diff --git a/.gitattributes b/.gitattributes
index 497c895bfc33d3cd3f24ee3632200d95a4037ad1..f0da53976aedba2aab8a6d09103bfd1e96c36d63 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -108,3 +108,4 @@ ep2/thumb.jpg filter=lfs diff=lfs merge=lfs -text
 ep3/thumb.jpg filter=lfs diff=lfs merge=lfs -text
 ep4/thumb.jpg filter=lfs diff=lfs merge=lfs -text
 ep5/thumb.jpg filter=lfs diff=lfs merge=lfs -text
+*.pack filter=lfs diff=lfs merge=lfs -text
diff --git a/index.html b/index.html
index f3c0bcf8396ef356d31300657ffb0989dba03c53..07f817f0bc24cdd6bf529ee5b30be6e0a6ec1b68 100644
--- a/index.html
+++ b/index.html
@@ -17,8 +17,8 @@ header{padding:26px 28px 6px}h1{margin:0 0 5px;font-size:23px}.sub{color:#9aa1ad
 <header><h1>Faraday Future · EAI Data Sample Viewers</h1>
 <div class="sub">Interactive previews of embodied-AI data samples. Pick a dataset to explore.</div></header>
 <div class="grid">
-  <a class="card" href="teleop.html">
-    <img src="ep0/thumb.jpg" alt="Teleop Sample">
+  <a class="card" href="teleopSample/index.html">
+    <img src="teleopSample/ep0/thumb.jpg" alt="Teleop Sample">
     <div class="m"><div class="t">Teleop Sample</div>
       <div class="r">FF Futurist dual-arm real-robot teleoperation · 6 episodes.<br>Multi-camera video + depth, dexterous-hand tactile, joint / end-effector / gripper charts, temporal spans.</div>
       <span class="tag">LeRobot · Futurist · 6 episodes</span></div>
diff --git a/motionSample/index.html b/motionSample/index.html
index d5ecdc1261b41299e566a78cbe88b8b142ee7bf3..6794250c3a637d33901b43cfd1c784821b0b2890 100644
--- a/motionSample/index.html
+++ b/motionSample/index.html
@@ -51,6 +51,8 @@
     color:var(--lbl);text-shadow:0 1px 2px #000;pointer-events:none;line-height:1.7;
     white-space:pre}
   #tip{position:absolute;left:16px;bottom:12px;color:var(--dim);font-size:12px;pointer-events:none}
+  #load{position:fixed;left:50%;top:50%;transform:translate(-50%,-50%);color:var(--dim);
+    font:13px/1.6 ui-monospace,monospace;pointer-events:none;z-index:5}
   #err{position:fixed;inset:0;display:none;place-content:center;padding:40px;background:var(--bg);
     font-family:ui-monospace,monospace;color:#ff8f8f;white-space:pre-wrap;z-index:9}
 </style>
@@ -95,10 +97,14 @@
   </div>
 </div>
 <div id="err"></div>
+<div id="load">Loading…</div>
 
 <script src="three.min.js"></script>
 <script src="OrbitControls.js"></script>
 <script>
+// 注意: <div id="load"> 会在 window 上建一个同名全局, 所以这个 helper 必须真的定义,
+// 否则 load(...) 拿到的是那个 DOM 元素, 报 "load is not a function"。
+const load=m=>{const e=document.getElementById('load');if(e)e.textContent=m};
 // 数据下载。指向 HF 上的 motionSample 数据集。
 const DL_BASE='https://huggingface.co/datasets/faradayfuture/motionSample/resolve/main/';
 const DL_REPO='https://huggingface.co/datasets/faradayfuture/motionSample';
@@ -116,7 +122,31 @@ const fail=m=>{const e=document.getElementById('err');e.style.display='grid';e.t
 (async function(){
 try{
   const scene_=await (await fetch('scene.json')).json();
-  const mbuf=await (await fetch('meshes.bin')).arrayBuffer();
+  // 网格是最大的一块(未压缩 12.6MB), 存成 gzip 的 meshes.pack, 下行只 4.4MB。
+  // HF static Space 不给二进制自动 gzip, 所以自己压。扩展名不用 .gz: 那样有些服务器会加
+  // Content-Encoding: gzip, 浏览器已经解过一遍, 这里再解就双重解压。
+  // 兜底: 按 gzip magic (1f 8b) 判断到手的字节到底压没压。
+  const mbuf=await (async()=>{
+    const r=await fetch('meshes.pack');
+    if(!r.ok) throw new Error('meshes.pack '+r.status);
+    const total=+(r.headers.get('content-length')||0);
+    const rd=r.body.getReader(); const parts=[]; let got=0;
+    for(;;){
+      const {done,value}=await rd.read(); if(done)break;
+      parts.push(value); got+=value.byteLength;
+      load(`Loading mesh… ${(got/1048576).toFixed(1)}${total?' / '+(total/1048576).toFixed(1):''} MB`);
+    }
+    const buf=new Uint8Array(got); let o=0;
