Fix small bug in drive.c and add binary weights cpt (#184)

* Add model binary file and make demo() work.

* Add docs.

* Add docs.

---------

Co-authored-by: Daphne <daphn3cor@gmail.com>

Author: daphne-cornelisse

README.md

@@ -96,6 +96,19 @@ For more training data compatible with PufferDrive, see [ScenarioMax](https://gi
 <details>
 <summary>Dependencies and usage</summary>
 
+## Local rendering
+
+To launch an interactive renderer, first build:
+```
+bash scripts/build_ocean.sh drive local
+```
+
+then launch:
+```bash
+./drive
+```
+this will run `demo()` with an existing model checkpoint.
+
 ## Headless server setup
 
 Run the Raylib visualizer on a headless server and export as .mp4. This will rollout the pre-trained policy in the env.

pufferlib/ocean/drive/drive.c

@@ -1,4 +1,3 @@
-#include "drive.h"
 #include "drivenet.h"
 #include <string.h>
 #include "../env_config.h"
@@ -19,7 +18,7 @@ void test_drivenet() {
 
     // Weights* weights = load_weights("resources/drive/puffer_drive_weights.bin");
     Weights *weights = load_weights("puffer_drive_weights.bin");
-    DriveNet *net = init_drivenet(weights, num_agents);
+    DriveNet *net = init_drivenet(weights, num_agents, CLASSIC);
 
     forward(net, observations, actions);
     for (int i = 0; i < num_agents * num_actions; i++) {