diff --git a/.github/workflows/ci-auto-commit-linux.yml b/.github/workflows/ci-auto-commit-linux.yml
index 39faf71c28..442db398af 100644
--- a/.github/workflows/ci-auto-commit-linux.yml
+++ b/.github/workflows/ci-auto-commit-linux.yml
@@ -32,7 +32,7 @@ jobs:
           python3.7 -m venv ${{env.venv_dir}}
           . ${{env.venv_dir}}/bin/activate
           pip install --upgrade pip wheel
-          pip install .[camera-obs,rllib,test,torch,train]
+          pip install .[camera_obs,rllib,test,torch,train]
       - name: Update requirements
         run: |
           . ${{env.venv_dir}}/bin/activate
diff --git a/.github/workflows/ci-auto-commit-mac.yml b/.github/workflows/ci-auto-commit-mac.yml
index 307c360c29..fd269cc05b 100644
--- a/.github/workflows/ci-auto-commit-mac.yml
+++ b/.github/workflows/ci-auto-commit-mac.yml
@@ -27,7 +27,7 @@ jobs:
           python3.8 -m venv ${{env.venv_dir}}
           . ${{env.venv_dir}}/bin/activate
           pip install --upgrade pip wheel
-          pip install .[camera-obs,rllib,test,torch,train]
+          pip install .[camera_obs,rllib,test,torch,train]
           pip freeze | grep -v 'smarts' | grep -v 'pkg-resources==0.0.0' > utils/setup/mac_requirements.txt
       - name: Commit changes
         uses: EndBug/add-and-commit@v7
diff --git a/.github/workflows/ci-base-tests-linux.yml b/.github/workflows/ci-base-tests-linux.yml
index 29d01f53f3..d772bf0bb1 100644
--- a/.github/workflows/ci-base-tests-linux.yml
+++ b/.github/workflows/ci-base-tests-linux.yml
@@ -39,7 +39,7 @@ jobs:
           . ${{env.venv_dir}}/bin/activate
           pip install --upgrade pip
           pip install --upgrade wheel
-          pip install -e .[camera-obs,opendrive,rllib,test,test-notebook,torch,train,gym]
+          pip install -e .[camera_obs,opendrive,rllib,test,test_notebook,torch,train,gym]
       - name: Run smoke tests
         run: |
           . ${{env.venv_dir}}/bin/activate
diff --git a/.github/workflows/ci-base-tests-mac.yml b/.github/workflows/ci-base-tests-mac.yml
index 98d129be47..905647f700 100644
--- a/.github/workflows/ci-base-tests-mac.yml
+++ b/.github/workflows/ci-base-tests-mac.yml
@@ -47,7 +47,7 @@ jobs:
           pip install --upgrade pip
           pip install --upgrade wheel
           pip install -r utils/setup/mac_requirements.txt
-          pip install -e .[camera-obs,opendrive,rllib,test,test-notebook,torch,train]
+          pip install -e .[camera_obs,opendrive,rllib,test,test_notebook,torch,train]
       - name: Run smoke tests
         run: |
           . ${{env.venv_dir}}/bin/activate
diff --git a/.github/workflows/ci-format.yml b/.github/workflows/ci-format.yml
index a79fd9f131..e813beb672 100644
--- a/.github/workflows/ci-format.yml
+++ b/.github/workflows/ci-format.yml
@@ -59,7 +59,7 @@ jobs:
           python3.7 -m venv ${{env.venv_dir}}
           . ${{env.venv_dir}}/bin/activate
           pip install --upgrade pip wheel
-          pip install -e .[dev,camera-obs,train,test] 
+          pip install -e .[dev,camera_obs,train,test] 
       - name: Get changed files on branch since branching
         id: changed-files
