diff --git a/source/extensions/omni.isaac.orbit/config/extension.toml b/source/extensions/omni.isaac.orbit/config/extension.toml
index 5306c41800..cb835ce3f3 100644
--- a/source/extensions/omni.isaac.orbit/config/extension.toml
+++ b/source/extensions/omni.isaac.orbit/config/extension.toml
@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.9.15"
+version = "0.9.16"
 
 # Description
 title = "ORBIT framework for Robot Learning"
diff --git a/source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst b/source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst
index 152812d87b..cd0966c4e8 100644
--- a/source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst
+++ b/source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst
@@ -1,6 +1,21 @@
 Changelog
 ---------
 
+0.9.16 (2023-10-22)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added support for keyword arguments for terms in the :class:`omni.isaac.orbit.managers.ManagerBase`.
+
+Fixed
+^^^^^
+
+* Fixed resetting of buffers in the :class:`TerminationManager` class. Earlier, the values were being set
+  to ``0.0`` instead of ``False``.
+
+
 0.9.15 (2023-10-22)
 ~~~~~~~~~~~~~~~~~~~
 
diff --git 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
index 21441e58bd..27185ce2a2 100644
--- 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
@@ -22,7 +22,9 @@
     from omni.isaac.orbit.envs.rl_env import RLEnv
 
 
-def terrain_levels_vel(env: RLEnv, env_ids: Sequence[int], asset_cfg: SceneEntityCfg) -> torch.Tensor:
+def terrain_levels_vel(
+    env: RLEnv, 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.
 
     This term is used to increase the difficulty of the terrain when the robot walks far enough and decrease the
diff --git 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
index 79d8673d7b..f9fbc1c5c7 100644
--- 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
@@ -26,21 +26,21 @@
 """
 
 
-def base_lin_vel(env: BaseEnv, asset_cfg: SceneEntityCfg) -> torch.Tensor:
+def base_lin_vel(env: BaseEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
     """Root linear velocity in the asset's root frame."""
     # extract the used quantities (to enable type-hinting)
     asset: RigidObject = env.scene[asset_cfg.name]
     return asset.data.root_lin_vel_b
 
 
-def base_ang_vel(env: BaseEnv, asset_cfg: SceneEntityCfg) -> torch.Tensor:
+def base_ang_vel(env: BaseEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
     """Root angular velocity in the asset's root frame."""
     # extract the used quantities (to enable type-hinting)
     asset: RigidObject = env.scene[asset_cfg.name]
     return asset.data.root_ang_vel_b
 
 
-def projected_gravity(env: BaseEnv, asset_cfg: SceneEntityCfg) -> torch.Tensor:
+def projected_gravity(env: BaseEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
     """Gravity projection on the asset's root frame."""
     # extract the used quantities (to enable type-hinting)
     asset: RigidObject = env.scene[asset_cfg.name]
@@ -52,14 +52,14 @@ def projected_gravity(env: BaseEnv, asset_cfg: SceneEntityCfg) -> torch.Tensor:
 """
 
 
-def joint_pos_rel(env: BaseEnv, asset_cfg: SceneEntityCfg) -> torch.Tensor:
+def joint_pos_rel(env: BaseEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
     """The joint positions of the asset w.r.t. the default joint positions."""
     # extract the used quantities (to enable type-hinting)
     asset: Articulation = env.scene[asset_cfg.name]
     return asset.data.joint_pos - asset.data.default_joint_pos
 
 
-def joint_vel_rel(env: BaseEnv, asset_cfg: SceneEntityCfg):
+def joint_vel_rel(env: BaseEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")):
     """The joint velocities of the asset w.r.t. the default joint velocities."""
     # extract the used quantities (to enable type-hinting)
     asset: Articulation = env.scene[asset_cfg.name]
@@ -71,16 +71,12 @@ def joint_vel_rel(env: BaseEnv, asset_cfg: SceneEntityCfg):
 """
 
 
-def height_scan(env: BaseEnv, asset_cfg: SceneEntityCfg, sensor_cfg: SceneEntityCfg) -> torch.Tensor:
-    """Height scan from the given sensor w.r.t. the asset's root frame."""
