diff --git a/mani_skill2/agents/robots/anymal/__init__.py b/mani_skill2/agents/robots/anymal/__init__.py
new file mode 100644
index 000000000..4d8ef6200
--- /dev/null
+++ b/mani_skill2/agents/robots/anymal/__init__.py
@@ -0,0 +1 @@
+from .anymal_c import ANYmalC
diff --git a/mani_skill2/agents/robots/anymal/anymal_c.py b/mani_skill2/agents/robots/anymal/anymal_c.py
index 122511ab7..aa00e9273 100644
--- a/mani_skill2/agents/robots/anymal/anymal_c.py
+++ b/mani_skill2/agents/robots/anymal/anymal_c.py
@@ -1,3 +1,4 @@
+# TODO (stao): Anymal may not be modelled correctly or efficiently at the moment
 import torch
 
 from mani_skill2 import PACKAGE_ASSET_DIR, format_path
diff --git a/mani_skill2/envs/sapien_env.py b/mani_skill2/envs/sapien_env.py
index 59cb4dcd3..8baf4ff82 100644
--- a/mani_skill2/envs/sapien_env.py
+++ b/mani_skill2/envs/sapien_env.py
@@ -21,7 +21,7 @@
 from mani_skill2.agents.base_agent import BaseAgent
 from mani_skill2.agents.multi_agent import MultiAgent
 from mani_skill2.envs.scene import ManiSkillScene
-from mani_skill2.envs.utils.observations.observations import (
+from mani_skill2.envs.utils.observations import (
     sensor_data_to_pointcloud,
     sensor_data_to_rgbd,
 )
diff --git a/mani_skill2/envs/tasks/__init__.py b/mani_skill2/envs/tasks/__init__.py
index 9606f63b9..42ad0c2ac 100644
--- a/mani_skill2/envs/tasks/__init__.py
+++ b/mani_skill2/envs/tasks/__init__.py
@@ -1,6 +1,6 @@
-from .dexterity import RotateValveEnv
+from .dexterity import RotateSingleObjectInHand, RotateValveEnv
 from .empty_env import EmptyEnv
-from .fmb.fmb import FMBAssembly1Env
+from .fmb import FMBAssembly1Env
 from .open_cabinet_drawer import OpenCabinetDoorEnv, OpenCabinetDrawerEnv
 from .pick_cube import PickCubeEnv
 from .pick_single_ycb import PickSingleYCBEnv
@@ -10,4 +10,3 @@
 from .stack_cube import StackCubeEnv
 from .two_robot_pick_cube import TwoRobotPickCube
 from .two_robot_stack_cube import TwoRobotStackCube
-from .dexterity import RotateValveEnv, RotateSingleObjectInHand
diff --git a/mani_skill2/envs/tasks/fmb/__init__.py b/mani_skill2/envs/tasks/fmb/__init__.py
new file mode 100644
index 000000000..0122f5d7b
--- /dev/null
+++ b/mani_skill2/envs/tasks/fmb/__init__.py
@@ -0,0 +1 @@
+from .fmb import FMBAssembly1Env
diff --git a/mani_skill2/envs/tasks/fmb/fmb.py b/mani_skill2/envs/tasks/fmb/fmb.py
index 6345add67..15728bb7b 100644
--- a/mani_skill2/envs/tasks/fmb/fmb.py
+++ b/mani_skill2/envs/tasks/fmb/fmb.py
@@ -18,7 +18,8 @@
 from mani_skill2.utils.scene_builder.table.table_scene_builder import TableSceneBuilder
 
 
-@register_env("FMBAssembly1-v0", max_episode_steps=200)
+# TODO (stao): Complete this task example
+# @register_env("FMBAssembly1-v0", max_episode_steps=200)
 class FMBAssembly1Env(BaseEnv):
     """
     Task Description
diff --git a/mani_skill2/envs/utils/__init__.py b/mani_skill2/envs/utils/__init__.py
new file mode 100644
index 000000000..df4447b22
--- /dev/null
+++ b/mani_skill2/envs/utils/__init__.py
@@ -0,0 +1 @@
+from .observations import *
diff --git a/mani_skill2/utils/scene_builder/replicacad/__init__.py b/mani_skill2/utils/scene_builder/replicacad/__init__.py
new file mode 100644
index 000000000..61fcf83a0
--- /dev/null
+++ b/mani_skill2/utils/scene_builder/replicacad/__init__.py
@@ -0,0 +1 @@
+from .scene_builder import ReplicaCADSceneBuilder
diff --git a/mani_skill2/utils/structs/__init__.py b/mani_skill2/utils/structs/__init__.py
new file mode 100644
index 000000000..39ba971af
--- /dev/null
+++ b/mani_skill2/utils/structs/__init__.py
@@ -0,0 +1,12 @@
+from .actor import Actor
+from .articulation import Articulation
+from .base import (
+    BaseStruct,
+    PhysxRigidBodyComponentStruct,
+    PhysxRigidDynamicComponentStruct,
+)
+from .joint import Joint
+from .link import Link
+from .pose import Pose
+from .render_camera import RenderCamera
+from .types import *
diff --git a/mani_skill2/vector/__init__.py b/mani_skill2/vector/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/mani_skill2/vector/wrappers/__init__.py b/mani_skill2/vector/wrappers/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/manualtest/visual_all_envs_cpu.py b/manualtest/visual_all_envs_cpu.py
index 3055a0c97..04b9406ca 100644
--- a/manualtest/visual_all_envs_cpu.py
+++ b/manualtest/visual_all_envs_cpu.py
@@ -2,6 +2,7 @@
 import numpy as np
 import sapien
 
+# cd ManiSkill2 && pip uninstall -y mani_skill2 && pip install . && cd ..
 import mani_skill2.envs
 from mani_skill2.utils.sapien_utils import to_numpy
 from mani_skill2.utils.wrappers import RecordEpisode
diff --git a/setup.py b/setup.py
index 47dc7e728..b34036b79 100644
--- a/setup.py
+++ b/setup.py
@@ -41,6 +41,7 @@
     package_data={
         "mani_skill2": [
             "assets/**",
+            "envs/**/*/assets/**",
             "envs/mpm/shader/**",
             "envs/mpm/RopeInit.pkl",
         ],