Merge pull request #41 from OliEfr/example_to_replay_actions

add example for replaying actions in gymnasium

examples/replay_datasets/replay_Unitree_replay_actions_gymnasium.py

@@ -0,0 +1,32 @@
+import gymnasium as gym
+import numpy as np
+from loco_mujoco import LocoEnv
+
+
+def experiment():
+
+    env = gym.make(
+        "LocoMujoco",
+        env_name="UnitreeA1.simple.perfect",
+        render_mode="human",
+        random_start=False,
+        init_step_no=0,
+    )
+
+    expert_dataset = env.create_dataset()
+    expert_actions = expert_dataset["actions"]
+
+    env.reset()
+    env.render()
+
+    i = 0
+    while i < 1000:
+        action = expert_actions[i, :]
+        nstate, reward, terminated, truncated, info = env.step(action)
+
+        env.render()
+        i += 1
+
+
+if __name__ == "__main__":
+    experiment()