diff --git a/examples/learning_rl/IsaacGym_RofuncRL/example_FrankaCubeStack_RofuncRL.py b/examples/learning_rl/IsaacGym_RofuncRL/example_FrankaCubeStack_RofuncRL.py
index a33b6041..c2e28aff 100644
--- a/examples/learning_rl/IsaacGym_RofuncRL/example_FrankaCubeStack_RofuncRL.py
+++ b/examples/learning_rl/IsaacGym_RofuncRL/example_FrankaCubeStack_RofuncRL.py
@@ -1,8 +1,8 @@
 """
-FrankaCabinet (RofuncRL)
+FrankaCubeStack (RofuncRL)
 =======================
 
-Open drawers with a Franka robot, trained by RofuncRL
+FrankaCubeStack, trained by RofuncRL
 """
 
 import isaacgym
@@ -94,7 +94,7 @@ def inference(custom_args):
     parser.add_argument("--num_envs", type=int, default=4096)
     parser.add_argument("--device_id", type=int, default=gpu_id)
     parser.add_argument("--rl_device", type=str, default=f"cuda:{gpu_id}")
-    parser.add_argument("--headless", type=str, default="False")
+    parser.add_argument("--headless", type=str, default="True")
     parser.add_argument("--inference", action="store_true", help="turn to inference mode while adding this argument")
     parser.add_argument("--ckpt_path", type=str, default=None)
     custom_args = parser.parse_args()
diff --git a/rofunc/learning/RofuncRL/tasks/__init__.py b/rofunc/learning/RofuncRL/tasks/__init__.py
index 6ea0a477..ab0ff7dc 100644
--- a/rofunc/learning/RofuncRL/tasks/__init__.py
+++ b/rofunc/learning/RofuncRL/tasks/__init__.py
@@ -2,23 +2,23 @@ class Tasks:
     def __init__(self, env_type="isaacgym"):
         if env_type == "isaacgym":
             # Isaac Gym tasks
-            from .ant import AntTask
-            from .cartpole import CartpoleTask
-            from .curi_cabinet import CURICabinetTask
-            from .curi_cabinet_image import CURICabinetImageTask
-            from .curi_cabinet_bimanual import CURICabinetBimanualTask
-            from .curi_coffee_stirring import CURICoffeeStirringTask
-            from .franka_cabinet import FrankaCabinetTask
-            from .franka_cube_stack import FrankaCubeStackTask
-            from .humanoid import HumanoidTask
-            from .humanoid_amp import HumanoidAMPTask
-            from .ase.humanoid_amp_getup import HumanoidAMPGetupTask
-            from .ase.humanoid_perturb import HumanoidPerturbTask
-            from .ase.humanoid_heading import HumanoidHeadingTask
-            from .ase.humanoid_location import HumanoidLocationTask
-            from .ase.humanoid_reach import HumanoidReachTask
-            from .ase.humanoid_strike import HumanoidStrikeTask
-            from .ase.humanoid_view_motion import HumanoidViewMotionTask
+            from .isaacgym.ant import AntTask
+            from .isaacgym.cartpole import CartpoleTask
+            from .isaacgym.curi_cabinet import CURICabinetTask
+            from .isaacgym.curi_cabinet_image import CURICabinetImageTask
+            from .isaacgym.curi_cabinet_bimanual import CURICabinetBimanualTask
+            from .isaacgym.curi_coffee_stirring import CURICoffeeStirringTask
+            from .isaacgym.franka_cabinet import FrankaCabinetTask
+            from .isaacgym.franka_cube_stack import FrankaCubeStackTask
+            from .isaacgym.humanoid import HumanoidTask
+            from .isaacgym.humanoid_amp import HumanoidAMPTask
+            from .isaacgym.ase.humanoid_amp_getup import HumanoidAMPGetupTask
+            from .isaacgym.ase.humanoid_perturb import HumanoidPerturbTask
+            from .isaacgym.ase.humanoid_heading import HumanoidHeadingTask
+            from .isaacgym.ase.humanoid_location import HumanoidLocationTask
+            from .isaacgym.ase.humanoid_reach import HumanoidReachTask
+            from .isaacgym.ase.humanoid_strike import HumanoidStrikeTask
+            from .isaacgym.ase.humanoid_view_motion import HumanoidViewMotionTask
 