+def height_scan(env: BaseEnv, sensor_cfg: SceneEntityCfg) -> torch.Tensor:
+    """Height scan from the given sensor w.r.t. the sensor's frame."""
     # extract the used quantities (to enable type-hinting)
-    asset: RigidObject = env.scene[asset_cfg.name]
     sensor: RayCaster = env.scene.sensors[sensor_cfg.name]
-    # TODO (@dhoeller): is this sensor specific or we can generalize it?
-    hit_points_z = torch.nan_to_num(sensor.data.ray_hits_w[..., 2], posinf=-1.0)
-    # compute the height scan: robot_z - ground_z - offset
-    heights = asset.data.root_state_w[:, 2].unsqueeze(1) - hit_points_z - 0.5
     # return the height scan
+    heights = sensor.data.pos_w[:, 2].unsqueeze(1) - sensor.data.ray_hits_w[..., 2] - 0.5
     return heights
 
 
@@ -89,7 +85,7 @@ def height_scan(env: BaseEnv, asset_cfg: SceneEntityCfg, sensor_cfg: SceneEntity
 """
 
 
-def action(env: BaseEnv) -> torch.Tensor:
+def last_action(env: BaseEnv) -> torch.Tensor:
     """The last input action to the environment."""
     return env.action_manager.action
 
diff --git 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
index ee4aeeff46..a55f2dd1f1 100644
--- 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
@@ -28,11 +28,11 @@
 def randomize_rigid_body_material(
     env: RLEnv,
     env_ids: torch.Tensor | None,
-    asset_cfg: SceneEntityCfg,
     static_friction_range: tuple[float, float],
     dynamic_friction_range: tuple[float, float],
     restitution_range: tuple[float, float],
     num_buckets: int,
+    asset_cfg: SceneEntityCfg,
 ):
     """Randomize the physics materials on all geometries of the asset.
 
@@ -79,7 +79,7 @@ def randomize_rigid_body_material(
     asset.body_physx_view.set_material_properties(materials, indices)
 
 
-def add_body_mass(env: RLEnv, env_ids: torch.Tensor | None, asset_cfg: SceneEntityCfg, mass_range: tuple[float, float]):
+def add_body_mass(env: RLEnv, env_ids: torch.Tensor | None, mass_range: tuple[float, float], asset_cfg: SceneEntityCfg):
     """Randomize the mass of the bodies by adding a random value sampled from the given range.
 
     .. tip::
@@ -109,9 +109,9 @@ def add_body_mass(env: RLEnv, env_ids: torch.Tensor | None, asset_cfg: SceneEnti
 def apply_external_force_torque(
     env: RLEnv,
     env_ids: torch.Tensor,
-    asset_cfg: SceneEntityCfg,
     force_range: tuple[float, float],
     torque_range: tuple[float, float],
+    asset_cfg: SceneEntityCfg = SceneEntityCfg("robot"),
 ):
     """Randomize the external forces and torques applied to the bodies.
 
@@ -137,7 +137,10 @@ def apply_external_force_torque(
 
 
 def push_by_setting_velocity(
-    env: RLEnv, env_ids: torch.Tensor, asset_cfg: SceneEntityCfg, velocity_range: dict[str, tuple[float, float]]
+    env: RLEnv,
+    env_ids: torch.Tensor,
+    velocity_range: dict[str, tuple[float, float]],
+    asset_cfg: SceneEntityCfg = SceneEntityCfg("robot"),
 ):
     """Push the asset by setting the root velocity to a random value within the given ranges.
 
@@ -167,9 +170,9 @@ def push_by_setting_velocity(
 def reset_root_state(
     env: RLEnv,
     env_ids: torch.Tensor,
-    asset_cfg: SceneEntityCfg,
     pose_range: dict[str, tuple[float, float]],
     velocity_range: dict[str, tuple[float, float]],
+    asset_cfg: SceneEntityCfg = SceneEntityCfg("robot"),
 ):
     """Reset the asset root state to a random position and velocity within the given ranges.
