Update README.md

README.md

@@ -190,8 +190,6 @@ as summarized below.
 |   Gripper control    |  gripper_width   | (1,)  |                                                           Actual gripper width measurement in meter.                                                            | 
 |     Pose control     |   ee_positions   | (7,)  | End effector pose (tx, ty, tz, rx, ry, rz, rw), where (tx, ty, tz) is relative position from the arm base coordinate , (rx, ry, rz, rw) is quaternion rotation. |
 |     Joint effort     |     efforts      | (7,)  |                                      Effort of 6 joints and gripper.  (Provided by official API, precision not guaranteed.                                      |
-| Master Joint effort  |  master_efforts  | (7,)  |                                  Effort of 6 master joints and gripper.  (Provided by official API, precision not guaranteed.                                   |
-| Master joint control |   master_qpos    | (6,)  |                                               Master joint angle (in radians) from the base to the end effector.                                                |
 |      Time stamp      |    timestamp     | (1,)  |                                                    Floating point timestamp (in mileseconds) of each frame.                                                     |
 
 ## Convert to LeRobot
@@ -206,14 +204,14 @@ robot embodiments (UR5, ALOHA, DOS-W1), you can adapt the script accordingly.
 ### Prerequisites
 
 - Python 3.9+ with the following packages:
-    - `lerobot==0.1.0`
+    - `lerobot@0cf864870cf29f4738d3ade893e6fd13fbd7cdb5`
     - `opencv-python`
     - `numpy`
-- Configure `$LEROBOT_HOME`  (defaults to `~/.lerobot` if unset).
+- Configure `$HF_LEROBOT_HOME`  (defaults to `~/.cache/huggingface/lerobot` if unset).
 
 ```bash
-pip install lerobot==0.1.0 opencv-python numpy
-export LEROBOT_HOME="/path/to/lerobot_home"
+pip install git+https://github.com/huggingface/lerobot@0cf864870cf29f4738d3ade893e6fd13fbd7cdb5 opencv-python numpy
+export HF_LEROBOT_HOME="/path/to/lerobot_home"
 ```
 
 ### Usage
@@ -229,6 +227,6 @@ python convert_to_lerobot.py \
 
 ### Output
 
-- Frames and metadata are saved to `$LEROBOT_HOME/<repo-name>`.
+- Frames and metadata are saved to `$HF_LEROBOT_HOME/<repo-name>`.
 - At the end, the script calls `dataset.consolidate(run_compute_stats=False)`. If you require aggregated statistics, run
   it with `run_compute_stats=True` or execute a separate stats job.