             self.task_map = {
                 "Ant": AntTask,
diff --git a/rofunc/learning/RofuncRL/tasks/ase/__init__.py b/rofunc/learning/RofuncRL/tasks/isaacgym/__init__.py
similarity index 100%
rename from rofunc/learning/RofuncRL/tasks/ase/__init__.py
rename to rofunc/learning/RofuncRL/tasks/isaacgym/__init__.py
diff --git a/rofunc/learning/RofuncRL/tasks/amp/__init__.py b/rofunc/learning/RofuncRL/tasks/isaacgym/amp/__init__.py
similarity index 100%
rename from rofunc/learning/RofuncRL/tasks/amp/__init__.py
rename to rofunc/learning/RofuncRL/tasks/isaacgym/amp/__init__.py
diff --git a/rofunc/learning/RofuncRL/tasks/amp/humanoid_amp_base.py b/rofunc/learning/RofuncRL/tasks/isaacgym/amp/humanoid_amp_base.py
similarity index 99%
rename from rofunc/learning/RofuncRL/tasks/amp/humanoid_amp_base.py
rename to rofunc/learning/RofuncRL/tasks/isaacgym/amp/humanoid_amp_base.py
index eef04175..af69fa1a 100644
--- a/rofunc/learning/RofuncRL/tasks/amp/humanoid_amp_base.py
+++ b/rofunc/learning/RofuncRL/tasks/isaacgym/amp/humanoid_amp_base.py
@@ -33,7 +33,7 @@
 from isaacgym import gymtorch
 
 from rofunc.utils.oslab.path import get_rofunc_path
-from rofunc.learning.RofuncRL.tasks.base.vec_task import VecTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.base.vec_task import VecTask
 from rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils import *
 
 DOF_BODY_IDS = [1, 2, 3, 4, 6, 7, 9, 10, 11, 12, 13, 14]
diff --git a/rofunc/learning/RofuncRL/tasks/amp/motion_lib.py b/rofunc/learning/RofuncRL/tasks/isaacgym/amp/motion_lib.py
similarity index 99%
rename from rofunc/learning/RofuncRL/tasks/amp/motion_lib.py
rename to rofunc/learning/RofuncRL/tasks/isaacgym/amp/motion_lib.py
index d5ec49d6..e191a7ff 100644
--- a/rofunc/learning/RofuncRL/tasks/amp/motion_lib.py
+++ b/rofunc/learning/RofuncRL/tasks/isaacgym/amp/motion_lib.py
@@ -32,7 +32,7 @@
 
 from rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d import SkeletonMotion
 from rofunc.utils.datalab.poselib.poselib.core import quat_mul_norm, quat_inverse, quat_angle_axis
-from rofunc.learning.RofuncRL.tasks.amp.humanoid_amp_base import DOF_BODY_IDS, DOF_OFFSETS
+from rofunc.learning.RofuncRL.tasks.isaacgym.amp.humanoid_amp_base import DOF_BODY_IDS, DOF_OFFSETS
 from rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils import *
 
 
diff --git a/rofunc/learning/RofuncRL/tasks/ant.py b/rofunc/learning/RofuncRL/tasks/isaacgym/ant.py
similarity index 99%
rename from rofunc/learning/RofuncRL/tasks/ant.py
rename to rofunc/learning/RofuncRL/tasks/isaacgym/ant.py
index 548bdaed..d01bf0af 100644
--- a/rofunc/learning/RofuncRL/tasks/ant.py
+++ b/rofunc/learning/RofuncRL/tasks/isaacgym/ant.py
@@ -31,7 +31,7 @@
 from isaacgym import gymapi
 from isaacgym import gymtorch
 
-from rofunc.learning.RofuncRL.tasks.base.vec_task import VecTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.base.vec_task import VecTask
 from rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils import *
 from rofunc.utils.oslab.path import get_rofunc_path
 
diff --git a/rofunc/learning/RofuncRL/tasks/anymal.py b/rofunc/learning/RofuncRL/tasks/isaacgym/anymal.py
similarity index 99%
rename from rofunc/learning/RofuncRL/tasks/anymal.py
rename to rofunc/learning/RofuncRL/tasks/isaacgym/anymal.py
index 91abec1d..7c267d57 100644
--- a/rofunc/learning/RofuncRL/tasks/anymal.py
+++ b/rofunc/learning/RofuncRL/tasks/isaacgym/anymal.py
@@ -33,7 +33,7 @@
 from isaacgym import gymtorch
 from isaacgym.torch_utils import *
 