 
@@ -218,9 +221,9 @@ def reset_root_state(
 def reset_joints_by_scale(
     env: RLEnv,
     env_ids: torch.Tensor,
-    asset_cfg: SceneEntityCfg,
     position_range: tuple[float, float],
     velocity_range: tuple[float, float],
+    asset_cfg: SceneEntityCfg = SceneEntityCfg("robot"),
 ):
     """Reset the robot joints by scaling the default position and velocity by the given ranges.
 
diff --git 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
index 5ad650c794..f7803004cb 100644
--- 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
@@ -21,27 +21,36 @@
 if TYPE_CHECKING:
     from omni.isaac.orbit.envs.rl_env import RLEnv
 
+"""
+General.
+"""
+
+
+def termination_penalty(env: RLEnv) -> torch.Tensor:
+    """Penalize terminated episodes that don't correspond to episodic timeouts."""
+    return env.reset_buf * (~env.termination_manager.time_outs)
+
 
 """
 Root penalties.
 """
 
 
-def lin_vel_z_l2(env: RLEnv, asset_cfg: SceneEntityCfg) -> torch.Tensor:
+def lin_vel_z_l2(env: RLEnv, 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) -> torch.Tensor:
+def ang_vel_xy_l2(env: RLEnv, 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) -> torch.Tensor:
+def flat_orientation_l2(env: RLEnv, 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.
@@ -51,7 +60,9 @@ def flat_orientation_l2(env: RLEnv, asset_cfg: SceneEntityCfg) -> torch.Tensor:
     return torch.sum(torch.square(asset.data.projected_gravity_b[:, :2]), dim=1)
 
 
-def base_height_l2(env: RLEnv, asset_cfg: SceneEntityCfg, target_height: float) -> torch.Tensor:
+def base_height_l2(
+    env: RLEnv, target_height: float, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")
+) -> torch.Tensor:
     """Penalize asset height from its target using L2-kernel.
 
     Note:
@@ -63,33 +74,39 @@ def base_height_l2(env: RLEnv, asset_cfg: SceneEntityCfg, target_height: float)
     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:
+    """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)
+
+
 """
 Joint penalties.
 """
 
 
-def joint_torques_l2(env: RLEnv, asset_cfg: SceneEntityCfg) -> torch.Tensor:
+def joint_torques_l2(env: RLEnv, 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) -> torch.Tensor:
+def joint_vel_l2(env: RLEnv, 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) -> torch.Tensor:
+def joint_acc_l2(env: RLEnv, 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) -> torch.Tensor:
+def joint_pos_limits(env: RLEnv, 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.
@@ -102,7 +119,9 @@ def joint_pos_limits(env: RLEnv, asset_cfg: SceneEntityCfg) -> torch.Tensor:
     return torch.sum(out_of_limits, dim=1)
 
 
-def joint_vel_limits(env: RLEnv, asset_cfg: SceneEntityCfg, soft_ratio: float) -> torch.Tensor:
+def joint_vel_limits(
+    env: RLEnv, soft_ratio: float, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")
+) -> torch.Tensor:
     """Penalize joint velocities if they cross the soft limits.
 
     This is computed as a sum of the absolute value of the difference between the joint velocity and the soft limits.
@@ -124,7 +143,7 @@ def joint_vel_limits(env: RLEnv, asset_cfg: SceneEntityCfg, soft_ratio: float) -
 """
 
 
-def applied_torque_limits(env: RLEnv, asset_cfg: SceneEntityCfg) -> torch.Tensor:
+def applied_torque_limits(env: RLEnv, 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.