+    for(const p of parts){buf.set(p,o); o+=p.byteLength;}
+    if(!(buf[0]===0x1f && buf[1]===0x8b)) return buf.buffer;      // 服务器已经解开了
+    if(typeof DecompressionStream==='undefined')
+      throw new Error('This browser lacks DecompressionStream (needs Chrome 80+ / Safari 16.4+ / Firefox 113+).');
+    load('Decompressing mesh…');
+    const ds=new DecompressionStream('gzip');
+    const w=ds.writable.getWriter(); w.write(buf); w.close();
+    return new Response(ds.readable).arrayBuffer();
+  })();
+  load('Building geometry…');
   const abuf=await (await fetch('motion.bin')).arrayBuffer();
   const Q=32767;
 
@@ -241,6 +271,12 @@ try{
     for(const[n,j]of Object.entries(jointNodes))
       if(!has.has(n)){ j.obj.quaternion.identity(); cur.static.add(n); }
     applyStatic();
+    // 每段有自己的默认机位(朝向的右前方), 换段时重置, 否则 highjump 会从后背看
+    const co=c.camOff||[1.55,-1.95,1.15];
+    apply(0);
+    const pv=new THREE.Vector3(); (objs['pelvis']||rootObj).getWorldPosition(pv);
+    ctrl.target.set(pv.x,pv.y,0.6);
+    camera.position.set(pv.x+co[0],pv.y+co[1],co[2]);
     frame=0; trailN=0;
     document.getElementById('scrub').max=c.n-1;
     document.querySelectorAll('#clips button').forEach(b=>b.classList.toggle('on',b.dataset.k===k));
@@ -365,7 +401,8 @@ try{
   tg('bStatic',v=>{hideStatic=!v;applyStatic();});
   document.getElementById('bReset').onclick=()=>{
     const v=new THREE.Vector3(); (objs['pelvis']||rootObj).getWorldPosition(v);
-    ctrl.target.set(v.x,v.y,0.6); camera.position.set(v.x+1.55,v.y-1.95,1.15);
+    const co=(cur&&cur.camOff)||[1.55,-1.95,1.15];
+    ctrl.target.set(v.x,v.y,0.6); camera.position.set(v.x+co[0],v.y+co[1],co[2]);
   };
   cvs.addEventListener('pointerdown',e=>{
     if(!cur)return;
@@ -390,7 +427,11 @@ try{
       if(acc>=1){frame=(frame+Math.floor(acc))%cur.n;acc%=1;apply(frame);}}
     ctrl.update(); renderer.render(scene,camera);
   })();
-  window.__dbg={axesByJoint,jointNodes,cur:()=>cur};
+  window.__dbg={axesByJoint,jointNodes,cur:()=>cur,
+    setCam:(x,y,z)=>{const v=new THREE.Vector3();(objs['pelvis']||rootObj).getWorldPosition(v);
+      ctrl.target.set(v.x,v.y,0.6); camera.position.set(v.x+x,v.y+y,z); ctrl.update();},
+    pause:()=>{playing=false; document.getElementById('play').textContent='\u25b6 Play';}};
+  document.getElementById('load').remove();
   window.__ready=true;
 }catch(e){fail('load failed: '+(e&&e.stack||e));}
 })();
diff --git a/motionSample/meshes.bin b/motionSample/meshes.bin
deleted file mode 100644
index c956acf62222ecfa9a72250989dd2af892b890f0..0000000000000000000000000000000000000000
--- a/motionSample/meshes.bin
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ee3008b3a1754cd31c64fdb2a5bd72597812ce3f0a508ea074ff9d8741e1e26a
-size 12565620
diff --git a/motionSample/meshes.pack b/motionSample/meshes.pack
new file mode 100644
index 0000000000000000000000000000000000000000..9607f6f333cdd1877209f042be8456df6d457a68
--- /dev/null
+++ b/motionSample/meshes.pack
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91ff38d0398dc14deb527f0ec056d1d87bfeb4ec81d63c800d5bbd33409fc431
+size 4439446
diff --git a/motionSample/motion.bin b/motionSample/motion.bin
index be0576ad2d8e8c6cf7c01accf2659e2a69c58ddb..5d76550e391b207a8c398b7f1745c4ab66e99962 100644
--- a/motionSample/motion.bin
+++ b/motionSample/motion.bin
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:5cefe300d6de763e3881fbfb721ac324ea6a7c2478dce3f1094803eb3c09afdd
-size 308604
+oid sha256:4758141523c0c87751149fbc97a3426e81de1060a21920612ca1fcd849f5b6ea
+size 129816
diff --git a/motionSample/scene.json b/motionSample/scene.json
index 61641b1410caccbacebbcc15a0e9c96fb805c2da..fac79a3edfc1bd9b41b43243d4462f1d4b95c749 100644
--- a/motionSample/scene.json
+++ b/motionSample/scene.json
@@ -1 +1 @@
