chore: cleanup

Author: shuayyy

.gitignore

@@ -16,8 +16,6 @@ video
 wandb
 logs
 agents
-src/mjlab_husky/assets/
-src/mjlab_husky/asset_zoo/
 AMP_feature.md
 src.zip
 dataset/old
@@ -39,4 +37,4 @@ test_scene/
 .vscode/
 TODO.md
 vision.md
-rsl_rl_old/
+rsl_rl_old/

README.md

@@ -77,20 +77,25 @@ Mjlab-G1-DualArm \
 
 ## Play
 
+Bundled checkpoints:
+
+- `models/locomotion.pt`
+- `models/dual_arm.pt`
+
 Locomotion:
 
 ```bash
 PYTHONPATH=src uv run python src/mjlab_g1/scripts/play.py \
 Mjlab-G1-Locomotion \
---checkpoint-file /path/to/model.pt
+--checkpoint-file models/locomotion.pt
 ```
 
 Dual arm:
 
 ```bash
 PYTHONPATH=src uv run python src/mjlab_g1/scripts/play.py \
 Mjlab-G1-DualArm \
---checkpoint-file /path/to/model.pt
+--checkpoint-file models/dual_arm.pt
 ```
 
 ## AMP datasets
@@ -100,20 +105,6 @@ Current task-specific AMP dataset paths:
 - locomotion: `dataset/locomotion`
 - dualarm: `dataset/dualarm`
 
-## Utilities
-
-View the robot and toaster at their init poses:
-
-```bash
-PYTHONPATH=src uv run python src/mjlab_g1/test/view_g1_toaster_init.py
-```
-
-View qpos motion clips:
-
-```bash
-PYTHONPATH=src uv run python src/mjlab_g1/test/view_qpos_29dof.py dataset/some_clip.npy
-```
-
 ## Notes
 
 - The toaster init pose is defined in: