Upload folder using huggingface_hub

README.md

@@ -8,13 +8,19 @@ task_categories:
 
 # DROID 1.0.1 with delta-EE actions and gripper-event timings
 
-`lerobot/droid_1.0.1` with five added per-frame features:
+`lerobot/droid_1.0.1` with added per-frame features:
 
-- `action.delta_ee` — `[x, y, z, roll, pitch, yaw, gripper]` (float32): per-step
+- `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 extrinsic-xyz Euler (gimbal-safe, unlike
+  `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

data/chunk-000/file-000.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:115877615c514a46fb51ac4d6242cbba15a08da3aac77c7718625efedaf74a1a
-size 92863197
+oid sha256:5ffc119309ba756e415c0be503453438f74b3ecdc1072f17bf5bd9e096a46a14
+size 102979307

data/chunk-000/file-001.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b2c76fb71e52292a23fb41443de0dbcd625494660e92416cb06febc797975eee
-size 92373382
+oid sha256:5691e12bf02db56f898fed723ac85aafa96fca3c9d4e3bfa681ce54b35c1e699
+size 102433949

data/chunk-000/file-002.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4b4e1e4a4e8c7581e408311eb122719e7129673e01dd567b7f8a3aa598fd7dd9
-size 92137252
+oid sha256:fab2debb3127d09ed99f7cd3fe42d915c6eb81adfd7b9124fd00a161821c24ea
+size 102178872

data/chunk-000/file-003.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:5698c9c0c0246b6961b8035f87a07df23eec6529b7f82cf3b4d606661d58b8b5
-size 92464567
+oid sha256:ac62d11b47fb46489bf1e4255ce2c41cb318c7001f320e348233a8411f5ee3e4
+size 102585364

data/chunk-000/file-004.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2d19a0c3079795513775beecc5d22fb242e9bf7bffb35f704b198a8639812af1
-size 93177097
+oid sha256:00e445ce3290f0d30072a9c274354bff084d9574b74afc1158530d88e01f72f2
+size 103316460

data/chunk-000/file-005.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7d49dd8fcc84adefaad63b021d8c5ba6b8782a9f319419d0c60af9850fca0efd
-size 93662929
+oid sha256:eecad71cd9af717393b66f72f3d29ab9b8ae2c06408a6286f38632323fa4a4b4
+size 103886498

data/chunk-000/file-006.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2f602d06b50d189c28728e2e494c77ba6b53e0539d5fe74c559433be99ffb0a4
-size 93967212
+oid sha256:e519038989f33dcd3636a387b89bb4c129e751926f53883b24315be80bee9cde
+size 104210128

data/chunk-000/file-007.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6eb34c03d1de5f960efeafab40343d6a5e14f6dd5050ec075590bb540618c899
-size 94806207
+oid sha256:df42e8f595b9a75c9e373bfc8077235649c7be02772c05e09f98d338246b2164
+size 105163736

data/chunk-000/file-008.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c51ba4a7322f7fda5aac2b8ab49bc5463ec394cf9140c92c36ee94efb9753e35
-size 92377635
+oid sha256:0bd41e720ebbf0a267fdefc1e36dca1785dd803cbf76716336207bbaa67e618b
+size 102467751

data/chunk-000/file-009.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:40b66bbc88f5f5055e7d6d0782616e935852d9cf1d87c3e11ec50a4d31b29338
-size 93994604
+oid sha256:978bd153750d272067beaa4c610b714aa7afbf267762936510a0bef3de123d4a
+size 104271375

data/chunk-000/file-010.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2c86c53565f743e7a62b2d72ab13cfea0c7fe398e907ffa84167d404b177454c
-size 93917141
+oid sha256:ca043fdae010c7ae778eb71b69bbc7b1f766e7b3c60099555e1e8c59255393f1
+size 104170720

data/chunk-000/file-011.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a30e960e51f32d94c2b930367b7b538667e713733d4e5a32181efcc8c22f9bb2
-size 94071648
+oid sha256:9d6473f4706767da257cebd8c4bfe741144d72e17d5903736854d5bf876a639c
+size 104338645

data/chunk-000/file-012.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:80f8c8c2c8bfae758986c0d5d98fb971883396de3c829581d1ca8e0465aa96f1
-size 91947471
+oid sha256:86f7f4bf0ae3b34e6f12e6edbcd226b77fa9c9f4b9e18a44d34ba22e63189286
+size 101943225

data/chunk-000/file-013.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e7d4b4ab9db85b6e11aaa59b766f814eae49b9102be2c9629a0d0bd0dc646e8d
-size 91925317
+oid sha256:979bd705033694c513da2f5f0837dc887f714d2e7bed2572c70453903c7ee6a6
+size 101967551

