diff --git a/robohive/tests/test_examine_env.py b/robohive/tests/test_examine_env.py
index dd7ded87..d4e531ca 100644
--- a/robohive/tests/test_examine_env.py
+++ b/robohive/tests/test_examine_env.py
@@ -3,9 +3,39 @@
 import unittest
 from robohive.utils.examine_env import main as examine_env
 import os
+import glob
+import time
 
 
 class TestExamineEnv(unittest.TestCase):
+
+    def delete_recent_file(self, filename_pattern, directory='.', age=5):
+
+        # Get the current time
+        current_time = time.time()
+
+        # Use glob to find files matching the pattern in the specified directory
+        matching_files = glob.glob(os.path.join(directory, filename_pattern))
+
+        # Iterate over the matching files
+        for file_path in matching_files:
+            try:
+                # Get the creation time of the file
+                creation_time = os.path.getctime(file_path)
+
+                # Calculate the time difference between current time and creation time
+                time_difference = current_time - creation_time
+
+                # If the file was created within the last 5 seconds, delete it
+                if time_difference <= 5:
+                    os.remove(file_path)
+                    print(f"Deleted file created within {age} seconds: {file_path}")
+                else:
+                    print(f"File not deleted: {file_path}, created {time_difference} seconds ago.")
+            except Exception as e:
+                print(f"Error deleting file: {file_path} - {e}")
+
+
     def test_main(self):
         # Call your function and test its output/assertions
         print("Testing env with random policy")
@@ -32,7 +62,22 @@ def test_offscreen_rendering(self):
         print("EXCEPTION", result.exception, flush=True)
         # print(result.output.strip())
         self.assertEqual(result.exception, None, result.exception)
-        os.remove('random_policy0.mp4')
+        self.delete_recent_file(filename_pattern="random_policy*.mp4")
+
+    def test_paths_plotting(self):
+        # Call your function and test its output/assertions
+        print("Testing plotting paths")
+        runner = click.testing.CliRunner()
+        result = runner.invoke(examine_env, ["--env_name", "door-v1", \
+                                            "--num_episodes", 1, \
+                                            "--render", "none",\
+                                            "--plot_paths", True])
+        print("OUTPUT", result.output.strip(), flush=True)
+        print("RESULT", result, flush=True)
+        print("EXCEPTION", result.exception, flush=True)
+        # print(result.output.strip())
+        self.assertEqual(result.exception, None, result.exception)
+        self.delete_recent_file(filename_pattern="random_policy*Trial*.pdf")
 
     def no_test_scripted_policy_loading(self):
         # Call your function and test its output/assertions
diff --git a/robohive/utils/paths_utils.py b/robohive/utils/paths_utils.py
index 7b2e5f36..32c44e7d 100644
--- a/robohive/utils/paths_utils.py
+++ b/robohive/utils/paths_utils.py
@@ -16,9 +16,20 @@
 from robohive.utils.dict_utils import flatten_dict, dict_numpify
 import json
 
+#TODO: Harmonize names, remove rollout_paths, use path for one and paths for multiple
 
-# Useful to check the horizon for teleOp / Hardware experiments
+# Check the horizon for teleOp / Hardware experiments
 def plot_horizon(paths, env, fileName_prefix=None):
+    """
+    Check the horizon for teleOp / Hardware experiments
+
+    Args:
+        paths: paths to examine
+        env: unwrapped env
+        fileName_prefix (str): prefix to use in the filename
+    Saves:
+        fileName_prefix + '_horizon.pdf'
+    """
     import matplotlib as mpl
     mpl.use('TkAgg')
     import matplotlib.pyplot as plt
@@ -30,7 +41,7 @@ def plot_horizon(paths, env, fileName_prefix=None):
         # plot timesteps
         plt.clf()
 
