import gym

import rlbench.gym

env = gym.make('reach_target-state-v0', render_mode='human')

training_steps = 120

episode_length = 40

for i in range(training_steps):

if i % episode_length == 0:

print('Reset Episode')

obs = env.reset()

obs, reward, terminate, _ = env.step(env.action_space.sample())

env.render() # Note: rendering increases step time.

print('Done')

env.close()