         shell: bash
diff --git a/.github/workflows/ci-pull-request.yml b/.github/workflows/ci-pull-request.yml
index 90a4d917df..8e23eea479 100644
--- a/.github/workflows/ci-pull-request.yml
+++ b/.github/workflows/ci-pull-request.yml
@@ -22,7 +22,7 @@ jobs:
           . ${{env.venv_dir}}/bin/activate
           pip install --upgrade pip
           pip install --upgrade wheel
-          pip install .[camera-obs,rllib,test,torch,train]
+          pip install .[camera_obs,rllib,test,torch,train]
       - name: SMARTS benchmark
         run: |
           cd $GITHUB_WORKSPACE
@@ -32,6 +32,6 @@ jobs:
           scl scenario build-all --clean ./scenarios
           pytest --benchmark-save=previous --benchmark-min-rounds=10 --benchmark-timer=time.process_time ./smarts/env/tests/test_benchmark.py
           git checkout -
-          pip install .[camera-obs,rllib,test,torch,train]
+          pip install .[camera_obs,rllib,test,torch,train]
           scl scenario build-all --clean ./scenarios
           pytest --benchmark-compare=0001_previous --benchmark-compare-fail=mean:10% --benchmark-min-rounds=10 --benchmark-timer=time.process_time ./smarts/env/tests/test_benchmark.py
\ No newline at end of file
diff --git a/.github/workflows/ci-test-learning.yml b/.github/workflows/ci-test-learning.yml
index 629988099f..22f4aa387a 100644
--- a/.github/workflows/ci-test-learning.yml
+++ b/.github/workflows/ci-test-learning.yml
@@ -27,7 +27,7 @@ jobs:
           . ${{env.venv_dir}}/bin/activate
           pip install --upgrade pip
           pip install wheel
-          pip install .[camera-obs,rllib,test,torch,train]
+          pip install .[camera_obs,rllib,test,torch,train]
       - name: Verify learning
         run: |
           cd $GITHUB_WORKSPACE
diff --git a/.github/workflows/ci-test-long-determinism.yml b/.github/workflows/ci-test-long-determinism.yml
index b4cf041422..d81cb6feb5 100644
--- a/.github/workflows/ci-test-long-determinism.yml
+++ b/.github/workflows/ci-test-long-determinism.yml
@@ -26,7 +26,7 @@ jobs:
           python3.7 -m venv ${{env.venv_dir}}
           . ${{env.venv_dir}}/bin/activate
           pip install --upgrade pip
-          pip install .[camera-obs,rllib,test,torch,train]
+          pip install .[camera_obs,rllib,test,torch,train]
       - name: Verify long determinism
         run: |
           cd $GITHUB_WORKSPACE
diff --git a/.github/workflows/ci-test-memory-growth.yml b/.github/workflows/ci-test-memory-growth.yml
index b414d82dcb..88ad4b0e08 100644
--- a/.github/workflows/ci-test-memory-growth.yml
+++ b/.github/workflows/ci-test-memory-growth.yml
@@ -28,7 +28,7 @@ jobs:
           pip install --upgrade pip
           pip install wheel
           pip install pympler
-          pip install .[camera-obs,rllib,test,torch,train]
+          pip install .[camera_obs,rllib,test,torch,train]
       - name: Test memory growth
         run: |
           cd $GITHUB_WORKSPACE
diff --git a/README.md b/README.md
index ee2444dea3..956680dd2e 100644
--- a/README.md
+++ b/README.md
@@ -96,10 +96,10 @@ source .venv/bin/activate
 pip install --upgrade pip
 
