diff --git a/README.md b/README.md
index a3ef4083e..2d289ae8b 100644
--- a/README.md
+++ b/README.md
@@ -26,7 +26,7 @@ Run a pre-trained motion mimic policy on the Unitree G1 humanoid:
 
 ```bash
 uv run --extra rl scripts/tracking/rl/play.py \
-  --task Tracking-Flat-G1-Play-v0 \
+  --task Mjlab-Tracking-Flat-G1-Play-v0 \
   --wandb-run-path gcbc_researchers/mjlab_alpha/rfdej55h
 ```
 
@@ -34,7 +34,7 @@ You can train this exact motion mimic policy using the following command:
 
 ```bash
 MUJOCO_GL=egl uv run --extra rl scripts/tracking/rl/train.py \
-  --task Tracking-Flat-G1-v0 \
+  --task Mjlab-Tracking-Flat-G1-v0 \
   --registry-name gcbc_researchers/csv_to_npz/lafan_cartwheel \
   --num_envs 4096
 ```
diff --git a/scripts/list_envs.py b/scripts/list_envs.py
new file mode 100644
index 000000000..f34ad31e5
--- /dev/null
+++ b/scripts/list_envs.py
@@ -0,0 +1,39 @@
+"""Script to list MJLab environments."""
+
+import gymnasium as gym
+from prettytable import PrettyTable
+
+import mjlab.tasks  # noqa: F401 to register environments
+
+
+def main():
+  """Print all environments registered whose id contains `Mjlab-`."""
+  prefix_substring = "Mjlab-"
+
+  table = PrettyTable(["#", "Task ID", "Entry Point", "env_cfg_entry_point"])
+  table.title = "Available Environments in Mjlab"
+  table.align["Task ID"] = "l"
+  table.align["Entry Point"] = "l"
+  table.align["env_cfg_entry_point"] = "l"
+
+  idx = 0
+  for spec in gym.registry.values():
+    try:
+      if prefix_substring in spec.id:
+        env_cfg_ep = spec.kwargs.get("env_cfg_entry_point", "")
+        table.add_row([idx + 1, spec.id, spec.entry_point, env_cfg_ep])
+        idx += 1
+    except Exception:
+      continue
+
+  print(table)
+  if idx == 0:
+    print(f"[INFO] No tasks matched filter: '{prefix_substring}'")
+  return idx
+
+
+if __name__ == "__main__":
+  try:
+    main()
+  except Exception as e:
+    raise RuntimeError(f"Error listing environments: {e}") from e
diff --git a/src/mjlab/tasks/locomotion/velocity/config/go1/__init__.py b/src/mjlab/tasks/locomotion/velocity/config/go1/__init__.py
index b9930f7d3..757d3cd93 100644
--- a/src/mjlab/tasks/locomotion/velocity/config/go1/__init__.py
+++ b/src/mjlab/tasks/locomotion/velocity/config/go1/__init__.py
@@ -1,7 +1,7 @@
 import gymnasium as gym
 
 gym.register(
-  id="Velocity-Flat-Unitree-Go1-v0",
+  id="Mjlab-Velocity-Flat-Unitree-Go1-v0",
   entry_point="mjlab.envs:ManagerBasedRlEnv",
   disable_env_checker=True,
   kwargs={
diff --git a/src/mjlab/tasks/tracking/config/g1/__init__.py b/src/mjlab/tasks/tracking/config/g1/__init__.py
index 16cf9a4f3..f4ab2836a 100644
--- a/src/mjlab/tasks/tracking/config/g1/__init__.py
+++ b/src/mjlab/tasks/tracking/config/g1/__init__.py
@@ -1,7 +1,7 @@
 import gymnasium as gym
 
 gym.register(
-  id="Tracking-Flat-G1-v0",
+  id="Mjlab-Tracking-Flat-G1-v0",
   entry_point="mjlab.envs:ManagerBasedRlEnv",
   disable_env_checker=True,
   kwargs={
@@ -11,7 +11,7 @@
 )
 
 gym.register(
-  id="Tracking-Flat-G1-Play-v0",
+  id="Mjlab-Tracking-Flat-G1-Play-v0",
   entry_point="mjlab.envs:ManagerBasedRlEnv",
   disable_env_checker=True,
   kwargs={
diff --git a/src/mjlab/tasks/tracking/config/t1/__init__.py b/src/mjlab/tasks/tracking/config/t1/__init__.py
index 68551b315..985b2a499 100644
--- a/src/mjlab/tasks/tracking/config/t1/__init__.py
+++ b/src/mjlab/tasks/tracking/config/t1/__init__.py
@@ -1,7 +1,7 @@
 import gymnasium as gym
 
 gym.register(
-  id="Tracking-Flat-T1-v0",
+  id="Mjlab-Tracking-Flat-T1-v0",
   entry_point="mjlab.envs:ManagerBasedRlEnv",
   disable_env_checker=True,
   kwargs={
@@ -11,7 +11,7 @@
 )
 
 gym.register(
-  id="Tracking-Flat-T1-Play-v0",
+  id="Mjlab-Tracking-Flat-T1-Play-v0",
   entry_point="mjlab.envs:ManagerBasedRlEnv",
   disable_env_checker=True,
   kwargs={