-{"root": "base_link", "links": {"pelvis": {"meshes": [{"mesh": "pelvis.STL", "xyz": [0.0, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "scale": [1.0, 1.0, 1.0], "rgba": [0.13, 0.13, 0.14, 1.0]}]}, "imu_in_pelvis_link": {"meshes": [{"mesh": "imu_in_pelvis_link.STL", "xyz": [0.0, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "scale": [1.0, 1.0, 1.0], "rgba": null}]}, "left_hip_pitch_link": {"meshes": [{"mesh": "left_hip_pitch_link.STL", "xyz": [0.0, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "scale": [1.0, 1.0, 1.0], "rgba": [0.13, 0.13, 0.14, 1.0]}]}, "left_hip_roll_link": {"meshes": [{"mesh": "left_hip_roll_link.STL", "xyz": [0.0, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "scale": [1.0, 1.0, 1.0], "rgba": [0.93, 0.93, 0.94, 1.0]}]}, "left_hip_yaw_link": {"meshes": [{"mesh": "left_hip_yaw_link.STL", "xyz": [0.0, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "scale": [1.0, 1.0, 1.0], "rgba": [0.93, 0.93, 0.94, 1.0]}]}, "left_knee_link": {"meshes": [{"mesh": "left_knee_link.STL", "xyz": [0.0, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "scale": [1.0, 1.0, 1.0], "rgba": [0.93, 0.93, 0.94, 1.0]}]}, "left_ankle_pitch_link": {"meshes": [{"mesh": "left_ankle_pitch_link.STL", "xyz": [0.0, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "scale": [1.0, 1.0, 1.0], "rgba": [0.13, 0.13, 0.14, 1.0]}]}, "left_ankle_roll_link": {"meshes": [{"mesh": "left_ankle_roll_link.STL", "xyz": [0.0, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "scale": [1.0, 1.0, 1.0], "rgba": [0.2, 0.2, 0.21, 1.0]}]}, "right_hip_pitch_link": {"meshes": [{"mesh": "right_hip_pitch_link.STL", "xyz": [0.0, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "scale": [1.0, 1.0, 1.0], "rgba": [0.13, 0.13, 0.14, 1.0]}]}, "right_hip_roll_link": {"meshes": [{"mesh": "right_hip_roll_link.STL", "xyz": [0.0, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "scale": [1.0, 1.0, 1.0], "rgba": [0.93, 0.93, 0.94, 1.0]}]}, "right_hip_yaw_link": {"meshes": [{"mesh": "right_hip_yaw_link.STL", "xyz": [0.0, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "scale": [1.0, 1.0, 1.0], "rgba": [0.93, 0.93, 0.94, 1.0]}]}, "right_knee_link": {"meshes": [{"mesh": "right_knee_link.STL", "xyz": [0.0, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "scale": [1.0, 1.0, 1.0], "rgba": [0.93, 0.93, 0.94, 1.0]}]}, "right_ankle_pitch_link": {"meshes": [{"mesh": "right_ankle_pitch_link.STL", "xyz": [0.0, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "scale": [1.0, 1.0, 1.0], "rgba": [0.13, 0.13, 0.14, 1.0]}]}, "right_ankle_roll_link": {"meshes": [{"mesh": "right_ankle_roll_link.STL", "xyz": [0.0, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "scale": [1.0, 1.0, 1.0], "rgba": [0.2, 0.2, 0.21, 1.0]}]}, "waist_yaw_link": {"meshes": [{"mesh": "waist_yaw_link.STL", "xyz": [0.0, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "scale": [1.0, 1.0, 1.0], "rgba": [0.13, 0.13, 0.14, 1.0]}]}, "waist_pitch_link": {"meshes": [{"mesh": "waist_pitch_link.STL", "xyz": [0.0, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "scale": [1.0, 1.0, 1.0], "rgba": [0.13, 0.13, 0.14, 1.0]}]}, "torso_link": {"meshes": [{"mesh": "torso_plus_link.STL", "xyz": [0.0, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "scale": [1.0, 1.0, 1.0], "rgba": [0.93, 0.93, 0.94, 1.0]}]}, "imu_in_torso_link": {"meshes": [{"mesh": "imu_in_torso_link.STL", "xyz": [0.0, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "scale": [1.0, 1.0, 1.0], "rgba": [0.647058823529412, 0.619607843137255, 0.588235294117647, 1.0]}]}, "left_shoulder_pitch_link": {"meshes": [{"mesh": "left_shoulder_pitch_link.STL", "xyz": [0.0, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "scale": [1.0, 1.0, 1.0], "rgba": [0.13, 0.13, 0.14, 1.0]}]}, "left_shoulder_roll_link": {"meshes": [{"mesh": "left_shoulder_roll_link.STL", "xyz": [0.0, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "scale": [1.0, 1.0, 1.0], "rgba": [0.93, 