code: import gym
  import matplotlib.pyplot as plt
  import numpy as np
  import time
  
  import brs_envs
  
  env = gym.make('RocketLanderBRSEnv-v0',
                 render=True,
                 max_lateral_offset=0,
                 max_pitch_offset=0,
                 max_roll_offset=0,
                 max_yaw_offset=0,
                 mean_robot_start_height=100)
  s = env.reset()
  
  zero_action = np.zeros(env.action_space.shape)
  
  vels = []
  
  input("Press ENTER to start...")
  target = 80
  for i in range(1800):
      time.sleep(1/60)
      if s[2] < target:
          a = np.array([min(1.0, (s[2] - target)**2), 0.0, 0.0])
      else:
          a = np.array([0.3, 0.0, 0.0])
      a += np.array([0.0, 0.15 * np.sin(0.1 * i), 0.8])
      s, r, done, _ = env.step(a)
  #    vels.append(np.linalg.norm(s[7:10]))
      vels.append(s[2])
  #    s, r, done, _ = env.step(env.action_space.sample())
      if done:
          print("Reward in final frame: {}".format(r))
          break
  
  plt.plot(np.arange(len(vels)) / 60, vels)
  plt.xlabel('Time (s)')
  plt.ylabel('Position (m)')
  plt.show()
  
apis: numpy.zeros matplotlib.pyplot.show matplotlib.pyplot.ylabel numpy.array numpy.sin matplotlib.pyplot.xlabel