@@ -151,7 +170,7 @@ def action_rate_l2(env: RLEnv) -> torch.Tensor:
 """
 
 
-def undesired_contacts(env: RLEnv, sensor_cfg: SceneEntityCfg, threshold: float) -> torch.Tensor:
+def undesired_contacts(env: RLEnv, 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]
@@ -162,7 +181,7 @@ def undesired_contacts(env: RLEnv, sensor_cfg: SceneEntityCfg, threshold: float)
     return torch.sum(is_contact, dim=1)
 
 
-def contact_forces(env: RLEnv, sensor_cfg: SceneEntityCfg, threshold: float) -> torch.Tensor:
+def contact_forces(env: RLEnv, 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]
@@ -178,7 +197,7 @@ def contact_forces(env: RLEnv, sensor_cfg: SceneEntityCfg, threshold: float) ->
 """
 
 
-def track_lin_vel_xy_exp(env: RLEnv, asset_cfg: SceneEntityCfg, std: float) -> torch.Tensor:
+def track_lin_vel_xy_exp(env: RLEnv, 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]
@@ -189,7 +208,7 @@ def track_lin_vel_xy_exp(env: RLEnv, asset_cfg: SceneEntityCfg, std: float) -> t
     return torch.exp(-lin_vel_error / std**2)
 
 
-def track_ang_vel_z_exp(env: RLEnv, asset_cfg: SceneEntityCfg, std: float) -> torch.Tensor:
+def track_ang_vel_z_exp(env: RLEnv, 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]
diff --git 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
index 5b3e8b3803..dbaaa9c2c7 100644
--- 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
@@ -31,8 +31,15 @@ def time_out(env: RLEnv) -> torch.Tensor:
     return env.episode_length_buf >= env.max_episode_length
 
 
-def command_resample(env: RLEnv, num_commands: torch.Tensor) -> torch.Tensor:
-    return torch.logical_and((env.command_manager.time_left <= 0.0), (env.command_manager.num_commands == num_commands))
+def command_resample(env: RLEnv, 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
+    sampled. It is useful in situations where delayed rewards are used :cite:`rudin2022advanced`.
+    """
+    return torch.logical_and(
+        (env.command_manager.time_left <= env.step_dt), (env.command_manager.command_counter == num_resamples)
+    )
 
 
 """
@@ -40,7 +47,9 @@ def command_resample(env: RLEnv, num_commands: torch.Tensor) -> torch.Tensor:
 """
 
 
-def bad_orientation(env: RLEnv, asset_cfg: SceneEntityCfg, limit_angle: float) -> torch.Tensor:
+def bad_orientation(
+    env: RLEnv, limit_angle: float, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")
+) -> torch.Tensor:
     """Terminate when the asset's orientation is too far from the desired orientation limits.
 
     This is computed by checking the angle between the projected gravity vector and the z-axis.
@@ -50,7 +59,7 @@ def bad_orientation(env: RLEnv, asset_cfg: SceneEntityCfg, limit_angle: float) -
     return torch.acos(-asset.data.projected_gravity_b[:, 2]).abs() > limit_angle
 
 
-def base_height(env: RLEnv, asset_cfg: SceneEntityCfg, minimum_height: float) -> torch.Tensor:
+def base_height(env: RLEnv, minimum_height: float, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
     """Terminate when the asset's height is below the minimum height.
 
     Note:
@@ -66,7 +75,7 @@ def base_height(env: RLEnv, asset_cfg: SceneEntityCfg, minimum_height: float) ->
 """
 
 
-def joint_pos_limit(env: RLEnv, asset_cfg: SceneEntityCfg) -> torch.Tensor:
+def joint_pos_limit(env: RLEnv, 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]
@@ -76,7 +85,7 @@ def joint_pos_limit(env: RLEnv, asset_cfg: SceneEntityCfg) -> torch.Tensor:
     return torch.logical_or(out_of_upper_limits, out_of_lower_limits)
 
 
-def joint_velocity_limit(env: RLEnv, asset_cfg: SceneEntityCfg, max_velocity) -> torch.Tensor:
+def joint_velocity_limit(env: RLEnv, 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]
@@ -84,7 +93,7 @@ def joint_velocity_limit(env: RLEnv, asset_cfg: SceneEntityCfg, max_velocity) ->
     return torch.any(torch.abs(asset.data.joint_vel) > max_velocity, dim=1)
 
 
-def joint_torque_limit(env: RLEnv, asset_cfg: SceneEntityCfg) -> torch.Tensor:
+def joint_torque_limit(env: RLEnv, 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]
@@ -99,7 +108,7 @@ def joint_torque_limit(env: RLEnv, asset_cfg: SceneEntityCfg) -> torch.Tensor:
 """
 
 
-def illegal_contact(env: RLEnv, sensor_cfg: SceneEntityCfg, threshold: float) -> torch.Tensor:
+def illegal_contact(env: RLEnv, 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]
diff --git 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
index c0de64d8e2..12abad7b59 100644
--- 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
@@ -309,10 +309,10 @@ def _reset_idx(self, env_ids: VecEnvIndices):
         """
         # update the curriculum for environments that need a reset
         self.curriculum_manager.compute(env_ids=env_ids)
-        # randomize the MDP for environments that need a reset
-        self.randomization_manager.randomize(env_ids=env_ids, mode="reset")
