dgrachev/droid_1.0.1

DROID 1.0.1 with delta-EE actions and gripper-event timings

lerobot/droid_1.0.1 with added per-frame features:

• action.delta_ee — [x, y, z, rx, ry, rz, gripper] (float32): per-step delta EE command: position delta of action.cartesian_position vs observation.state.cartesian_position, and the relative rotation R_cmd * R_state^-1 (world frame) as an axis-angle vector (gimbal-safe, unlike elementwise rpy subtraction); gripper is the absolute command (0..1, 1 = close).
• observation.extrinsics.static1 / static2 / wrist1 — [pos(3), quat xyzw(4)] (float32) camera poses in the robot base frame (static1 = exterior_1_left, static2 = exterior_2_left, wrist1 = wrist_left), converted from camera_extrinsics.* (xyz + extrinsic-xyz rpy). The wrist pose is live per frame (EE pose composed with the episode's rigid mount offset); the source column freezes it at episode start.
• observation.gripper.time_to_close / time_to_open — hindsight seconds until the gripper command next flips (threshold 0.5, runs < 3 steps debounced).
• observation.gripper.time_since_close / time_since_open — seconds since the previous flip. Frames with no such flip in the episode hold the sentinel 10000.

The flat action column holds the delta-EE values and the flat observation.state column holds the EE state [x, y, z, roll, pitch, yaw, gripper]; the joint-space originals remain in action.joint_position / observation.state.joint_position.

Generated by lerobot_policy_framepick/scripts/augment_droid_delta_ee_gripper_events.py.