update table-scale readme

README.md

@@ -206,7 +206,7 @@ Room-scale/
 
 - `Body_shape/` contains the body-shape beta parameters for each participant.
 - `calibration/` contains calibration data for the OptiTrack system and ZED cameras, together with
-  the scripts used to calculate the egocentric calibrations.
+  the scripts used to calculate the Homie calibrations.
 - Each `Take-xxxxxx/` directory contains the data for one take:
   - `motions/` contains human and object motion data.
   - `raw/` contains the raw egocentric, exocentric, and motion-capture data.
@@ -218,6 +218,70 @@ Room-scale/
   - `caption/` contains a text description of the take. Caption timestamps refer to the filtered
     timeline after applying `video_keep_interval_s`.
 
+### Table-scale directory structure
+
+```text
+Table-scale/
+├── HOI/
+│   ├── data/
+│   │   └── chunk-000/
+│   ├── meta/
+│   │   └── takes/
+│   ├── objs/
+│   ├── raw/
+│   │   ├── calibration/
+│   │   ├── camera_array_aniposelib/
+│   │   ├── captions/
+│   │   ├── hand_poses/
+│   │   ├── imu/
+│   │   ├── obj_file/
+│   │   ├── obj_poses/
+│   │   ├── optitrack_to_camera_world_alignment/
+│   │   └── poses/
+│   └── videos/
+│       ├── egocap/
+│       └── gopro/
+└── Tactile/
+    └── ACE-Data-Tactile-{0..10}/
+        ├── data/
+        │   └── chunk-000/
+        ├── meta/
+        │   └── takes/
+        ├── raw/
+        │   ├── calibration/
+        │   ├── camera_array_aniposelib/
+        │   ├── captions/
+        │   ├── imu/
+        │   └── tactile/
+        └── videos/
+            ├── egocap/
+            └── gopro/
+```
+
+- `HOI/` contains table-scale human-object interaction recordings focused on fine-grained
+  hand-object manipulation.
+  - `data/` contains LeRobot-compatible parquet chunks. Rows are canonical reference samples on a
+    fixed-rate timeline; `frame_index` is an episode-local reference-sample index, while the raw-row
+    ranges point to records in `raw/`.
+  - `meta/` contains take-level metadata, including the `takes/` index and task information.
+  - `objs/` contains the object mesh assets referenced by the object-tracking data.
+  - `raw/` contains the captured sensor records and sidecars, including camera calibration,
+    camera-array processing data, captions, human and object poses, IMU data, object files, and
+    OptiTrack-to-camera alignment data.
+  - `videos/` contains the source video streams, separated into `egocap/` for egocentric capture and
+    `gopro/` for exocentric GoPro cameras.
+
+- `Tactile/` contains the tactile table-scale release split into eleven shards,
+  `ACE-Data-Tactile-0/` through `ACE-Data-Tactile-10/`. Each shard follows the same layout:
+  - `data/` contains the canonical timeline samples and parquet chunks for that shard.
+  - `meta/` contains take-level metadata under `takes/`.
+  - `raw/` contains calibration, camera-array processing data, captions, IMU records, and raw
+    tactile measurements under `tactile/`.
+  - `videos/` contains the corresponding `egocap/` and `gopro/` video streams.
+
+The `data/`, `raw/`, and `videos/` directories are complementary: the parquet data provides timeline
+indices and raw-row ranges, sensor records remain in `raw/`, and the video bytes remain in `videos/`.
+
 ## How it was captured
 
 |  | Table-scale | Room-scale |