         # reset the internal buffers of the scene elements
         self.scene.reset(env_ids)
+        # randomize the MDP for environments that need a reset
+        self.randomization_manager.randomize(env_ids=env_ids, mode="reset")
 
         # iterate over all managers and reset them
         # this returns a dictionary of information which is stored in the extras
diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/manager_base.py b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/manager_base.py
index a73fd3e102..fd4951fb56 100644
--- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/manager_base.py
+++ b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/manager_base.py
@@ -166,10 +166,15 @@ def _resolve_common_term_cfg(self, term_name: str, term_cfg: ManagerBaseTermCfg,
             raise AttributeError(f"The term '{term_name}' is not callable. Received: {term_cfg.func}")
         # check if term's arguments are matched by params
         term_params = list(term_cfg.params.keys())
-        args = inspect.getfullargspec(term_cfg.func).args
+        args = inspect.signature(term_cfg.func).parameters
+        args_with_defaults = [arg for arg in args if args[arg].default is not inspect.Parameter.empty]
+        args_without_defaults = [arg for arg in args if args[arg].default is inspect.Parameter.empty]
+        args = args_without_defaults + args_with_defaults
         # ignore first two arguments for env and env_ids
         # Think: Check for cases when kwargs are set inside the function?
         if len(args) > min_argc:
-            if set(args[min_argc:]) != set(term_params):
-                msg = f"The term '{term_name}' expects parameters: {args[min_argc:]}, but {term_params} provided."
-                raise ValueError(msg)
+            if set(args[min_argc:]) != set(term_params + args_with_defaults):
+                raise ValueError(
+                    f"The term '{term_name}' expects mandatory parameters: {args_without_defaults[min_argc:]}"
+                    f" and optional parameters: {args_with_defaults}, but received: {term_params}."
+                )
diff --git 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
index ef2e2af3f1..41eded65f4 100644
--- 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
@@ -123,8 +123,8 @@ def compute(self) -> torch.Tensor:
             The combined termination signal of shape ``(num_envs,)``.
         """
         # reset computation
-        self._done_buf[:] = 0.0
-        self._time_out_buf[:] = 0.0
+        self._done_buf[:] = False
+        self._time_out_buf[:] = False
         # iterate over all the termination terms
         for name, term_cfg in zip(self._term_names, self._term_cfgs):
             value = term_cfg.func(self._env, **term_cfg.params)
diff --git a/source/extensions/omni.isaac.orbit/test/managers/test_observation_manager.py b/source/extensions/omni.isaac.orbit/test/managers/test_observation_manager.py
index 7e164c88e6..038868b03a 100644
--- a/source/extensions/omni.isaac.orbit/test/managers/test_observation_manager.py
+++ b/source/extensions/omni.isaac.orbit/test/managers/test_observation_manager.py
@@ -39,6 +39,10 @@ def grilled_chicken_with_yoghurt(env, hot: bool, bland: float):
     return hot * bland * torch.ones(env.num_envs, 5, device=env.device)
 
 
+def grilled_chicken_with_yoghurt_and_bbq(env, hot: bool, bland: float, bbq: bool = False):
+    return hot * bland * bbq * torch.ones(env.num_envs, 3, device=env.device)
+
+
 class complex_function_class:
     def __init__(self, cfg: ObservationTermCfg, env: object):
         self.cfg = cfg
@@ -84,13 +88,16 @@ class SampleGroupCfg(ObservationGroupCfg):
                 term_4 = ObservationTermCfg(
                     func=grilled_chicken_with_yoghurt, scale=1.0, params={"hot": False, "bland": 2.0}
                 )
+                term_5 = ObservationTermCfg(
+                    func=grilled_chicken_with_yoghurt_and_bbq, scale=1.0, params={"hot": False, "bland": 2.0}
+                )
 
             policy: ObservationGroupCfg = SampleGroupCfg()
 
         # create observation manager
         cfg = MyObservationManagerCfg()
         self.obs_man = ObservationManager(cfg, self.env)
-        self.assertEqual(len(self.obs_man.active_terms["policy"]), 4)
+        self.assertEqual(len(self.obs_man.active_terms["policy"]), 5)
         # print the expected string
         print()
         print(self.obs_man)
diff --git a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/locomotion_env_cfg.py b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/locomotion_env_cfg.py
index bdfcf95b67..7b785eb317 100644
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/locomotion_env_cfg.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/locomotion_env_cfg.py
@@ -101,28 +101,19 @@ class PolicyCfg(ObsGroup):
         """Observations for policy group."""
