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diff --git a/docs/source/getting_started/images/replica_cad_interactive_rt.png b/docs/source/getting_started/images/replica_cad_interactive_rt.png
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diff --git a/docs/source/getting_started/quickstart.md b/docs/source/getting_started/quickstart.md
index 0a56769c0..58f0bc498 100644
--- a/docs/source/getting_started/quickstart.md
+++ b/docs/source/getting_started/quickstart.md
@@ -40,6 +40,65 @@ We support a wide range of controllers. Different controllers can have different
 
 Some environments require **downloading assets**. You can download all the assets by `python -m mani_skill2.utils.download_asset all` or download task-specific assets by `python -m mani_skill2.utils.download_asset ${ENV_ID}`. The assets will be downloaded to `./data/` by default, and you can also use the environment variable `MS2_ASSET_DIR` to specify this destination. Please refer to [Environments](../concepts/environments.md) for all supported environments, and which environments require downloading assets.
 
+
+
+```bash
+python -m mani_skill2.examples.demo_random_action -e PickCube-v0 # run headless
+python -m mani_skill2.examples.demo_random_action -e PickCube-v0 --render-mode="human" # run with A GUI
+```
+
+We also have demos for simulations of scenes like ReplicaCAD, which can be run by doing
+
+```bash
+python -m mani_skill2.utils.download_asset "ReplicaCAD"
+python -m mani_skill2.examples.demo_random_action.py -e "ReplicaCAD_SceneManipulation-v1" --render-mode="rgb_array" --record-dir="videos" # run headless and save video
+python -m mani_skill2.examples.demo_random_action.py -e "ReplicaCAD_SceneManipulation-v1" --render-mode="human" # run with GUI (recommended!)
+```
+
+To turn ray-tracing on for more photo-realistic rendering, you can do `gym.make(env_id, shader_dir="rt")`, or run
+
+```bash
+python -m mani_skill2.examples.demo_random_action.py -e "ReplicaCAD_SceneManipulation-v1" --render-mode="rgb_array" --record-dir="videos" --shader="rt" # will be slow due to ray tracing
+python -m mani_skill2.examples.demo_random_action.py -e "ReplicaCAD_SceneManipulation-v1" --render-mode="human" --shader="rt-fast" # faster ray-tracing option but lower quality
+```
+
+For more details on rendering see TODO (stao)
+
+## Interactive Play
+
+TODO (stao): Add demo of teleoperation from camera
+
+We provide an example script to interactively play with our environments. A display is required to show the GUI
+
+```bash
+# PickCube-v0 can be replaced with other environment id.
+python -m mani_skill2.examples.demo_manual_control -e PickCube-v0 # runs in headless mode
+```
+
+Keyboard controls:
+
+- Press `i` (or `j`, `k`, `l`, `u`, `o`) to move the end-effector.
+- Press any key between `1` to `6` to rotate the end-effector.
+- Press `f` or `g` to open or close the gripper.
+- Press `w` (or `a`, `s`, `d`) to translate the base if the robot is mobile. Press `q` or `e` to rotate the base. Press `z` or `x` to lift the torso.
+- Press `esc` to close the viewer and exit the program.
+
+To enable an interactive viewer supported by SAPIEN, you can add `--enable-sapien-viewer`. The interactive SAPIEN viewer is more powerful for debugging (e.g., checking collision shapes, getting current poses). There will be two windows: an OpenCV window and a SAPIEN (GL) window. Pressing `0` on the focused window can switch the control to the other one.
+
+```{image} images/OpenCV-viewer.png
+---
+height: 256px
+alt: OpenCV viewer
+---
+```
+
+```{image} images/SAPIEN-viewer.png
+---
+height: 256px
+alt: SAPIEN viewer
+---
+```
+
 ## GPU Parallelized/Vectorized Environments
 
 ManiSkill is powered by SAPIEN which supports GPU parallelized physics simulation and GPU parallelized rendering. This enables achieving 200,000+ state-based simulation FPS and 10,000+ FPS with rendering on a single 4090 GPU. For full benchmarking results see [this page](../additional_resources/performance_benchmarking)
diff --git a/mani_skill2/envs/scenes/__init__.py b/mani_skill2/envs/scenes/__init__.py
index 1c69ac41f..db9f5f9cf 100644
--- a/mani_skill2/envs/scenes/__init__.py
+++ b/mani_skill2/envs/scenes/__init__.py
@@ -23,6 +23,6 @@
 for k, scene_builder in scene_builders.items():
     register_env(
         f"{k}_SceneManipulation-v1",
-        max_episode_steps=None,
-        scene_builder_cls=scene_builder,
+        max_episode_steps=200,
+        scene_builder_cls=k,
     )(SceneManipulationEnv)
diff --git a/mani_skill2/examples/demo_random_action.py b/mani_skill2/examples/demo_random_action.py
index 177f2d4e2..f5fd2d2f3 100644
--- a/mani_skill2/examples/demo_random_action.py
+++ b/mani_skill2/examples/demo_random_action.py
@@ -14,6 +14,7 @@ def parse_args(args=None):
     parser.add_argument("--reward-mode", type=str)
     parser.add_argument("-c", "--control-mode", type=str)
     parser.add_argument("--render-mode", type=str)
+    parser.add_argument("--shader", default="default", type=str, help="Change shader used for rendering. Default is 'default' which is very fast. Can also be 'rt' for ray tracing and generating photo-realistic renders. Can also be 'rt-fast' for a faster but lower quality ray-traced renderer")
     parser.add_argument("--record-dir", type=str)
     parser.add_argument("--quiet", action="store_true", help="Disable verbose output.")
     parser.add_argument(
@@ -47,6 +48,7 @@ def main(args):
         reward_mode=args.reward_mode,
         control_mode=args.control_mode,
         render_mode=args.render_mode,
+        shader_dir=args.shader,
         **args.env_kwargs
     )