ -5,7 +5,7 @@

 from omni.isaac.orbit.utils import configclass

-from omni.isaac.orbit_envs.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg
+from omni.isaac.orbit_tasks.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg

 ##
 # Pre-defined configs

--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/anymal_b/rough_env_cfg.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/anymal_b/rough_env_cfg.py
@@ -5,7 +5,7 @@

 from omni.isaac.orbit.utils import configclass

-from omni.isaac.orbit_envs.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg
+from omni.isaac.orbit_tasks.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg

 ##
 # Pre-defined configs

--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/anymal_c/__init__.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/anymal_c/__init__.py
@@ -13,17 +13,17 @@ from . import agents, flat_env_cfg, rough_env_cfg

 gym.register(
    id="Isaac-Velocity-Flat-Anymal-C-v0",
-    entry_point="omni.isaac.orbit.envs.rl_env:RLEnv",
+    entry_point="omni.isaac.orbit.envs:RLTaskEnv",
    kwargs={
        "env_cfg_entry_point": flat_env_cfg.AnymalCFlatEnvCfg,
        "rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AnymalCFlatPPORunnerCfg,
-        "skrl_cfg_entry_point": "omni.isaac.orbit_envs.locomotion.velocity.anymal_c.agents:skrl_cfg.yaml",
+        "skrl_cfg_entry_point": "omni.isaac.orbit_tasks.locomotion.velocity.anymal_c.agents:skrl_cfg.yaml",
    },
 )

 gym.register(
    id="Isaac-Velocity-Flat-Anymal-C-Play-v0",
-    entry_point="omni.isaac.orbit.envs.rl_env:RLEnv",
+    entry_point="omni.isaac.orbit.envs:RLTaskEnv",
    kwargs={
        "env_cfg_entry_point": flat_env_cfg.AnymalCFlatEnvCfg_PLAY,
        "rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AnymalCFlatPPORunnerCfg,
@@ -32,7 +32,7 @@ gym.register(

 gym.register(
    id="Isaac-Velocity-Rough-Anymal-C-v0",
-    entry_point="omni.isaac.orbit.envs.rl_env:RLEnv",
+    entry_point="omni.isaac.orbit.envs:RLTaskEnv",
    kwargs={
        "env_cfg_entry_point": rough_env_cfg.AnymalCRoughEnvCfg,
        "rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AnymalCRoughPPORunnerCfg,
@@ -41,7 +41,7 @@ gym.register(

 gym.register(
    id="Isaac-Velocity-Rough-Anymal-C-Play-v0",
-    entry_point="omni.isaac.orbit.envs.rl_env:RLEnv",
+    entry_point="omni.isaac.orbit.envs:RLTaskEnv",
    kwargs={
        "env_cfg_entry_point": rough_env_cfg.AnymalCRoughEnvCfg_PLAY,
        "rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AnymalCRoughPPORunnerCfg,

--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/anymal_c/agents/__init__.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/anymal_c/agents/__init__.py
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/anymal_c/agents/rsl_rl_cfg.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/anymal_c/agents/rsl_rl_cfg.py
@@ -5,7 +5,7 @@

 from omni.isaac.orbit.utils import configclass

-from omni.isaac.orbit_envs.utils.wrappers.rsl_rl import (
+from omni.isaac.orbit_tasks.utils.wrappers.rsl_rl import (
    RslRlOnPolicyRunnerCfg,
    RslRlPpoActorCriticCfg,
    RslRlPpoAlgorithmCfg,

--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/anymal_c/agents/skrl_cfg.yaml
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/anymal_c/agents/skrl_cfg.yaml
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/anymal_c/flat_env_cfg.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/anymal_c/flat_env_cfg.py
@@ -5,7 +5,7 @@

 from omni.isaac.orbit.utils import configclass

-from omni.isaac.orbit_envs.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg
+from omni.isaac.orbit_tasks.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg

 ##
 # Pre-defined configs

--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/anymal_c/rough_env_cfg.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/anymal_c/rough_env_cfg.py
@@ -5,7 +5,7 @@

 from omni.isaac.orbit.utils import configclass

-from omni.isaac.orbit_envs.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg
+from omni.isaac.orbit_tasks.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg

 ##
 # Pre-defined configs

--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/anymal_d/__init__.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/anymal_d/__init__.py
@@ -13,7 +13,7 @@ from . import agents, flat_env_cfg, rough_env_cfg

 gym.register(
    id="Isaac-Velocity-Flat-Anymal-D-v0",
-    entry_point="omni.isaac.orbit.envs.rl_env:RLEnv",
+    entry_point="omni.isaac.orbit.envs:RLTaskEnv",
    kwargs={
        "env_cfg_entry_point": flat_env_cfg.AnymalDFlatEnvCfg,
        "rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AnymalDFlatPPORunnerCfg,
@@ -22,7 +22,7 @@ gym.register(

 gym.register(
    id="Isaac-Velocity-Flat-Anymal-D-Play-v0",
-    entry_point="omni.isaac.orbit.envs.rl_env:RLEnv",
+    entry_point="omni.isaac.orbit.envs:RLTaskEnv",
    kwargs={
        "env_cfg_entry_point": flat_env_cfg.AnymalDFlatEnvCfg_PLAY,
        "rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AnymalDFlatPPORunnerCfg,
@@ -31,7 +31,7 @@ gym.register(

 gym.register(
    id="Isaac-Velocity-Rough-Anymal-D-v0",
-    entry_point="omni.isaac.orbit.envs.rl_env:RLEnv",
+    entry_point="omni.isaac.orbit.envs:RLTaskEnv",
    kwargs={
        "env_cfg_entry_point": rough_env_cfg.AnymalDRoughEnvCfg,
        "rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AnymalDRoughPPORunnerCfg,
@@ -40,7 +40,7 @@ gym.register(

 gym.register(
    id="Isaac-Velocity-Rough-Anymal-D-Play-v0",
-    entry_point="omni.isaac.orbit.envs.rl_env:RLEnv",
+    entry_point="omni.isaac.orbit.envs:RLTaskEnv",
    kwargs={
        "env_cfg_entry_point": rough_env_cfg.AnymalDRoughEnvCfg_PLAY,
        "rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AnymalDRoughPPORunnerCfg,

--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/anymal_d/agents/__init__.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/anymal_d/agents/__init__.py
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/anymal_d/agents/rsl_rl_cfg.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/anymal_d/agents/rsl_rl_cfg.py
@@ -5,7 +5,7 @@

 from omni.isaac.orbit.utils import configclass

-from omni.isaac.orbit_envs.utils.wrappers.rsl_rl import (
+from omni.isaac.orbit_tasks.utils.wrappers.rsl_rl import (
    RslRlOnPolicyRunnerCfg,
    RslRlPpoActorCriticCfg,
    RslRlPpoAlgorithmCfg,

--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/anymal_d/flat_env_cfg.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/anymal_d/flat_env_cfg.py
@@ -5,7 +5,7 @@

 from omni.isaac.orbit.utils import configclass

-from omni.isaac.orbit_envs.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg
+from omni.isaac.orbit_tasks.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg

 ##
 # Pre-defined configs

--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/anymal_d/rough_env_cfg.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/anymal_d/rough_env_cfg.py
@@ -5,7 +5,7 @@

 from omni.isaac.orbit.utils import configclass

-from omni.isaac.orbit_envs.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg
+from omni.isaac.orbit_tasks.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg

 ##
 # Pre-defined configs

--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/unitree_a1/__init__.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/unitree_a1/__init__.py
@@ -13,7 +13,7 @@ from . import agents, flat_env_cfg, rough_env_cfg

 gym.register(
    id="Isaac-Velocity-Flat-Unitree-A1-v0",
-    entry_point="omni.isaac.orbit.envs.rl_env:RLEnv",
+    entry_point="omni.isaac.orbit.envs:RLTaskEnv",
    kwargs={
        "env_cfg_entry_point": flat_env_cfg.UnitreeA1FlatEnvCfg,
        "rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.UnitreeA1FlatPPORunnerCfg,
@@ -22,7 +22,7 @@ gym.register(

 gym.register(
    id="Isaac-Velocity-Flat-Unitree-A1-Play-v0",
-    entry_point="omni.isaac.orbit.envs.rl_env:RLEnv",
+    entry_point="omni.isaac.orbit.envs:RLTaskEnv",
    kwargs={
        "env_cfg_entry_point": flat_env_cfg.UnitreeA1FlatEnvCfg_PLAY,
        "rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.UnitreeA1FlatPPORunnerCfg,
@@ -31,7 +31,7 @@ gym.register(

 gym.register(
    id="Isaac-Velocity-Rough-Unitree-A1-v0",
-    entry_point="omni.isaac.orbit.envs.rl_env:RLEnv",
+    entry_point="omni.isaac.orbit.envs:RLTaskEnv",
    kwargs={
        "env_cfg_entry_point": rough_env_cfg.UnitreeA1RoughEnvCfg,
        "rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.UnitreeA1RoughPPORunnerCfg,
@@ -40,7 +40,7 @@ gym.register(

 gym.register(
    id="Isaac-Velocity-Rough-Unitree-A1-Play-v0",
-    entry_point="omni.isaac.orbit.envs.rl_env:RLEnv",
+    entry_point="omni.isaac.orbit.envs:RLTaskEnv",
    kwargs={
        "env_cfg_entry_point": rough_env_cfg.UnitreeA1RoughEnvCfg_PLAY,
        "rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.UnitreeA1RoughPPORunnerCfg,

--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/unitree_a1/agents/__init__.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/unitree_a1/agents/__init__.py
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/unitree_a1/agents/rsl_rl_cfg.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/unitree_a1/agents/rsl_rl_cfg.py
@@ -5,7 +5,7 @@

 from omni.isaac.orbit.utils import configclass

-from omni.isaac.orbit_envs.utils.wrappers.rsl_rl import (
+from omni.isaac.orbit_tasks.utils.wrappers.rsl_rl import (
    RslRlOnPolicyRunnerCfg,
    RslRlPpoActorCriticCfg,
    RslRlPpoAlgorithmCfg,

--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/unitree_a1/flat_env_cfg.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/unitree_a1/flat_env_cfg.py
@@ -5,7 +5,7 @@

 from omni.isaac.orbit.utils import configclass

-from omni.isaac.orbit_envs.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg
+from omni.isaac.orbit_tasks.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg

 ##
 # Pre-defined configs

--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/unitree_a1/rough_env_cfg.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/config/unitree_a1/rough_env_cfg.py
@@ -5,7 +5,7 @@

 from omni.isaac.orbit.utils import configclass

-from omni.isaac.orbit_envs.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg
+from omni.isaac.orbit_tasks.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg

 ##
 # Pre-defined configs

--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/mdp/__init__.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/mdp/__init__.py
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/mdp/rewards.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/mdp/rewards.py
@@ -12,10 +12,10 @@ from omni.isaac.orbit.managers import SceneEntityCfg
 from omni.isaac.orbit.sensors import ContactSensor

 if TYPE_CHECKING:
-    from omni.isaac.orbit.envs import RLEnv
+    from omni.isaac.orbit.envs import RLTaskEnv


-def feet_air_time(env: RLEnv, sensor_cfg: SceneEntityCfg, threshold: float) -> torch.Tensor:
+def feet_air_time(env: RLTaskEnv, sensor_cfg: SceneEntityCfg, threshold: float) -> torch.Tensor:
    """Reward long steps taken by the feet using L2-kernel.