-from rofunc.learning.RofuncRL.tasks.base.vec_task import VecTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.base.vec_task import VecTask
 
 
 class Anymal(VecTask):
diff --git a/rofunc/learning/RofuncRL/tasks/anymal_terrain.py b/rofunc/learning/RofuncRL/tasks/isaacgym/anymal_terrain.py
similarity index 99%
rename from rofunc/learning/RofuncRL/tasks/anymal_terrain.py
rename to rofunc/learning/RofuncRL/tasks/isaacgym/anymal_terrain.py
index 03844e01..f6c5a049 100644
--- a/rofunc/learning/RofuncRL/tasks/anymal_terrain.py
+++ b/rofunc/learning/RofuncRL/tasks/isaacgym/anymal_terrain.py
@@ -31,7 +31,7 @@
 from isaacgym import gymtorch
 from isaacgym.torch_utils import *
 
-from rofunc.learning.RofuncRL.tasks.base.vec_task import VecTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.base.vec_task import VecTask
 
 
 class AnymalTerrain(VecTask):
diff --git a/rofunc/learning/RofuncRL/tasks/isaacgym/ase/__init__.py b/rofunc/learning/RofuncRL/tasks/isaacgym/ase/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/rofunc/learning/RofuncRL/tasks/ase/humanoid.py b/rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid.py
similarity index 99%
rename from rofunc/learning/RofuncRL/tasks/ase/humanoid.py
rename to rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid.py
index 858bdfe5..717acc3c 100644
--- a/rofunc/learning/RofuncRL/tasks/ase/humanoid.py
+++ b/rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid.py
@@ -33,7 +33,7 @@
 from isaacgym.torch_utils import *
 
 from rofunc.utils.oslab.path import get_rofunc_path
-from rofunc.learning.RofuncRL.tasks.base.vec_task import VecTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.base.vec_task import VecTask
 from rofunc.learning.RofuncRL.tasks.utils import torch_jit_utils as torch_utils
 
 
diff --git a/rofunc/learning/RofuncRL/tasks/ase/humanoid_amp.py b/rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid_amp.py
similarity index 99%
rename from rofunc/learning/RofuncRL/tasks/ase/humanoid_amp.py
rename to rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid_amp.py
index fd1a030a..0df6a7ff 100644
--- a/rofunc/learning/RofuncRL/tasks/ase/humanoid_amp.py
+++ b/rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid_amp.py
@@ -33,8 +33,8 @@
 from isaacgym.torch_utils import *
 
 import rofunc as rf
-from rofunc.learning.RofuncRL.tasks.ase.motion_lib import MotionLib
-from rofunc.learning.RofuncRL.tasks.ase.humanoid import Humanoid, dof_to_obs
+from rofunc.learning.RofuncRL.tasks.isaacgym.ase.motion_lib import MotionLib
+from rofunc.learning.RofuncRL.tasks.isaacgym.ase.humanoid import Humanoid, dof_to_obs
 from rofunc.learning.RofuncRL.tasks.utils import torch_jit_utils as torch_utils
 
 
diff --git a/rofunc/learning/RofuncRL/tasks/ase/humanoid_amp_getup.py b/rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid_amp_getup.py
similarity index 98%
rename from rofunc/learning/RofuncRL/tasks/ase/humanoid_amp_getup.py
rename to rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid_amp_getup.py
index 4013cd57..84a71315 100644
--- a/rofunc/learning/RofuncRL/tasks/ase/humanoid_amp_getup.py
+++ b/rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid_amp_getup.py
@@ -29,7 +29,7 @@
 from isaacgym import gymtorch
 from isaacgym.torch_utils import *
 
-from rofunc.learning.RofuncRL.tasks.ase.humanoid_amp import HumanoidAMP
+from rofunc.learning.RofuncRL.tasks.isaacgym.ase.humanoid_amp import HumanoidAMP
 
 
 class HumanoidAMPGetupTask(HumanoidAMP):
diff --git a/rofunc/learning/RofuncRL/tasks/ase/humanoid_amp_task.py b/rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid_amp_task.py
similarity index 97%
rename from rofunc/learning/RofuncRL/tasks/ase/humanoid_amp_task.py
rename to rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid_amp_task.py
index 5f1564ed..e4ebe7d5 100644
--- a/rofunc/learning/RofuncRL/tasks/ase/humanoid_amp_task.py
+++ b/rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid_amp_task.py
@@ -28,7 +28,7 @@
 
 import torch
 
-from rofunc.learning.RofuncRL.tasks.ase.humanoid_amp import HumanoidAMP
+from rofunc.learning.RofuncRL.tasks.isaacgym.ase.humanoid_amp import HumanoidAMP
 
 
 class HumanoidAMPTask(HumanoidAMP):
diff --git a/rofunc/learning/RofuncRL/tasks/ase/humanoid_heading.py b/rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid_heading.py
similarity index 99%
rename from rofunc/learning/RofuncRL/tasks/ase/humanoid_heading.py
rename to rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid_heading.py
index 95ad73b1..47bf23bc 100644
--- a/rofunc/learning/RofuncRL/tasks/ase/humanoid_heading.py
+++ b/rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid_heading.py
@@ -32,7 +32,7 @@
 from isaacgym.torch_utils import *
 
 from rofunc.utils.oslab.path import get_rofunc_path
-from rofunc.learning.RofuncRL.tasks.ase.humanoid_amp_task import HumanoidAMPTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.ase.humanoid_amp_task import HumanoidAMPTask
 from rofunc.learning.RofuncRL.tasks.utils import torch_jit_utils as torch_utils
 