 
         # observation terms (order preserved)
-        base_lin_vel = ObsTerm(
-            func=mdp.base_lin_vel, params={"asset_cfg": SceneEntityCfg("robot")}, noise=Unoise(n_min=-0.1, n_max=0.1)
-        )
-        base_ang_vel = ObsTerm(
-            func=mdp.base_ang_vel, params={"asset_cfg": SceneEntityCfg("robot")}, noise=Unoise(n_min=-0.2, n_max=0.2)
-        )
+        base_lin_vel = ObsTerm(func=mdp.base_lin_vel, noise=Unoise(n_min=-0.1, n_max=0.1))
+        base_ang_vel = ObsTerm(func=mdp.base_ang_vel, noise=Unoise(n_min=-0.2, n_max=0.2))
         projected_gravity = ObsTerm(
             func=mdp.projected_gravity,
-            params={"asset_cfg": SceneEntityCfg("robot")},
             noise=Unoise(n_min=-0.05, n_max=0.05),
         )
         velocity_commands = ObsTerm(func=mdp.generated_commands)
-        joint_pos = ObsTerm(
-            func=mdp.joint_pos_rel, params={"asset_cfg": SceneEntityCfg("robot")}, noise=Unoise(n_min=-0.01, n_max=0.01)
-        )
-        joint_vel = ObsTerm(
-            func=mdp.joint_vel_rel, params={"asset_cfg": SceneEntityCfg("robot")}, noise=Unoise(n_min=-1.5, n_max=1.5)
-        )
-        actions = ObsTerm(func=mdp.action)
+        joint_pos = ObsTerm(func=mdp.joint_pos_rel, noise=Unoise(n_min=-0.01, n_max=0.01))
+        joint_vel = ObsTerm(func=mdp.joint_vel_rel, noise=Unoise(n_min=-1.5, n_max=1.5))
+        actions = ObsTerm(func=mdp.last_action)
         height_scan = ObsTerm(
             func=mdp.height_scan,
-            params={"asset_cfg": SceneEntityCfg("robot"), "sensor_cfg": SceneEntityCfg("height_scanner")},
+            params={"sensor_cfg": SceneEntityCfg("height_scanner")},
             noise=Unoise(n_min=-0.1, n_max=0.1),
         )
 
@@ -172,7 +163,6 @@ class RandomizationCfg:
         func=mdp.reset_root_state,
         mode="reset",
         params={
-            "asset_cfg": SceneEntityCfg("robot"),
             "pose_range": {"x": (-0.5, 0.5), "y": (-0.5, 0.5), "yaw": (-3.14, 3.14)},
             "velocity_range": {
                 "x": (-0.5, 0.5),
@@ -189,7 +179,6 @@ class RandomizationCfg:
         func=mdp.reset_joints_by_scale,
         mode="reset",
         params={
-            "asset_cfg": SceneEntityCfg("robot"),
             "position_range": (0.5, 1.5),
             "velocity_range": (0.0, 0.0),
         },
@@ -200,10 +189,7 @@ class RandomizationCfg:
         func=mdp.push_by_setting_velocity,
         mode="interval",
         interval_range_s=(10.0, 15.0),
-        params={
-            "asset_cfg": SceneEntityCfg("robot"),
-            "velocity_range": {"x": (-0.5, 0.5), "y": (-0.5, 0.5)},
-        },
+        params={"velocity_range": {"x": (-0.5, 0.5), "y": (-0.5, 0.5)}},
     )
 
 
@@ -212,17 +198,13 @@ class RewardsCfg:
     """Reward terms for the MDP."""
