# Description

The current `omni.isaac.orbit.envs.BaseEnv` does not include the methods
to `reset` and `step`, while the `RLTaskEnv` adds those functionalities.
This PR unifies the structure of an `Env` and adds these core components
to the `BaseEnv` as well.


## Type of change

- New feature (non-breaking change which adds functionality)
- 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
- [x] 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
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>