 TAR_ACTOR_ID = 1
diff --git a/rofunc/learning/RofuncRL/tasks/ase/humanoid_location.py b/rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid_location.py
similarity index 99%
rename from rofunc/learning/RofuncRL/tasks/ase/humanoid_location.py
rename to rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid_location.py
index 74902b75..6e1189a2 100644
--- a/rofunc/learning/RofuncRL/tasks/ase/humanoid_location.py
+++ b/rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid_location.py
@@ -32,7 +32,7 @@
 from isaacgym.torch_utils import *
 
 from rofunc.utils.oslab.path import get_rofunc_path
-from rofunc.learning.RofuncRL.tasks.ase.humanoid_amp_task import HumanoidAMPTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.ase.humanoid_amp_task import HumanoidAMPTask
 from rofunc.learning.RofuncRL.tasks.utils import torch_jit_utils as torch_utils
 
 
diff --git a/rofunc/learning/RofuncRL/tasks/ase/humanoid_perturb.py b/rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid_perturb.py
similarity index 99%
rename from rofunc/learning/RofuncRL/tasks/ase/humanoid_perturb.py
rename to rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid_perturb.py
index 21c9d0a3..65e9635d 100644
--- a/rofunc/learning/RofuncRL/tasks/ase/humanoid_perturb.py
+++ b/rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid_perturb.py
@@ -32,7 +32,7 @@
 from isaacgym.torch_utils import *
 
 from rofunc.utils.oslab.path import get_rofunc_path
-from rofunc.learning.RofuncRL.tasks.ase.humanoid_amp import HumanoidAMP
+from rofunc.learning.RofuncRL.tasks.isaacgym.ase.humanoid_amp import HumanoidAMP
 
 # import env.tasks.humanoid_amp_getup as humanoid_amp_getup
 # # import env.tasks.humanoid_strike as humanoid_strike
diff --git a/rofunc/learning/RofuncRL/tasks/ase/humanoid_reach.py b/rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid_reach.py
similarity index 98%
rename from rofunc/learning/RofuncRL/tasks/ase/humanoid_reach.py
rename to rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid_reach.py
index 02fdf3f2..3f21683b 100644
--- a/rofunc/learning/RofuncRL/tasks/ase/humanoid_reach.py
+++ b/rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid_reach.py
@@ -32,7 +32,7 @@
 from isaacgym.torch_utils import *
 
 from rofunc.utils.oslab.path import get_rofunc_path
-from rofunc.learning.RofuncRL.tasks.ase.humanoid_amp_task import HumanoidAMPTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.ase.humanoid_amp_task import HumanoidAMPTask
 from rofunc.learning.RofuncRL.tasks.utils import torch_jit_utils as torch_utils
 
 
diff --git a/rofunc/learning/RofuncRL/tasks/ase/humanoid_strike.py b/rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid_strike.py
similarity index 99%
rename from rofunc/learning/RofuncRL/tasks/ase/humanoid_strike.py
rename to rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid_strike.py
index f0504526..46e59934 100644
--- a/rofunc/learning/RofuncRL/tasks/ase/humanoid_strike.py
+++ b/rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid_strike.py
@@ -32,7 +32,7 @@
 from isaacgym.torch_utils import *
 
 from rofunc.utils.oslab.path import get_rofunc_path
-from rofunc.learning.RofuncRL.tasks.ase.humanoid_amp_task import HumanoidAMPTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.ase.humanoid_amp_task import HumanoidAMPTask
 from rofunc.learning.RofuncRL.tasks.utils import torch_jit_utils as torch_utils
 
 
diff --git a/rofunc/learning/RofuncRL/tasks/ase/humanoid_view_motion.py b/rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid_view_motion.py
similarity index 98%
rename from rofunc/learning/RofuncRL/tasks/ase/humanoid_view_motion.py
rename to rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid_view_motion.py
index d448bef9..35d2123e 100644
--- a/rofunc/learning/RofuncRL/tasks/ase/humanoid_view_motion.py
+++ b/rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid_view_motion.py
@@ -28,9 +28,9 @@
 