    This function rewards the agent for taking steps that are longer than a threshold. This helps ensure

--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/velocity_env_cfg.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/velocity_env_cfg.py
@@ -11,7 +11,7 @@ from dataclasses import MISSING
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg
 from omni.isaac.orbit.command_generators import UniformVelocityCommandGeneratorCfg
-from omni.isaac.orbit.envs import RLEnvCfg
+from omni.isaac.orbit.envs import RLTaskEnvCfg
 from omni.isaac.orbit.managers import CurriculumTermCfg as CurrTerm
 from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup
 from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm
@@ -25,7 +25,7 @@ from omni.isaac.orbit.terrains import TerrainImporterCfg
 from omni.isaac.orbit.utils import configclass
 from omni.isaac.orbit.utils.noise import AdditiveUniformNoiseCfg as Unoise

-import omni.isaac.orbit_envs.locomotion.velocity.mdp as mdp
+import omni.isaac.orbit_tasks.locomotion.velocity.mdp as mdp

 ##
 # Pre-defined configs
@@ -243,7 +243,7 @@ class CurriculumCfg:


 @configclass
-class LocomotionVelocityRoughEnvCfg(RLEnvCfg):
+class LocomotionVelocityRoughEnvCfg(RLTaskEnvCfg):
    """Configuration for the locomotion velocity-tracking environment."""

    # Scene settings

--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/__init__.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/__init__.py
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/cabinet/agents/rl_games_ppo_cfg.yaml
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/cabinet/agents/rl_games_ppo_cfg.yaml
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/cabinet/agents/rsl_rl_ppo_cfg.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/cabinet/agents/rsl_rl_ppo_cfg.py
@@ -5,7 +5,7 @@

 # TODO: be moved once CabinetEnv exists

-from omni.isaac.orbit_envs.utils.wrappers.rsl_rl import (
+from omni.isaac.orbit_tasks.utils.wrappers.rsl_rl import (
    RslRlOnPolicyRunnerCfg,
    RslRlPpoActorCriticCfg,
    RslRlPpoAlgorithmCfg,

--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/cabinet/agents/sb3_ppo_cfg.yaml
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/cabinet/agents/sb3_ppo_cfg.yaml
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/lift/__init__.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/lift/__init__.py
@@ -17,7 +17,7 @@ from . import agents

 gym.register(
    id="Isaac-Lift-Franka-v0",
-    entry_point="omni.isaac.orbit.envs.rl_env:RLEnv",
+    entry_point="omni.isaac.orbit.envs:RLTaskEnv",
    kwargs={
        "env_cfg_entry_point": f"{__name__}.lift_env_cfg:LiftEnvCfg",
        "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",

--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/lift/agents/rl_games_ppo_cfg.yaml
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/lift/agents/rl_games_ppo_cfg.yaml
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/lift/agents/robomimic/bc.json
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/lift/agents/robomimic/bc.json
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/lift/agents/robomimic/bcq.json
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/lift/agents/robomimic/bcq.json
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/lift/agents/rsl_rl_ppo_cfg.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/lift/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause

-from omni.isaac.orbit_envs.utils.wrappers.rsl_rl import (
+from omni.isaac.orbit_tasks.utils.wrappers.rsl_rl import (
    RslRlOnPolicyRunnerCfg,
    RslRlPpoActorCriticCfg,
    RslRlPpoAlgorithmCfg,

