dataset card: a4S pose DR is per process

README.md

@@ -62,11 +62,11 @@ belt speed (0.15–0.30 m/s) · arrival time of the carrier · a4S sealer pose (
 seal dwell and hand-off timing · force/torque pulses (5–20 N) on the held plate during every transfer
 (grip-stability test; the episode is discarded if the plate is lost) · camera poses (above).
 
-`dr_version`: **v2** episodes re-draw the wrist-camera mount, the env-camera pose and the a4S pose every
-episode. **v1** episodes (the first ~1000) drew the a4S pose — and, before a fix, also both camera poses —
-once per simulator process and environment (116 distinct values among the first 951). Columns
-`cam_dr_per_episode` / `a4s_dr_per_episode` in `index/episodes.csv` give the two flags per episode.
-All other DR is per episode in every version.
+`dr_version`: **v2** episodes re-draw the wrist-camera mount and the env-camera pose every episode;
+**v1** episodes (the first ~1050) drew both camera poses once per simulator process and environment
+(116 distinct values among the first 951). In all versions the a4S sealer pose is drawn once per
+simulator process and environment (4 values per process). Columns `cam_dr_per_episode` /
+`a4s_dr_per_episode` in `index/episodes.csv` give the flags per episode. All other DR is per episode.
 
 ## Quality gates (every uploaded episode)