 import torch
 
-from isaacgym import gymtorch, gymapi
+from isaacgym import gymtorch
 
-from rofunc.learning.RofuncRL.tasks.ase.humanoid_amp import HumanoidAMP
+from rofunc.learning.RofuncRL.tasks.isaacgym.ase.humanoid_amp import HumanoidAMP
 
 
 class HumanoidViewMotionTask(HumanoidAMP):
diff --git a/rofunc/learning/RofuncRL/tasks/ase/motion_lib.py b/rofunc/learning/RofuncRL/tasks/isaacgym/ase/motion_lib.py
similarity index 100%
rename from rofunc/learning/RofuncRL/tasks/ase/motion_lib.py
rename to rofunc/learning/RofuncRL/tasks/isaacgym/ase/motion_lib.py
diff --git a/rofunc/learning/RofuncRL/tasks/base/__init__.py b/rofunc/learning/RofuncRL/tasks/isaacgym/base/__init__.py
similarity index 100%
rename from rofunc/learning/RofuncRL/tasks/base/__init__.py
rename to rofunc/learning/RofuncRL/tasks/isaacgym/base/__init__.py
diff --git a/rofunc/learning/RofuncRL/tasks/base/curi_base_task.py b/rofunc/learning/RofuncRL/tasks/isaacgym/base/curi_base_task.py
similarity index 98%
rename from rofunc/learning/RofuncRL/tasks/base/curi_base_task.py
rename to rofunc/learning/RofuncRL/tasks/isaacgym/base/curi_base_task.py
index 09f121f6..ec80ce55 100644
--- a/rofunc/learning/RofuncRL/tasks/base/curi_base_task.py
+++ b/rofunc/learning/RofuncRL/tasks/isaacgym/base/curi_base_task.py
@@ -15,7 +15,7 @@
 from isaacgym import gymtorch, gymapi
 from isaacgym.torch_utils import *
 
-from rofunc.learning.RofuncRL.tasks.base.vec_task import VecTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.base.vec_task import VecTask
 
 
 class CURIBaseTask(VecTask):
diff --git a/rofunc/learning/RofuncRL/tasks/base/dr_utils.py b/rofunc/learning/RofuncRL/tasks/isaacgym/base/dr_utils.py
similarity index 100%
rename from rofunc/learning/RofuncRL/tasks/base/dr_utils.py
rename to rofunc/learning/RofuncRL/tasks/isaacgym/base/dr_utils.py
diff --git a/rofunc/learning/RofuncRL/tasks/base/vec_task.py b/rofunc/learning/RofuncRL/tasks/isaacgym/base/vec_task.py
similarity index 97%
rename from rofunc/learning/RofuncRL/tasks/base/vec_task.py
rename to rofunc/learning/RofuncRL/tasks/isaacgym/base/vec_task.py
index 243d1ba7..13c81332 100644
--- a/rofunc/learning/RofuncRL/tasks/base/vec_task.py
+++ b/rofunc/learning/RofuncRL/tasks/isaacgym/base/vec_task.py
@@ -31,8 +31,8 @@
 import gym
 from gym import spaces
 
-from isaacgym import gymtorch, gymapi
-from rofunc.learning.RofuncRL.tasks.base.dr_utils import (
+from isaacgym import gymapi
+from rofunc.learning.RofuncRL.tasks.isaacgym.base.dr_utils import (
     get_property_setter_map,
     get_property_getter_map,
     get_default_setter_args,
diff --git a/rofunc/learning/RofuncRL/tasks/cartpole.py b/rofunc/learning/RofuncRL/tasks/isaacgym/cartpole.py
similarity index 99%
rename from rofunc/learning/RofuncRL/tasks/cartpole.py
rename to rofunc/learning/RofuncRL/tasks/isaacgym/cartpole.py
index 74ee9558..b929e8ff 100644
--- a/rofunc/learning/RofuncRL/tasks/cartpole.py
+++ b/rofunc/learning/RofuncRL/tasks/isaacgym/cartpole.py
@@ -32,7 +32,7 @@
 import torch
 from isaacgym import gymtorch, gymapi
 
