Document the FrankaPickPlace3D MPPI planning data

README.md

@@ -39,6 +39,44 @@ The uploaded files demonstrate two related point cloud representations:
 * `videos/canonicalpointcloud-excluding kitchen floor.mp4`
   Demo video showing transform-based canonical point cloud replay at 30 fps.
 
+## FrankaPickPlace3D — MPPI planning data (`franka_pickplace/`)
+
+Added for the closed-loop MPPI planning result on kinder's MuJoCo
+`FrankaPickPlace3D-o1` task (a desk-mounted Franka FR3 picks a cube and places it
+in a goal region). Same canonical representation as the sweep files above:
+per-geom canonical surface points plus per-timestep 4x4 rigid transforms.
+
+* `franka_pickplace/FrankaPickPlace3D-o1-demos-v2.tar.gz` — 14 MB,
+  md5 `cf4fa2b0c4166fcd6bdd27f8a2616f12`.
+  The raw kindergarden demo pickles: 1000 train + 10 test episodes, one directory
+  per episode seed. Extract into a kindergarden checkout's `demos/`.
+* `franka_pickplace/franka_canonical_pickplace_1000demos_train_v2.hdf5` — 2.3 GB.
+  1000 episodes, 109,084 frames, exported with `--num-points-per-geom 2000` and
+  `--ee-site robot_pinch_site`. 70 geoms per demo.
+* `franka_pickplace/franka_canonical_pickplace_10demos_test_v2.hdf5` — 22 MB,
+  md5 `01eaec8f6dc0a27506f3ddd56354f4ef`. The matching test split.
+
+The world model trained on this data is at
+[`Flashkernel/3dwm-franka-pickplace-mppi`](https://huggingface.co/Flashkernel/3dwm-franka-pickplace-mppi),
+and the same data converted to the 3dwm training format (71 MB packed, ready to
+train on) is at
+[`Flashkernel/3dwm-kinder-data`](https://huggingface.co/datasets/Flashkernel/3dwm-kinder-data).
+
+### The environment version matters
+
+These demos were generated against kindergarden commit
+[`1d0cc56`](https://github.com/Princeton-Robot-Planning-and-Learning/kindergarden/commit/1d0cc56c093cfbb930d43fe83c2272b7b44f6e29),
+and no published version of that package matches it. Both alternatives fail
+silently rather than raising:
+
+* PyPI `kindergarden==0.2.0` carries the **same version string** but was built
+  three days earlier, before the FR3 `pinch_site` existed. These demos' actions
+  are defined on `robot_pinch_site` (see each demo's `ee_frame_name` attribute),
+  so an IK bridge has no frame to target.
+* v0.2.1 and later, and current `main`, replaced `"mount_height": 0.75` with
+  `"mount_surface": "desk_1"` in the task config, which moves the FR3 mount and
+  changes every scene — a model trained on this data is then out of distribution.
+
 ## Dataset Description
 
 The dataset is intended for inspecting complete point clouds, point tracking, and transform-based point cloud replay.