Remove keyframes from training G1 spec

Author: BotRunner64

tests/test_train_script.py

@@ -258,6 +258,9 @@ def test_make_g1_training_robot_cfg_uses_requested_xml() -> None:
 
     assert isinstance(robot_cfg.spec_fn, partial)
     assert robot_cfg.spec_fn.args == (xml_path,)
+    spec = robot_cfg.spec_fn()
+    assert len(spec.actuators) == 0
+    assert len(spec.keys) == 0
 
 
 def test_validate_motion_file_accepts_shard_directories(tmp_path: Path) -> None:

train_mimic/tasks/tracking/config/env.py

@@ -69,6 +69,8 @@ def _get_g1_training_spec(robot_xml: str | Path | None = None) -> mujoco.MjSpec:
     spec = mujoco.MjSpec.from_file(str(xml_path))
     for actuator in list(spec.actuators):
         spec.delete(actuator)
+    for key in list(spec.keys):
+        spec.delete(key)
     return spec