Generating paths on sample 2D dataset

Hi,

I have trained mpnet_trainer by running `python MPNET/train.py`, and am pointing `neuralplanner.py` to my trained models. 

Is `neuralplanner.py` supposed to be able to generate individual paths for a given environment? If so, it is not clear to me how to pass `neuralplanner.py` an environment to generate a path for. If there is a way to do this, please let me know!

Thanks

Spencer