0.93, 0.94, 1.0]}]}, "left_shoulder_yaw_link": {"meshes": [{"mesh": "left_shoulder_yaw_link.STL", "xyz": [0.0, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "scale": [1.0, 1.0, 1.0], "rgba": [0.93, 0.93, 0.94, 1.0]}]}, "left_elbow_link": {"meshes": [{"mesh": "left_elbow_link.STL", "xyz": [0.0, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "scale": [1.0, 1.0, 1.0], "rgba": [0.93, 0.93, 0.94, 1.0]}]}, "left_wrist_yaw_link": {"meshes": [{"mesh": "left_wrist_yaw_link.STL", "xyz": [0.0, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "scale": [1.0, 1.0, 1.0], "rgba": [0.93, 0.93, 0.94, 1.0]}]}, "left_wrist_pitch_link": {"meshes": [{"mesh": "left_wrist_pitch_link.STL", "xyz": [0.0, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "scale": [1.0, 1.0, 1.0], "rgba": [0.13, 0.13, 0.14, 1.0]}]}, "left_wrist_roll_link": {"meshes": [{"mesh": "left_wrist_roll_link.STL", "xyz": [0.0, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "scale": [1.0, 1.0, 1.0], "rgba": [0.898039215686275, 0.917647058823529, 0.929411764705882, 1.0]}]}, "right_shoulder_pitch_link": {"meshes": [{"mesh": "right_shoulder_pitch_link.STL", "xyz": [0.0, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "scale": [1.0, 1.0, 1.0], "rgba": [0.13, 0.13, 0.14, 1.0]}]}, "right_shoulder_roll_link": {"meshes": [{"mesh": "right_shoulder_roll_link.STL", "xyz": [0.0, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "scale": [1.0, 1.0, 1.0], "rgba": [0.93, 0.93, 0.94, 1.0]}]}, "right_shoulder_yaw_link": {"meshes": [{"mesh": "right_shoulder_yaw_link.STL", "xyz": [0.0, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "scale": [1.0, 1.0, 1.0], "rgba": [0.93, 0.93, 0.94, 1.0]}]}, "right_elbow_link": {"meshes": [{"mesh": "right_elbow_link.STL", "xyz": [0.0, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "scale": [1.0, 1.0, 1.0], "rgba": [0.93, 0.93, 0.94, 1.0]}]}, "right_wrist_yaw_link": {"meshes": [{"mesh": "right_wrist_yaw_link.STL", "xyz": [0.0, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "scale": [1.0, 1.0, 1.0], "rgba": [0.93, 0.93, 0.94, 1.0]}]}, "right_wrist_pitch_link": {"meshes": [{"mesh": "right_wrist_pitch_link.STL", "xyz": [0.0, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "scale": [1.0, 1.0, 1.0], "rgba": [0.13, 0.13, 0.14, 1.0]}]}, "right_wrist_roll_link": {"meshes": [{"mesh": "right_wrist_roll_link.STL", "xyz": [0.0, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "scale": [1.0, 1.0, 1.0], "rgba": [0.898039215686275, 0.917647058823529, 0.929411764705882, 1.0]}]}, "head_yaw_link": {"meshes": [{"mesh": "head_yaw_link.STL", "xyz": [0.0, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "scale": [1.0, 1.0, 1.0], "rgba": [0.13, 0.13, 0.14, 1.0]}]}, "head_pitch_link": {"meshes": [{"mesh": "head_pitch_link.STL", "xyz": [0.0, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "scale": [1.0, 1.0, 1.0], "rgba": [0.13, 0.13, 0.14, 1.0]}]}, "imu_in_head_link": {"meshes": [{"mesh": "imu_in_head_link.STL", "xyz": [0.0, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "scale": [1.0, 1.0, 1.0], "rgba": [0.647058823529412, 0.619607843137255, 0.588235294117647, 1.0]}]}, "rgbd_head_front": {"meshes": []}, "stereo_head_front": {"meshes": []}, "rgb_head_rear": {"meshes": [{"mesh": "rgb_head_rear_link.STL", "xyz": [0.0, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "scale": [1.0, 1.0, 1.0], "rgba": null}]}, "rgb_head_center": {"meshes": []}, "lidar_chest_front": {"meshes": []}, "base_link": {"meshes": []}}, "joints": [{"name": "imu_in_pelvis_joint", "type": "fixed", "parent": "pelvis", "child": "imu_in_pelvis_link", "xyz": [0.0239464627920677, -0.00022868187247424, 0.0417100000000296], "rpy": [0.0, 0.0, 0.0], "axis": [0.0, 0.0, 0.0], "limit": null}, {"name": "left_hip_pitch_joint", "type": "revolute", "parent": "pelvis", "child": "left_hip_pitch_link", "xyz": [0.0, 