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# 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 --------- Co-authored-by: Mayank Mittal <[email protected]>
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