--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/lift/agents/sb3_ppo_cfg.yaml
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/lift/agents/sb3_ppo_cfg.yaml
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/lift/agents/skrl_ppo_cfg.yaml
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/lift/agents/skrl_ppo_cfg.yaml
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/lift/lift_cfg.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/lift/lift_cfg.py
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/lift/lift_env.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/lift/lift_env.py
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/reach/__init__.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/reach/__init__.py
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/reach/agents/rl_games_ppo_cfg.yaml
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/reach/agents/rl_games_ppo_cfg.yaml
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/reach/agents/rsl_rl_ppo_cfg.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/reach/agents/rsl_rl_ppo_cfg.py
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/reach/agents/skrl_ppo_cfg.yaml
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/reach/agents/skrl_ppo_cfg.yaml
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/reach/reach_cfg.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/reach/reach_cfg.py
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/reach/reach_env.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/reach/reach_env.py
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/utils/__init__.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/utils/__init__.py
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/utils/data_collector/__init__.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/utils/data_collector/__init__.py
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/utils/data_collector/robomimic_data_collector.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/utils/data_collector/robomimic_data_collector.py
--- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/importer.py
+++ b/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/importer.py
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/utils/parse_cfg.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/utils/parse_cfg.py
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/utils/wrappers/__init__.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/utils/wrappers/__init__.py
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/utils/wrappers/rl_games.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/utils/wrappers/rl_games.py
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/utils/wrappers/rsl_rl/__init__.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/utils/wrappers/rsl_rl/__init__.py
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/utils/wrappers/rsl_rl/exporter.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/utils/wrappers/rsl_rl/exporter.py
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/utils/wrappers/rsl_rl/rl_cfg.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/utils/wrappers/rsl_rl/rl_cfg.py
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/utils/wrappers/rsl_rl/vecenv_wrapper.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/utils/wrappers/rsl_rl/vecenv_wrapper.py
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/utils/wrappers/sb3.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/utils/wrappers/sb3.py
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/utils/wrappers/skrl.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/utils/wrappers/skrl.py
--- a/source/extensions/omni.isaac.orbit_envs/setup.py
+++ b/source/extensions/omni.isaac.orbit_envs/setup.py
--- a/source/extensions/omni.isaac.orbit_envs/test/test_data_collector.py
+++ b/source/extensions/omni.isaac.orbit_envs/test/test_data_collector.py
--- a/source/extensions/omni.isaac.orbit_envs/test/test_environments.py
+++ b/source/extensions/omni.isaac.orbit_envs/test/test_environments.py
--- a/source/extensions/omni.isaac.orbit_envs/test/test_record_video.py
+++ b/source/extensions/omni.isaac.orbit_envs/test/test_record_video.py
--- a/source/standalone/environments/list_envs.py
+++ b/source/standalone/environments/list_envs.py
--- a/source/standalone/environments/random_agent.py
+++ b/source/standalone/environments/random_agent.py
--- a/source/standalone/environments/state_machine/play_lift.py
+++ b/source/standalone/environments/state_machine/play_lift.py
--- a/source/standalone/environments/teleoperation/teleop_se3_agent.py
+++ b/source/standalone/environments/teleoperation/teleop_se3_agent.py
--- a/source/standalone/environments/zero_agent.py
+++ b/source/standalone/environments/zero_agent.py
--- a/source/standalone/workflows/rl_games/play.py
+++ b/source/standalone/workflows/rl_games/play.py
--- a/source/standalone/workflows/rl_games/train.py
+++ b/source/standalone/workflows/rl_games/train.py
--- a/source/standalone/workflows/robomimic/collect_demonstrations.py
+++ b/source/standalone/workflows/robomimic/collect_demonstrations.py
--- a/source/standalone/workflows/robomimic/play.py
+++ b/source/standalone/workflows/robomimic/play.py
--- a/source/standalone/workflows/rsl_rl/cli_args.py
+++ b/source/standalone/workflows/rsl_rl/cli_args.py
--- a/source/standalone/workflows/rsl_rl/play.py
+++ b/source/standalone/workflows/rsl_rl/play.py
--- a/source/standalone/workflows/rsl_rl/train.py
+++ b/source/standalone/workflows/rsl_rl/train.py
--- a/source/standalone/workflows/sb3/play.py
+++ b/source/standalone/workflows/sb3/play.py
--- a/source/standalone/workflows/sb3/train.py
+++ b/source/standalone/workflows/sb3/train.py
--- a/source/standalone/workflows/skrl/play.py
+++ b/source/standalone/workflows/skrl/play.py
--- a/source/standalone/workflows/skrl/train.py
+++ b/source/standalone/workflows/skrl/train.py