0.0713499997541465, 0.0], "rpy": [0.0, 0.0, 0.0], "axis": [0.0, 1.0, 0.0], "limit": [-2.704, 2.556]}, {"name": "left_hip_roll_joint", "type": "revolute", "parent": "left_hip_pitch_link", "child": "left_hip_roll_link", "xyz": [-0.000574999999960968, 0.0657000000000312, 0.0], "rpy": [0.0, 0.0, 0.0], "axis": [1.0, 0.0, 0.0], "limit": [-0.235, 2.906]}, {"name": "left_hip_yaw_joint", "type": "revolute", "parent": "left_hip_roll_link", "child": "left_hip_yaw_link", "xyz": [0.000574999999972778, 0.0, -0.136850000000045], "rpy": [0.0, 0.0, 0.0], "axis": [0.0, 0.0, 1.0], "limit": [-1.684, 3.43]}, {"name": "left_knee_joint", "type": "revolute", "parent": "left_hip_yaw_link", "child": "left_knee_link", "xyz": [-0.00765999999995284, 0.000225000000070329, -0.18309999999998], "rpy": [0.0, 0.0, 0.0], "axis": [0.0, 1.0, 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\ No newline at end of file
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{"name": "right_hip_yaw_joint", "type": "revolute", "parent": "right_hip_roll_link", "child": "right_hip_yaw_link", "xyz": [0.0, 0.0, -0.136850000000023], "rpy": [0.0, 0.0, 0.0], "axis": [0.0, 0.0, 1.0], "limit": [-3.43, 1.684]}, {"name": "right_knee_joint", "type": "revolute", "parent": "right_hip_yaw_link", "child": "right_knee_link", "xyz": [-0.00766000000003646, -0.000225000000000253, -0.183100000000014], "rpy": [0.0, 0.0, 0.0], "axis": [0.0, 1.0, 0.0], "limit": [0.0, 2.4073]}, {"name": "right_ankle_pitch_joint", "type": "revolute", "parent": "right_knee_link", "child": "right_ankle_pitch_link", "xyz": [-0.00999999999984942, 0.000124910735223305, -0.282000000000021], "rpy": [0.0, 0.0, 0.0], "axis": [0.0, 1.0, 0.0], "limit": [-0.803, 0.453]}, {"name": "right_ankle_roll_joint", "type": "revolute", "parent": "right_ankle_pitch_link", "child": "right_ankle_roll_link", "xyz": [-0.00174999998537372, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "axis": [1.0, 0.0, 0.0], "limit": [-0.2625, 0.2625]}, {"name": "waist_yaw_joint", "type": "revolute", "parent": "pelvis", "child": "waist_yaw_link", "xyz": [0.0, 0.0, 0.0670600000000297], "rpy": [0.0, 0.0, 0.0], "axis": [0.0, 0.0, 1.0], "limit": [-3.43, 2.382]}, {"name": "waist_pitch_joint", "type": "revolute", "parent": "waist_yaw_link", "child": "waist_pitch_link", "xyz": [0.0, 0.0, 0.0880106468356499], "rpy": [0.0, 0.0, 0.0], "axis": [0.0, 1.0, 0.0], "limit": [-0.314, 0.314]}, {"name": "waist_roll_joint", "type": "revolute", "parent": "waist_pitch_link", "child": "torso_link", "xyz": [0.0, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "axis": [1.0, 0.0, 0.0], "limit": [-0.488, 0.488]}, {"name": "imu_in_torso_joint", "type": "fixed", "parent": "torso_link", "child": "imu_in_torso_link", "xyz": [-0.0248787003951661, 0.0019852778697029, 0.105938055641669], "rpy": [0.0, 0.0, 0.0], "axis": [0.0, 0.0, 0.0], "limit": null}, {"name": "left_shoulder_pitch_joint", "type": "revolute", "parent": "torso_link", "child": "left_shoulder_pitch_link", "xyz": [0.00329906676354264, 0.143031506663431, 0.241647721005027], "rpy": [0.209439453777995, 0.0, 0.0], "axis": [0.0, 1.0, 0.0], "limit": [-3.08, 2.04]}, {"name": "left_shoulder_roll_joint", "type": "revolute", "parent": "left_shoulder_pitch_link", "child": "left_shoulder_roll_link", "xyz": [-0.000499991072907324, 0.0495, 0.0], "rpy": [0.0, 0.0, 0.0], "axis": [1.0, 0.0, 0.0], "limit": [-0.061, 2.993]}, {"name": "left_shoulder_yaw_joint", "type": "revolute", "parent": "left_shoulder_roll_link", "child": "left_shoulder_yaw_link", "xyz": [0.00122423638490546, 0.0, -0.121194848262102], "rpy": [0.0, -0.00597565694965793, 0.0], "axis": [0.0, 0.0, 1.0], "limit": [-2.556, 2.556]}, {"name": "left_elbow_joint", "type": "revolute", "parent": "left_shoulder_yaw_link", "child": "left_elbow_link", "xyz": [0.0140000000488655, 0.000199986464082369, -0.0829500000002385], "rpy": [0.0, 