 # Install smarts with extras as needed. Extras include the following: 
-# `camera-obs` - needed for rendering camera sensor observations, and for testing.
+# `camera_obs` - needed for rendering camera sensor observations, and for testing.
 # `test` - needed for testing.
 # `train` - needed for RL training and testing.
-pip install -e '.[camera-obs,test,train]'
+pip install -e '.[camera_obs,test,train]'
 
 # Run sanity-test and verify they are passing.
 # If tests fail, check './sanity_test_result.xml' for test report. 
diff --git a/docs/setup.rst b/docs/setup.rst
index 5ee607e37c..af2f1f3266 100644
--- a/docs/setup.rst
+++ b/docs/setup.rst
@@ -29,8 +29,8 @@ To setup the simulator, which is called SMARTS, run the following commands,
     # install [train] version of python package with the rllib dependencies
     pip install -e .[train]
 
-    # OPTIONAL: install [camera-obs] version of python package with the panda3D dependencies if you want to render camera sensor observations in your simulations
-    pip install -e .[camera-obs]
+    # OPTIONAL: install [camera_obs] version of python package with the panda3D dependencies if you want to render camera sensor observations in your simulations
+    pip install -e .[camera_obs]
 
     # OPTIONAL: install [opendrive] version of python package with the OpenDRIVE related dependencies if you are using the any OpenDRIVE related scenarios
     pip install -e .[opendrive]
diff --git a/docs/sim/observations.rst b/docs/sim/observations.rst
index 563ef405b3..0434daaf64 100644
--- a/docs/sim/observations.rst
+++ b/docs/sim/observations.rst
@@ -102,7 +102,7 @@ See implementation in :class:`smarts.core.sensors`
 
 
 Then, you can choose the observations needed through :class:`smarts.core.agent_interface.AgentInterface` and process these raw observations through :class:`smarts.core.observation_adapter`.
-Note: Some observations like `occupancy_grid_map`, `drivable_area_grid_map` and `top_down_rgb` requires the use of Panda3D package to render agent camera observations during simulations. So you need to install the required dependencies first using the command `pip install -e .[camera-obs]`
+Note: Some observations like `occupancy_grid_map`, `drivable_area_grid_map` and `top_down_rgb` requires the use of Panda3D package to render agent camera observations during simulations. So you need to install the required dependencies first using the command `pip install -e .[camera_obs]`
 
 =======
 Rewards
diff --git a/examples/env/create_run_visualize.ipynb b/examples/env/create_run_visualize.ipynb
index 6f8ba4463b..f4fda4e74b 100644
--- a/examples/env/create_run_visualize.ipynb
+++ b/examples/env/create_run_visualize.ipynb
@@ -22,7 +22,7 @@
    "outputs": [],
    "source": [
     "!git clone https://github.com/huawei-noah/SMARTS 2> /dev/null\n",
-    "!cd SMARTS && ls && git checkout develop && pip install .[camera-obs]"
+    "!cd SMARTS && ls && git checkout develop && pip install .[camera_obs]"
    ]
   },
   {
@@ -129,9 +129,6 @@
    "name": "mock_demo.ipynb",
    "provenance": []
   },
-  "interpreter": {
-   "hash": "11a534571de20c647cd170207b7bb5d28d7f55463a5594e721a86394d5987d81"
-  },
   "kernelspec": {
    "display_name": "Python 3.8.10 ('.venv': venv)",
    "language": "python",
@@ -148,6 +145,11 @@
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
    "version": "3.8.10"
+  },
+  "vscode": {
+   "interpreter": {
+    "hash": "94261e0756b8490ed1a668b85ed1da8c98261f1072b842b18d4e3da7517b644d"
+   }
   }
  },
  "nbformat": 4,
diff --git a/examples/multi_agent.ipynb b/examples/multi_agent.ipynb
index c5ba734f5a..35f674f16e 100644
--- a/examples/multi_agent.ipynb
+++ b/examples/multi_agent.ipynb
@@ -22,7 +22,7 @@
    "source": [
     "# Install SMARTS\n",
     "!git clone https://github.com/huawei-noah/SMARTS /content/SMARTS\n",
-    "!cd SMARTS && ls && git checkout ipynb-test-deps && pip install .[camera-obs]"
+    "!cd SMARTS && ls && git checkout ipynb-test-deps && pip install .[camera_obs]"
    ]
   },
   {
@@ -166,7 +166,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.7.12"
+   "version": "3.7.13"
   },
   "orig_nbformat": 4
  },
diff --git a/examples/single_agent.ipynb b/examples/single_agent.ipynb
index 30c87d88af..742dcd6ed3 100644
--- a/examples/single_agent.ipynb
+++ b/examples/single_agent.ipynb
@@ -22,7 +22,7 @@
    "source": [
     "# Install SMARTS\n",
     "!git clone https://github.com/huawei-noah/SMARTS /content/SMARTS\n",
-    "!cd SMARTS && ls && git checkout ipynb-test-deps && pip install .[camera-obs]"
+    "!cd SMARTS && ls && git checkout ipynb-test-deps && pip install .[camera_obs]"
    ]
   },
   {
diff --git a/setup.cfg b/setup.cfg
index 8d251bd14c..5ca55512c1 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -66,7 +66,7 @@ console_scripts =
 [options.extras_require]
 benchmark = py-cpuinfo==9.0.0
     mdutils==1.4.0
-camera-obs = Panda3D==1.10.9
+camera_obs = Panda3D==1.10.9
     panda3d-gltf==0.13
 dev = black[jupyter]==22.6.0
     grpcio-tools==1.32.0
@@ -91,7 +91,7 @@ test = # The following are for testing
     pytest-cov>=3.0.0
     pytest-xdist>=2.4.0
     pytest-forked>=1.4.0
-test-notebook = ipykernel>=4.10.1
+test_notebook = ipykernel>=4.10.1
     jupyter-client>=7.1.2
     pytest-notebook>=0.7.0
 torch = torch==1.4.0
diff --git a/smarts/core/utils/custom_exceptions.py b/smarts/core/utils/custom_exceptions.py
index 0730996d0b..24f226a59c 100644
--- a/smarts/core/utils/custom_exceptions.py
+++ b/smarts/core/utils/custom_exceptions.py
@@ -26,7 +26,7 @@ class RendererException(Exception):
     def required_to(cls, thing: str) -> "RendererException":
         """Generate a `RenderException` requiring a render to do `thing`."""
         return cls(
-            f"""A renderer is required to {thing}. You may not have installed the [camera-obs] dependencies required to render the camera sensor observations. Install them first using the command `pip install -e .[camera-obs]` at the source directory."""
+            f"""A renderer is required to {thing}. You may not have installed the [camera_obs] dependencies required to render the camera sensor observations. Install them first using the command `pip install -e .[camera_obs]` at the source directory."""
         )
 