 
     # -- task
-    track_lin_vel_xy_exp = RewTerm(
-        func=mdp.track_lin_vel_xy_exp, weight=1.0, params={"asset_cfg": SceneEntityCfg("robot"), "std": math.sqrt(0.25)}
-    )
-    track_ang_vel_z_exp = RewTerm(
-        func=mdp.track_ang_vel_z_exp, weight=0.5, params={"asset_cfg": SceneEntityCfg("robot"), "std": math.sqrt(0.25)}
-    )
+    track_lin_vel_xy_exp = RewTerm(func=mdp.track_lin_vel_xy_exp, weight=1.0, params={"std": math.sqrt(0.25)})
+    track_ang_vel_z_exp = RewTerm(func=mdp.track_ang_vel_z_exp, weight=0.5, params={"std": math.sqrt(0.25)})
     # -- penalties
-    lin_vel_z_l2 = RewTerm(func=mdp.lin_vel_z_l2, weight=-2.0, params={"asset_cfg": SceneEntityCfg("robot")})
-    ang_vel_xy_l2 = RewTerm(func=mdp.ang_vel_xy_l2, weight=-0.05, params={"asset_cfg": SceneEntityCfg("robot")})
-    dof_torques_l2 = RewTerm(func=mdp.joint_torques_l2, weight=-1.0e-5, params={"asset_cfg": SceneEntityCfg("robot")})
-    dof_acc_l2 = RewTerm(func=mdp.joint_acc_l2, weight=-2.5e-7, params={"asset_cfg": SceneEntityCfg("robot")})
+    lin_vel_z_l2 = RewTerm(func=mdp.lin_vel_z_l2, weight=-2.0)
+    ang_vel_xy_l2 = RewTerm(func=mdp.ang_vel_xy_l2, weight=-0.05)
+    dof_torques_l2 = RewTerm(func=mdp.joint_torques_l2, weight=-1.0e-5)
+    dof_acc_l2 = RewTerm(func=mdp.joint_acc_l2, weight=-2.5e-7)
     action_rate_l2 = RewTerm(func=mdp.action_rate_l2, weight=-0.01)
     feet_air_time = RewTerm(
         func=mdp.feet_air_time,
@@ -251,7 +233,7 @@ class TerminationsCfg:
 class CurriculumCfg:
     """Curriculum terms for the MDP."""
 
-    terrain_levels = CurrTerm(func=mdp.terrain_levels_vel, params={"asset_cfg": SceneEntityCfg("robot")})
+    terrain_levels = CurrTerm(func=mdp.terrain_levels_vel)
 
 
 ##
@@ -293,10 +275,7 @@ def __post_init__(self):
         # simulation settings
         self.sim.dt = 0.005
         self.sim.disable_contact_processing = True
-        self.sim.physics_material.static_friction = 1.0
-        self.sim.physics_material.dynamic_friction = 1.0
-        self.sim.physics_material.friction_combine_mode = "multiply"
-        self.sim.physics_material.restitution_combine_mode = "multiply"
+        self.sim.physics_material = self.scene.terrain.physics_material
         # update sensor update periods
         # we tick all the sensors based on the smallest update period (physics update period)
         self.scene.height_scanner.update_period = self.decimation * self.sim.dt
diff --git a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/utils/wrappers/rsl_rl.py b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/utils/wrappers/rsl_rl.py
index b414b9217e..965e412133 100644
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/utils/wrappers/rsl_rl.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/utils/wrappers/rsl_rl.py
@@ -118,7 +118,7 @@ def step(self, actions: torch.Tensor) -> VecEnvStepReturn:  # noqa: D102
         # return step information
         obs = obs_dict["policy"]
         extras["observations"] = obs_dict
-        return obs, rew, dones, extras
+        return obs, rew, dones.to(torch.long), extras
 
 
 """