0.00597565694965793, 0.0], "axis": [0.0, 1.0, 0.0], "limit": [-2.3556, 0.0]}, {"name": "left_wrist_yaw_joint", "type": 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{"name": "right_shoulder_roll_joint", "type": "revolute", "parent": "right_shoulder_pitch_link", "child": "right_shoulder_roll_link", "xyz": [-0.000499999994070091, -0.0495000000000002, 0.0], "rpy": [0.0, 0.000154003092926045, 0.0], "axis": [1.0, 0.0, 0.0], "limit": [-2.993, 0.061]}, {"name": "right_shoulder_yaw_joint", "type": "revolute", "parent": "right_shoulder_roll_link", "child": "right_shoulder_yaw_link", "xyz": [0.000499999999999765, 0.0, -0.121199999999934], "rpy": [0.0, 0.0, 0.0], "axis": [0.0, 0.0, 1.0], "limit": [-2.556, 2.556]}, {"name": "right_elbow_joint", "type": "revolute", "parent": "right_shoulder_yaw_link", "child": "right_elbow_link", "xyz": [0.0139999999999662, -0.0002000000000143, -0.0829500000000745], "rpy": [0.0, 0.0, 0.0], "axis": [0.0, 1.0, 0.0], "limit": [-2.3556, 0.0]}, {"name": "right_wrist_yaw_joint", "type": "revolute", "parent": "right_elbow_link", "child": "right_wrist_yaw_link", "xyz": [-0.0140000017961392, 9.7526096753231e-05, -0.120694276209686], "rpy": [0.0, 0.0, 3.27341906322599e-05], "axis": [0.0, 0.0, 1.0], "limit": [-2.556, 2.556]}, {"name": "right_wrist_pitch_joint", "type": "revolute", "parent": "right_wrist_yaw_link", "child": "right_wrist_pitch_link", "xyz": [0.0, 0.0, -0.081799999999999], "rpy": [0.0, 0.0, -3.27341932546355e-05], "axis": [0.0, 1.0, 0.0], "limit": [-0.558, 0.558]}, {"name": "right_wrist_roll_joint", "type": "revolute", "parent": "right_wrist_pitch_link", "child": "right_wrist_roll_link", "xyz": [0.0, 0.0, 0.0], "rpy": [0.0, 0.0, 0.0], "axis": [1.0, 0.0, 0.0], "limit": [-0.724, 1.571]}, {"name": "head_yaw_joint", "type": "revolute", "parent": "torso_link", "child": "head_yaw_link", "xyz": [0.00834772789983268, 0.0, 0.309397077276121], "rpy": [0.0, 0.0, 0.0], "axis": [0.0, 0.0, 1.0], "limit": [-0.366, 0.366]}, {"name": "head_pitch_joint", "type": "revolute", "parent": "head_yaw_link", "child": "head_pitch_link", "xyz": [0.0, 0.0, 0.0889], "rpy": [0.0, 0.0, 0.0], "axis": [0.0, 1.0, 0.0], "limit": [-0.3838, 0.3838]}, {"name": "imu_in_head_joint", "type": "fixed", "parent": "head_pitch_link", "child": "imu_in_head_link", "xyz": [0.0259998716312927, -8.2538922380776e-05, 0.0175999960932565], "rpy": [0.0, 0.0, 0.0], "axis": [0.0, 0.0, 0.0], "limit": null}, {"name": "rgbd_head_front", "type": "fixed", "parent": "head_pitch_link", "child": "rgbd_head_front", "xyz": [0.05761, -0.011183, -0.04837], "rpy": [2.2689, 0.0, 1.5708], "axis": [0.0, 0.0, 0.0], "limit": null}, {"name": "stereo_head_front", "type": "fixed", "parent": "head_pitch_link", "child": "stereo_head_front", "xyz": [0.067995, 0.029784, 0.05], "rpy": [-1.5708, 0.0, -1.574], "axis": [0.0, 0.0, 0.0], "limit": null}, {"name": "rgb_head_rear", "type": "fixed", "parent": "head_pitch_link", "child": "rgb_head_rear", "xyz": [-0.0834, 0.00026495, 0.0], "rpy": [-1.5708, 0.0, 1.5676], "axis": [0.0, 0.0, 0.0], "limit": null}, {"name": "rgb_head_center", "type": "fixed", "parent": "head_pitch_link", "child": "rgb_head_center", "xyz": 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\ No newline at end of file
diff --git a/teleop.html b/teleop.html
index 47770022cd85f330c23a5f688e9dcd04050e4a16..a967d13f5f6648611fc2b1db4d7d1df59cda30a0 100644
--- a/teleop.html
+++ b/teleop.html
@@ -1,32 +1,6 @@
-<!doctype html><html lang="en"><head><meta charset="utf-8">
-<title>Pick up the water bottle and put it in the basket</title><style>
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-<header><a href="index.html" style="color:#6f92c8;text-decoration:none;font-size:13px;display:inline-block;margin-bottom:6px">← all datasets</a><br><h1>Pick up the water bottle and put it in the basket</h1><div class="sub">6 episodes · robot <code>Futurist</code> · LeRobot dual-arm teleop</div></header>