 
diff --git a/smarts/zoo/worker.py b/smarts/zoo/worker.py
index 3f9f6c1253..137c296eb6 100755
--- a/smarts/zoo/worker.py
+++ b/smarts/zoo/worker.py
@@ -69,7 +69,7 @@
     except ImportError:
         if mod == "panda3d":
             print(
-                "You need to install the panda3d dependency using pip install -e .[camera-obs] first"
+                "You need to install the panda3d dependency using pip install -e .[camera_obs] first"
             )
         pass
 
diff --git a/utils/docker/Dockerfile b/utils/docker/Dockerfile
index 754f6f63e7..5658495865 100644
--- a/utils/docker/Dockerfile
+++ b/utils/docker/Dockerfile
@@ -44,7 +44,7 @@ RUN pip install --no-cache-dir -r /tmp/requirements.txt
 # Copy source files and install.
 COPY . /src
 WORKDIR /src
-RUN pip install --no-cache-dir -e .[camera-obs,dev,rllib,test,torch,train] && \
+RUN pip install --no-cache-dir -e .[camera_obs,dev,rllib,test,torch,train] && \
     cp -r /src/smarts.egg-info /media/smarts.egg-info
 
 # For Envision.
diff --git a/utils/singularity/smarts.def b/utils/singularity/smarts.def
index 568a89731c..be54213616 100644
--- a/utils/singularity/smarts.def
+++ b/utils/singularity/smarts.def
@@ -47,7 +47,7 @@ From: ubuntu:bionic
 
     # Copy source files and install SMARTS
     cd /src
-    pip install --no-cache-dir -e .[train,test,dev,camera-obs]
+    pip install --no-cache-dir -e .[train,test,dev,camera_obs]
     cp -r /src/smarts.egg-info /media/smarts.egg-info
 
 %environment