Update README.md

README.md

@@ -156,7 +156,7 @@ A homogeneous transformation matrix is denoted by `T` (4×4).
 
 All subscripts and superscripts are written on the **right-hand side** of `T`.
 
-Example: $T^{hand\_mount}_{arm\_base}$ represents the pose of `hand_mount`
+Example: `T^{hand\_mount}_{arm\_base}` represents the pose of `hand_mount`
 expressed in the `arm_base` frame.
 
 ---
@@ -181,9 +181,9 @@ $$
 
 where:
 
-- $T^{ee\_urdf}_{arm\_base}$ is obtained via forward kinematics (FK) from the arm
+- `T^{ee\_urdf}_{arm\_base}` is obtained via forward kinematics (FK) from the arm
   joint positions, corresponding to the URDF end-effector frame (joint7).
-- $T^{hand\_mount}_{ee\_urdf}$ is a fixed, episode-specific transform provided under
+- `T^{hand\_mount}_{ee\_urdf}` is a fixed, episode-specific transform provided under
   `/kinematics/*_ee_urdf_to_hand_mount`.
 
 **Camera extrinsics may also vary across episodes.**  
@@ -201,6 +201,6 @@ $$
 
 where:
 
-- $T^{head\_camera}_{arm\_base}$ is episode-specific transform provided under  `/kinematics/head_camera_to_*_arm_base`
+- `T^{head\_camera}_{arm\_base}` is episode-specific transform provided under  `/kinematics/head_camera_to_*_arm_base`
 
 ---