-from rofunc.learning.RofuncRL.tasks.base.vec_task import VecTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.base.vec_task import VecTask
 from rofunc.utils.oslab.path import get_rofunc_path
 
 
diff --git a/rofunc/learning/RofuncRL/tasks/curi_cabinet.py b/rofunc/learning/RofuncRL/tasks/isaacgym/curi_cabinet.py
similarity index 99%
rename from rofunc/learning/RofuncRL/tasks/curi_cabinet.py
rename to rofunc/learning/RofuncRL/tasks/isaacgym/curi_cabinet.py
index 7edad6d1..18c8d16f 100644
--- a/rofunc/learning/RofuncRL/tasks/curi_cabinet.py
+++ b/rofunc/learning/RofuncRL/tasks/isaacgym/curi_cabinet.py
@@ -17,7 +17,7 @@
 from isaacgym import gymtorch, gymapi
 from isaacgym.torch_utils import *
 
-from rofunc.learning.RofuncRL.tasks.base.curi_base_task import CURIBaseTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.base.curi_base_task import CURIBaseTask
 from rofunc.utils.oslab.path import get_rofunc_path
 
 
diff --git a/rofunc/learning/RofuncRL/tasks/curi_cabinet_bimanual.py b/rofunc/learning/RofuncRL/tasks/isaacgym/curi_cabinet_bimanual.py
similarity index 99%
rename from rofunc/learning/RofuncRL/tasks/curi_cabinet_bimanual.py
rename to rofunc/learning/RofuncRL/tasks/isaacgym/curi_cabinet_bimanual.py
index 0d1d3f2d..721fd9be 100644
--- a/rofunc/learning/RofuncRL/tasks/curi_cabinet_bimanual.py
+++ b/rofunc/learning/RofuncRL/tasks/isaacgym/curi_cabinet_bimanual.py
@@ -17,7 +17,7 @@
 from isaacgym import gymtorch, gymapi
 from isaacgym.torch_utils import *
 
-from rofunc.learning.RofuncRL.tasks.base.curi_base_task import CURIBaseTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.base.curi_base_task import CURIBaseTask
 from rofunc.utils.oslab.path import get_rofunc_path
 
 
diff --git a/rofunc/learning/RofuncRL/tasks/curi_cabinet_image.py b/rofunc/learning/RofuncRL/tasks/isaacgym/curi_cabinet_image.py
similarity index 99%
rename from rofunc/learning/RofuncRL/tasks/curi_cabinet_image.py
rename to rofunc/learning/RofuncRL/tasks/isaacgym/curi_cabinet_image.py
index 1b13b39f..9fccc69a 100644
--- a/rofunc/learning/RofuncRL/tasks/curi_cabinet_image.py
+++ b/rofunc/learning/RofuncRL/tasks/isaacgym/curi_cabinet_image.py
@@ -18,8 +18,8 @@
 from isaacgym.torch_utils import *
 
 import rofunc as rf
-from rofunc.learning.RofuncRL.tasks.base.curi_base_task import CURIBaseTask
-from rofunc.learning.RofuncRL.tasks.curi_cabinet import CURICabinetTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.base.curi_base_task import CURIBaseTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.curi_cabinet import CURICabinetTask
 from rofunc.utils.oslab.path import get_rofunc_path
 
 
diff --git a/rofunc/learning/RofuncRL/tasks/curi_coffee_stirring.py b/rofunc/learning/RofuncRL/tasks/isaacgym/curi_coffee_stirring.py
similarity index 99%
rename from rofunc/learning/RofuncRL/tasks/curi_coffee_stirring.py
rename to rofunc/learning/RofuncRL/tasks/isaacgym/curi_coffee_stirring.py
index dab3bb30..8e5d5f51 100644
--- a/rofunc/learning/RofuncRL/tasks/curi_coffee_stirring.py
+++ b/rofunc/learning/RofuncRL/tasks/isaacgym/curi_coffee_stirring.py
@@ -17,7 +17,7 @@
 from isaacgym import gymtorch, gymapi
 from isaacgym.torch_utils import *
 
-from rofunc.learning.RofuncRL.tasks.base.vec_task import VecTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.base.vec_task import VecTask
 from rofunc.utils.oslab.path import get_rofunc_path
 
 
diff --git a/rofunc/learning/RofuncRL/tasks/franka_cabinet.py b/rofunc/learning/RofuncRL/tasks/isaacgym/franka_cabinet.py
similarity index 99%
rename from rofunc/learning/RofuncRL/tasks/franka_cabinet.py
rename to rofunc/learning/RofuncRL/tasks/isaacgym/franka_cabinet.py
index eb73e8ce..2f64b307 100644
--- a/rofunc/learning/RofuncRL/tasks/franka_cabinet.py
+++ b/rofunc/learning/RofuncRL/tasks/isaacgym/franka_cabinet.py
@@ -31,7 +31,7 @@
 from isaacgym import gymtorch, gymapi
 from isaacgym.torch_utils import *
 