-<div class="note">Preview viewers for LeRobot dual-arm teleop episodes. Click a card to open its synced multi-camera viewer (video + depth + tactile + robot-state charts). Download links on each viewer point to the source files on HuggingFace.</div>
-<div class="grid"><a class="card" href="ep0/viewer.html"><div class="ph"><img src="ep0/thumb.jpg" alt="episode 0"><span class="pi"></span></div><div class="m"><div class="t">Episode 0 · Pick up the water bottle and put it in the basket</div><div class="r"><span class="chip">Futurist</span><span>18.2s</span><span>545 frames</span></div></div></a>
-<a class="card" href="ep1/viewer.html"><div class="ph"><img src="ep1/thumb.jpg" alt="episode 1"><span class="pi"></span></div><div class="m"><div class="t">Episode 1 · Pick up the water bottle and put it in the basket</div><div class="r"><span class="chip">Futurist</span><span>18.8s</span><span>563 frames</span></div></div></a>
-<a class="card" href="ep2/viewer.html"><div class="ph"><img src="ep2/thumb.jpg" alt="episode 2"><span class="pi"></span></div><div class="m"><div class="t">Episode 2 · Pick up the water bottle and put it in the basket</div><div class="r"><span class="chip">Futurist</span><span>18.7s</span><span>562 frames</span></div></div></a>
-<a class="card" href="ep3/viewer.html"><div class="ph"><img src="ep3/thumb.jpg" alt="episode 3"><span class="pi"></span></div><div class="m"><div class="t">Episode 3 · Pick up the water bottle and put it in the basket</div><div class="r"><span class="chip">Futurist</span><span>20.5s</span><span>614 frames</span></div></div></a>
-<a class="card" href="ep4/viewer.html"><div class="ph"><img src="ep4/thumb.jpg" alt="episode 4"><span class="pi"></span></div><div class="m"><div class="t">Episode 4 · Pick up the water bottle and put it in the basket</div><div class="r"><span class="chip">Futurist</span><span>22.4s</span><span>673 frames</span></div></div></a>
-<a class="card" href="ep5/viewer.html"><div class="ph"><img src="ep5/thumb.jpg" alt="episode 5"><span class="pi"></span></div><div class="m"><div class="t">Episode 5 · Pick up the water bottle and put it in the basket</div><div class="r"><span class="chip">Futurist</span><span>18.4s</span><span>553 frames</span></div></div></a></div>
-</body></html>
\ No newline at end of file
+<!doctype html><meta charset="utf-8">
+<!-- teleop 页已移到 teleopSample/ 子目录; 这个桩只为兼容旧链接, 可安全删除。 -->
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 </style></head><body>
 <header>
-  <a class="back" href="../teleop.html">← all episodes</a>
+  <a class="back" href="../index.html">← all episodes</a>
   <h1>Pick up the water bottle and put it in the basket</h1>
   <div class="sub"><code>Futurist</code> · episode 0 · 18.2s · 545 frames @ 30fps · teleop</div>
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 <header>
-  <a class="back" href="../teleop.html">← all episodes</a>
+  <a class="back" href="../index.html">← all episodes</a>
   <h1>Pick up the water bottle and put it in the basket</h1>
   <div class="sub"><code>Futurist</code> · episode 1 · 18.8s · 563 frames @ 30fps · teleop</div>
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-  <a class="back" href="../teleop.html">← all episodes</a>
+  <a class="back" href="../index.html">← all episodes</a>
   <h1>Pick up the water bottle and put it in the basket</h1>
   <div class="sub"><code>Futurist</code> · episode 2 · 18.7s · 562 frames @ 30fps · teleop</div>
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--- a/ep3/viewer.html
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 </style></head><body>
 <header>
-  <a class="back" href="../teleop.html">← all episodes</a>
+  <a class="back" href="../index.html">← all episodes</a>
   <h1>Pick up the water bottle and put it in the basket</h1>
