Add Custom Datasets section, fix BOP convention limitation language, update citation URL

README.md

@@ -154,7 +154,7 @@ Training 6D pose estimation models, bin-picking grasp models, and warehouse robo
 
 ## Limitations and Known Issues
 
-- **Non-canonical BOP object IDs.** This release uses ZereData-specific object IDs. It is BOP-format-compatible but **not** a drop-in replacement for evaluation against BOP test sets (LM-O, YCB-V, T-LESS). A BOP-dataset-compatible release with canonical CAD models is forthcoming.
+- **BOP coordinate convention.** Object pose extrinsics in `scene_gt.json` are exported in OpenGL convention (negative-Z forward) rather than the BOP-standard OpenCV convention (positive-Z forward). Downstream consumers should apply a `diag(1, -1, -1)` transform when scoring against BOP toolkit baselines. A v1.x patch release with the producer-side fix is in progress.
 - **Warehouse-specific lighting.** The three lighting profiles model warehouse conditions and may not transfer directly to outdoor, medical, or agricultural domains:
     - `bin_picking_overhead` — bright fluorescent overhead panels, typical of distribution-center shelving aisles.
     - `bin_picking_mixed` — mixed overhead + rim lighting with warmer colour temperature, mimicking older facilities with partial skylights.
@@ -172,6 +172,15 @@ Benchmark evaluation on LM-O is forthcoming; see [ZereData](https://zeredata.com
 
 HOPE, T-LESS, and YCB-Video are excellent real-world datasets with limited scale and fixed object sets. This dataset is synthetic-only, scales without bound, and supports customer-specific object libraries. Treat the two as complementary: real data for evaluation, synthetic data for training.
 
+
+## Custom Datasets
+
+This release is a research dataset. The categories (bottle, box, can, pouch), SKU shapes, and bin geometry are intentionally generic — useful for benchmarking, pretraining, and sanity-checking a 6D pose pipeline before you invest in real-world data collection.
+
+For production use, ZereData generates the same kind of dataset matched to your warehouse's actual SKUs and bin geometry. Customer-specific datasets ingest CAD files or reference photos, render at the same scale and quality as this release, and ship in days. Pricing is per-dataset, with design-partner terms for early customers.
+
+If you're training bin-picking models for a specific picking environment, email **engineering@zeredata.com** — design partners welcome.
+
 ## Citation
 
 ```bibtex
@@ -180,7 +189,7 @@ HOPE, T-LESS, and YCB-Video are excellent real-world datasets with limited scale
   title = {ZereData Bin Picking Dataset v1.1},
   year = {2026},
   publisher = {HuggingFace},
-  url = {https://huggingface.co/datasets/zeredata/bin-picking-v1}
+  url = {https://huggingface.co/datasets/zeredata/bin-picking}
 }
 ```