-        rl_dt_ideal = env.env.frame_skip * env.env.model.opt.timestep
+        rl_dt_ideal = env.frame_skip * env.model.opt.timestep
         for i, path in enumerate(paths):
             dt = path['env_infos']['time'][1:] - path['env_infos']['time'][:-1]
             horizon[i] = path['env_infos']['time'][-1] - path['env_infos'][
@@ -75,8 +86,19 @@ def plot_horizon(paths, env, fileName_prefix=None):
         print("Saved:", file_name)
 
 
-# Plot paths to a pdf file
+# 2D-plot of paths detailing obs, act, rwds across time
 def plot(paths, env=None, fileName_prefix=''):
+    """
+    2D-plot of paths detailing obs, act, rwds across time
+
+    Args:
+        paths: paths to examine
+        env: unwrapped env
+        fileName_prefix: prefix to use in the filename
+
+    Saves:
+        fileName_prefix + path_name + '.pdf'
+    """
     import matplotlib as mpl
     mpl.use('Agg')
     import matplotlib.pyplot as plt
@@ -108,7 +130,7 @@ def plot(paths, env=None, fileName_prefix=''):
         nplt2 = 3
         ax = plt.subplot(nplt2, 2, 2)
         ax.set_prop_cycle(None)
-        # h4 = plt.plot(path['env_infos']['time'], env.env.act_mid + path['actions']*env.env.act_rng, '-', label='act') # plot scaled actions
+        # h4 = plt.plot(path['env_infos']['time'], env.act_mid + path['actions']*env.act_rng, '-', label='act') # plot scaled actions
         h4 = plt.plot(
             path['env_infos']['time'], path['actions'], '-',
             label='act')  # plot normalized actions
@@ -143,13 +165,14 @@ def plot(paths, env=None, fileName_prefix=''):
             ax.axes.xaxis.set_ticklabels([])
             plt.ylabel('rewards')
             ax.yaxis.tick_right()
-        if env and hasattr(env.env, "rwd_keys_wt"):
+
+        if env and hasattr(env, "rwd_keys_wt"):
             ax = plt.subplot(nplt2, 2, 6)
             ax.set_prop_cycle(None)
-            for key in sorted(env.env.rwd_keys_wt.keys()):
+            for key in sorted(env.rwd_keys_wt.keys()):
                 plt.plot(
                     path['env_infos']['time'],
-                    path['env_infos']['rwd_dict'][key]*env.env.rwd_keys_wt[key],
+                    path['env_infos']['rwd_dict'][key]*env.rwd_keys_wt[key],
                     label=key)
             plt.legend(
                 loc='upper left',
@@ -167,9 +190,30 @@ def plot(paths, env=None, fileName_prefix=''):
 
 # Render frames/videos
 def render(rollout_path, render_format:str="mp4", cam_names:list=["left"]):
-    # rollout_path:     Absolute path of the rollout (h5/pickle)', default=None
-    # format:           Format to save. Choice['rgb', 'mp4']
-    # cam:              list of cameras to render. Example ['left', 'right', 'top', 'Franka_wrist']
+    """
+    Render the frames from a given rollout.
+
+    Parameters:
+        rollout_path (str): Absolute path of the rollout (h5/pickle).
+        render_format (str, optional): Format to save the rendered frames. Default is "mp4".
+        cam_names (list, optional): List of cameras to render. Default is ["left"]. Example ['left', 'right', 'top', 'Franka_wrist']
+
+    Returns:
+        None
+
+    Raises:
+        TypeError: If the path format is unknown.
+
+    Notes:
+        - The frames are saved in the specified render format.
+        - The rendered frames can be saved as an mp4 video or as individual RGB images.
+        - The frames are rendered for each camera specified in the cam_names list.
+        - The frames are saved in the same directory as the rollout path.
+        - The output file names are generated based on the rollout name and the camera names.
+
+    Example:
+        render(rollout_path="/path/to/rollout.h5", render_format="mp4", cam_names=["left", "right"])
+    """
 
     output_dir = os.path.dirname(rollout_path)
     rollout_name = os.path.split(rollout_path)[-1]