-from rofunc.learning.RofuncRL.tasks.base.vec_task import VecTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.base.vec_task import VecTask
 from rofunc.utils.oslab.path import get_rofunc_path
 
 
diff --git a/rofunc/learning/RofuncRL/tasks/franka_cube_stack.py b/rofunc/learning/RofuncRL/tasks/isaacgym/franka_cube_stack.py
similarity index 98%
rename from rofunc/learning/RofuncRL/tasks/franka_cube_stack.py
rename to rofunc/learning/RofuncRL/tasks/isaacgym/franka_cube_stack.py
index 72f871e5..227d19c2 100644
--- a/rofunc/learning/RofuncRL/tasks/franka_cube_stack.py
+++ b/rofunc/learning/RofuncRL/tasks/isaacgym/franka_cube_stack.py
@@ -31,22 +31,13 @@
 from isaacgym import gymapi
 from isaacgym import gymtorch
 
-from rofunc.learning.RofuncRL.tasks.base.vec_task import VecTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.base.vec_task import VecTask
 from rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils import *
 from rofunc.utils.oslab.path import get_rofunc_path
 
 
 @torch.jit.script
 def axisangle2quat(vec, eps=1e-6):
-    """
-    Converts scaled axis-angle to quat.
-    Args:
-        vec (tensor): (..., 3) tensor where final dim is (ax,ay,az) axis-angle exponential coordinates
-        eps (float): Stability value below which small values will be mapped to 0
-
-    Returns:
-        tensor: (..., 4) tensor where final dim is (x,y,z,w) vec4 float quaternion
-    """
     # type: (Tensor, float) -> Tensor
     # store input shape and reshape
     input_shape = vec.shape[:-1]
diff --git a/rofunc/learning/RofuncRL/tasks/furniture.py b/rofunc/learning/RofuncRL/tasks/isaacgym/furniture.py
similarity index 99%
rename from rofunc/learning/RofuncRL/tasks/furniture.py
rename to rofunc/learning/RofuncRL/tasks/isaacgym/furniture.py
index 454ec295..54cd506b 100644
--- a/rofunc/learning/RofuncRL/tasks/furniture.py
+++ b/rofunc/learning/RofuncRL/tasks/isaacgym/furniture.py
@@ -15,8 +15,8 @@
 import yaml
 import mujoco_py
 
-from . import transform_utils as T
-from .base import EnvMeta
+from rofunc.learning.RofuncRL.tasks import transform_utils as T
+from rofunc.learning.RofuncRL.tasks.isaacgym.base import EnvMeta
 from .image_utils import color_segmentation
 from .mjcf_utils import xml_path_completion
 from .models import (
diff --git a/rofunc/learning/RofuncRL/tasks/furniture_baxter.py b/rofunc/learning/RofuncRL/tasks/isaacgym/furniture_baxter.py
similarity index 99%
rename from rofunc/learning/RofuncRL/tasks/furniture_baxter.py
rename to rofunc/learning/RofuncRL/tasks/isaacgym/furniture_baxter.py
index e526c985..fb18bdce 100644
--- a/rofunc/learning/RofuncRL/tasks/furniture_baxter.py
+++ b/rofunc/learning/RofuncRL/tasks/isaacgym/furniture_baxter.py
@@ -5,7 +5,7 @@
 import numpy as np
 import gym.spaces
 
-from . import transform_utils as T
+from rofunc.learning.RofuncRL.tasks import transform_utils as T
 from .furniture import FurnitureEnv
 from ..util.logger import logger
 
diff --git a/rofunc/learning/RofuncRL/tasks/humanoid.py b/rofunc/learning/RofuncRL/tasks/isaacgym/humanoid.py
similarity index 99%
rename from rofunc/learning/RofuncRL/tasks/humanoid.py
rename to rofunc/learning/RofuncRL/tasks/isaacgym/humanoid.py
index 11ea7812..57fce9e4 100644
--- a/rofunc/learning/RofuncRL/tasks/humanoid.py
+++ b/rofunc/learning/RofuncRL/tasks/isaacgym/humanoid.py
@@ -31,7 +31,7 @@
 from isaacgym import gymapi
 from isaacgym import gymtorch
 
