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diff --git a/Simulation/GelSight_mini/hardness_classify/README.md b/Simulation/GelSight_mini/hardness_classify/README.md
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+# hardness_classify (OpenViTac simulation, LeRobot v2.1)
+
+100 episodes; 14062 frames; 60 FPS.
+
+Task instructions are listed in `meta/tasks.jsonl`.
+
+`observation.state = [q0..q6, gripper_open_fraction]`. The first seven joint values are radians. The last value is `(left_finger_m + right_finger_m) / 0.08`, clipped to [0, 1] (0 closed, 1 open). Finger positions and gripper width are retained separately. The EEF pose uses simulation world coordinates and an xyzw quaternion; rotvec is an absolute axis angle, and the rotation matrix is flattened row major. All numeric observations are float32. There is no action column.
+
+Four RGB streams are MP4 videos: head and wrist (480x270), and left and right tactile images with visible markers (320x240). Timestamps are frame_index / 60.
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