   <div class="sub"><code>Futurist</code> · episode 3 · 20.5s · 614 frames @ 30fps · teleop</div>
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 <header>
-  <a class="back" href="../teleop.html">← all episodes</a>
+  <a class="back" href="../index.html">← all episodes</a>
   <h1>Pick up the water bottle and put it in the basket</h1>
   <div class="sub"><code>Futurist</code> · episode 4 · 22.4s · 673 frames @ 30fps · teleop</div>
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--- a/ep5/viewer.html
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@@ -66,7 +66,7 @@ canvas{width:100%;display:block;cursor:pointer}
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 </style></head><body>
 <header>
-  <a class="back" href="../teleop.html">← all episodes</a>
+  <a class="back" href="../index.html">← all episodes</a>
   <h1>Pick up the water bottle and put it in the basket</h1>
   <div class="sub"><code>Futurist</code> · episode 5 · 18.4s · 553 frames @ 30fps · teleop</div>
 </header>
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+<title>Pick up the water bottle and put it in the basket</title><style>
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+</style></head><body>
+<header><a href="../index.html" style="color:#6f92c8;text-decoration:none;font-size:13px;display:inline-block;margin-bottom:6px">← all datasets</a><br><h1>Pick up the water bottle and put it in the basket</h1><div class="sub">6 episodes · robot <code>Futurist</code> · LeRobot dual-arm teleop</div></header>
+<div class="note">Preview viewers for LeRobot dual-arm teleop episodes. Click a card to open its synced multi-camera viewer (video + depth + tactile + robot-state charts). Download links on each viewer point to the source files on HuggingFace.</div>
+<div class="grid"><a class="card" href="ep0/viewer.html"><div class="ph"><img src="ep0/thumb.jpg" alt="episode 0"><span class="pi"></span></div><div class="m"><div class="t">Episode 0 · Pick up the water bottle and put it in the basket</div><div class="r"><span class="chip">Futurist</span><span>18.2s</span><span>545 frames</span></div></div></a>
+<a class="card" href="ep1/viewer.html"><div class="ph"><img src="ep1/thumb.jpg" alt="episode 1"><span class="pi"></span></div><div class="m"><div class="t">Episode 1 · Pick up the water bottle and put it in the basket</div><div class="r"><span class="chip">Futurist</span><span>18.8s</span><span>563 frames</span></div></div></a>
+<a class="card" href="ep2/viewer.html"><div class="ph"><img src="ep2/thumb.jpg" alt="episode 2"><span class="pi"></span></div><div class="m"><div class="t">Episode 2 · Pick up the water bottle and put it in the basket</div><div class="r"><span class="chip">Futurist</span><span>18.7s</span><span>562 frames</span></div></div></a>
+<a class="card" href="ep3/viewer.html"><div class="ph"><img src="ep3/thumb.jpg" alt="episode 3"><span class="pi"></span></div><div class="m"><div class="t">Episode 3 · Pick up the water bottle and put it in the basket</div><div class="r"><span class="chip">Futurist</span><span>20.5s</span><span>614 frames</span></div></div></a>
+<a class="card" href="ep4/viewer.html"><div class="ph"><img src="ep4/thumb.jpg" alt="episode 4"><span class="pi"></span></div><div class="m"><div class="t">Episode 4 · Pick up the water bottle and put it in the basket</div><div class="r"><span class="chip">Futurist</span><span>22.4s</span><span>673 frames</span></div></div></a>
+<a class="card" href="ep5/viewer.html"><div class="ph"><img src="ep5/thumb.jpg" alt="episode 5"><span class="pi"></span></div><div class="m"><div class="t">Episode 5 · Pick up the water bottle and put it in the basket</div><div class="r"><span class="chip">Futurist</span><span>18.4s</span><span>553 frames</span></div></div></a></div>
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