docs: fix Robot fields markdown format

README.md

@@ -69,23 +69,24 @@ Each episode/trajectory may include:
   - `total_demos`: Total number of trajectories in the file.
 
 - **Observations** (`obs` group)
-  - `agentview_rgb`: JPEG byte stream (variable length `uint8`). Decodes to $(T, 480, 640, 3)$.
-  - `eye_in_hand_{side}_rgb`: JPEG byte stream (variable length `uint8`). Decodes to $(T, 480, 640, 3)$.
-  - `{prefix}_joint_states`: Arm joint positions in radians. Shape $(T, N_{dof})$.
-  - `{prefix}_gripper_states`: Gripper joint positions. Shape $(T, N_{grip})$.
-  - `{prefix}_eef_pos`: End-effector position in **Robot Base Frame**. Shape $(T, 3)$.
-  - `{prefix}_eef_quat`: End-effector orientation $(w, x, y, z)$ in **Robot Base Frame**. Shape $(T, 4)$.
-  - `object_{name}_pos`: Object ground truth position in **World Frame**. Shape $(T, 3)$.
-  - `object_{name}_quat`: Object ground truth orientation $(w, x, y, z)$ in **World Frame**. Shape $(T, 4)$.
+  - `agentview_rgb`: JPEG byte stream (variable length `uint8`). Decodes to `(T, 480, 640, 3)`.
+  - `eye_in_hand_{side}_rgb`: JPEG byte stream (variable length `uint8`). Decodes to `(T, 480, 640, 3)`.
+  - `{prefix}_joint_states`: Arm joint positions in radians. Shape `(T, N_dof)`.
+  - `{prefix}_gripper_states`: Gripper joint positions. Shape `(T, N_grip)`.
+  - `{prefix}_eef_pos`: End-effector position in **Robot Base Frame**. Shape `(T, 3)`.
+  - `{prefix}_eef_quat`: End-effector orientation `(w, x, y, z)` in **Robot Base Frame**. Shape `(T, 4)`.
+  - `object_{name}_pos`: Object ground truth position in **World Frame**. Shape `(T, 3)`.
+  - `object_{name}_quat`: Object ground truth orientation `(w, x, y, z)` in **World Frame**. Shape `(T, 4)`.
 
 - **Actions & States**
-    > **Note:** For multi-robot setups, the fields below concatenate data from all robots in order (e.g., `[robot0, robot1]`).
-  - `actions`: Joint-space control targets. Shape $(T, N_{dof} + 1)$.
-    *Format: `[joint_positions, normalized_gripper]` where gripper $\in [0, 1]$.*
-  - `actions_ee`: Cartesian control targets. Shape $(T, 7)$.
+  > **Note:** For multi-robot setups, the fields below concatenate data from all robots in order (e.g., `[robot0, robot1]`).
+  - `actions`: Joint-space control targets. Shape `(T, N_dof + 1)`.
+    *Format: `[joint_positions, normalized_gripper]` where gripper is in `[0, 1]`.*
+  - `actions_ee`: Cartesian control targets. Shape `(T, 7)`.
     *Format: `[pos (3), axis-angle (3), normalized_gripper (1)]`.*
-  - `robot_states`: Robot base pose in **World Frame**. Shape $(T, 7 \times N_{robots})$.
-    *Format: `[pos (3), quat (4)]` per robot, quat is $(w, x, y, z)$.*
+  - `robot_states`: Robot base pose in **World Frame**. Shape `(T, 7 * N_robots)`.
+    *Format: `[pos (3), quat (4)]` per robot, quat is `(w, x, y, z)`.*
+
 **Tactile fields (mocap only)**
 
 - `tactile_hand`: dense tactile map (time × sensors/vertices)