# Description

As discussed in the past, the `BaseEnv` should only contain an
observation-action interface, while `RlEnv` should contain also the
task-specific interface. Based on this, the MR introduces the following
changes:

* Moves randomization manager to the `BaseEnv` class with the default
settings to reset the scene to the defaults specified in the
configurations of assets.
* Moves command generator to `RlEnv` class
* Adds a `NullCommandGenerator` for no command environments: This is
easier to work with than having checks for None.

## 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`
- [x] 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

---------
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: jsmith-bdai <142246516+jsmith-bdai@users.noreply.github.com>