-from rofunc.learning.RofuncRL.tasks.base.vec_task import VecTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.base.vec_task import VecTask
 from rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils import *
 from rofunc.utils.oslab.path import get_rofunc_path
 
diff --git a/rofunc/learning/RofuncRL/tasks/humanoid_amp.py b/rofunc/learning/RofuncRL/tasks/isaacgym/humanoid_amp.py
similarity index 98%
rename from rofunc/learning/RofuncRL/tasks/humanoid_amp.py
rename to rofunc/learning/RofuncRL/tasks/isaacgym/humanoid_amp.py
index a32b1bf5..a9b707c9 100644
--- a/rofunc/learning/RofuncRL/tasks/humanoid_amp.py
+++ b/rofunc/learning/RofuncRL/tasks/isaacgym/humanoid_amp.py
@@ -33,8 +33,8 @@
 from isaacgym import gymtorch
 
 import rofunc as rf
-from rofunc.learning.RofuncRL.tasks.amp.humanoid_amp_base import HumanoidAMPBase, dof_to_obs
-from rofunc.learning.RofuncRL.tasks.amp.motion_lib import MotionLib
+from rofunc.learning.RofuncRL.tasks.isaacgym.amp.humanoid_amp_base import HumanoidAMPBase, dof_to_obs
+from rofunc.learning.RofuncRL.tasks.isaacgym.amp.motion_lib import MotionLib
 from rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils import *
 
 NUM_AMP_OBS_PER_STEP = 13 + 52 + 28 + 12  # [root_h, root_rot, root_vel, root_ang_vel, dof_pos, dof_vel, key_body_pos]
diff --git a/rofunc/learning/RofuncRL/tasks/ikea.py b/rofunc/learning/RofuncRL/tasks/isaacgym/ikea.py
similarity index 99%
rename from rofunc/learning/RofuncRL/tasks/ikea.py
rename to rofunc/learning/RofuncRL/tasks/isaacgym/ikea.py
index 521f1565..01b95367 100644
--- a/rofunc/learning/RofuncRL/tasks/ikea.py
+++ b/rofunc/learning/RofuncRL/tasks/isaacgym/ikea.py
@@ -17,7 +17,7 @@
 from isaacgym import gymtorch, gymapi
 from isaacgym.torch_utils import *
 
-from rofunc.learning.RofuncRL.tasks.base.vec_task import VecTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.base.vec_task import VecTask
 from rofunc.utils.oslab.path import get_rofunc_path
 
 
diff --git a/rofunc/learning/RofuncRL/tasks/shadow_hand.py b/rofunc/learning/RofuncRL/tasks/isaacgym/shadow_hand.py
similarity index 99%
rename from rofunc/learning/RofuncRL/tasks/shadow_hand.py
rename to rofunc/learning/RofuncRL/tasks/isaacgym/shadow_hand.py
index 8206a5ae..8fae56ba 100644
--- a/rofunc/learning/RofuncRL/tasks/shadow_hand.py
+++ b/rofunc/learning/RofuncRL/tasks/isaacgym/shadow_hand.py
@@ -31,7 +31,7 @@
 from isaacgym import gymapi
 from isaacgym import gymtorch
 
-from rofunc.learning.RofuncRL.tasks.base.vec_task import VecTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.base.vec_task import VecTask
 from rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils import *
 
 
diff --git a/rofunc/learning/RofuncRL/tasks/trifinger.py b/rofunc/learning/RofuncRL/tasks/isaacgym/trifinger.py
similarity index 99%
rename from rofunc/learning/RofuncRL/tasks/trifinger.py
rename to rofunc/learning/RofuncRL/tasks/isaacgym/trifinger.py
index d5d4aa83..68313f99 100644
--- a/rofunc/learning/RofuncRL/tasks/trifinger.py
+++ b/rofunc/learning/RofuncRL/tasks/isaacgym/trifinger.py
@@ -32,10 +32,10 @@
 from isaacgym import gymapi
 from isaacgym import gymtorch
 
-project_dir = os.path.abspath(os.path.join(os.path.dirname(__file__), '..'))
+project_dir = os.path.abspath(os.path.join(os.path.dirname(__file__), '../..'))
 
 from rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils import *
-from rofunc.learning.RofuncRL.tasks.base.vec_task import VecTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.base.vec_task import VecTask
 
 from types import SimpleNamespace
 from collections import deque
@@ -175,7 +175,7 @@ def __compute(self):
 class Trifinger(VecTask):
     # constants
     # directory where assets for the simulator are present
-    _trifinger_assets_dir = os.path.join(project_dir, "../", "assets", "trifinger")
+    _trifinger_assets_dir = os.path.join(project_dir, "../../", "assets", "trifinger")
     # robot urdf (path relative to `_trifinger_assets_dir`)
     _robot_urdf_file = "robot_properties_fingers/urdf/pro/trifingerpro.urdf"
     # stage urdf (path relative to `_trifinger_assets_dir`)