data/chunk-000/file-014.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6915f424540ba3afb86307add48c9d0a412fa09f1eb383a82c67b0abd56cc581
-size 91976352
+oid sha256:6ae64f3d025e74cd827d101fbae3d952307b2330f51f77def4e3a6c1824acc12
+size 102017017

data/chunk-000/file-015.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2e17f1eebc6c70a3bbda632e3bca73b8215a1d4f6b7fa7768104994f5747d248
-size 91855924
+oid sha256:9ffcf3eb7bd62f2555392c58a63eeb04d6ea19d3f986068ba0a6ae3155f8b1fd
+size 101842266

data/chunk-000/file-016.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1f1a44a906abed8bbb97525034499e00019dd63c9c14844cad2d69023697e0c3
-size 93209734
+oid sha256:7a25ed0c10325ff60694a2107049b66b72d485d39e799f12a3c66e7e22e0ddad
+size 103354964

data/chunk-000/file-017.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:5cbe2d7bd43b46acfa10c1fffb3e5bf6be2d3dccd0aa8b123a8ae1d8b991fb7f
-size 91775920
+oid sha256:a47dfa0eaab5e20d02841d327db826ea5f734ca4006eae0fc5cee123949a25ac
+size 101792172

data/chunk-000/file-018.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2d5f24c1714ddbc9f1c86d83e9d9bf45826786591eec0aa768f7ea5a42e47ae4
-size 94277500
+oid sha256:f5079a737c0d5e0d83e5cc7b34643ac0d03b5bb887a1e70dcbec11265037485b
+size 104567046

data/chunk-000/file-019.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1197b2de711d462cdda70765dbb0dc8b9e58988df1f4d728bdcfe8298ff55355
-size 92644634
+oid sha256:71c09957554619518c9f9d047d0527a08b325d29a777472433f58efb0da81161
+size 102730434

data/chunk-000/file-020.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:37a24ad0f24b8ca444ce555f246ec04d5267478488a78e2c874c9ebfb30f56e9
-size 93057729
+oid sha256:a657196b57ee737ea5ac7a29869fa91ac167f378a27cab7cbcb2a980fda8c66b
+size 103204605

data/chunk-000/file-021.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a59630671738b9f80871158f821794a00c58fb5e125b4159407b5347eeba0bd3
-size 92156210
+oid sha256:fcfd8bef7c598f9800f975fe4a90ab866772925f8bcc47ca9ab7972aef711ae5
+size 102210959

data/chunk-000/file-022.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e8cfaaa7de1e8efb464c9c39fb0fcb4bcce18ffc75b78da41457b08fd74b26a1
-size 94089088
+oid sha256:68f53ccdf07d2e0ad8af67127781fb34039888fab4045f04ca781cebff95ef36
+size 104366518

data/chunk-000/file-023.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:49a437d04fbd250ad080f573e8bc6f33346f7a0b395ba78ba61fe7207ac6be3b
-size 94284959
+oid sha256:1559e8e7fb7f73254a02467b10bbcc8ab9c35dbe8486a6a4efdb56d846212acd
+size 104559969

data/chunk-000/file-024.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:999430df16339419ff6c4868446dcf694366b5ccfd53ccb2ce068f5bdbc4edd1
-size 93803236
+oid sha256:d115b482ec2611771acd18ab9fdd6686d480c706c3f3380ddc4674b7362f717d
+size 104047752

data/chunk-000/file-025.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f8e56c06dc415689241169e857d13c01f10448bb056c3c5c9840625cc7378d2d
-size 92352521
+oid sha256:3ee652e9e0b328072f58a4cc5727ea413cbaa2a3ba6496474c7b798a63144d7f
+size 102453568

data/chunk-000/file-026.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e4e09cce90487b1e936483cc89b6328d8939cfd9adff15ae2b224368769e596b
-size 92422956
+oid sha256:b0122255312ebbdb0feddd9d12f25c11611b3e3367c7f0cf6e4c2d9fe00d1e7c
+size 102503763

data/chunk-000/file-027.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f64754e46e56746e1e8d751464ffba3db4411a48c5da8f3e3293bd692109d832
-size 94499832
+oid sha256:aa7d1de0bd105c4f4bab3c81a35ce976e543376d0a987b0758c6121d04fa40c7
+size 104800243

data/chunk-000/file-028.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:fdbe5dad500eea5108928437402cce0403db05470baa7e8af0a2b053395b07bc
-size 92658704
+oid sha256:b05eebd4dfccb8e5a31254765b77d098bf4ff71b1673efcd0146f2623deb391e
+size 102780859

data/chunk-000/file-029.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:74eb6a4797e0b310decccd7fe2da54222d6a7979f40cf2ca1aca6a0b732ccb35
-size 94211279
+oid sha256:496aafe1bb84803ad8734b367f20b84b795f9b88d7ede840c233e06054713567
+size 104482864

data/chunk-000/file-030.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0dd7e3044024558bf48e0268b612ded5eed96124254197b79b521d98377976a0
-size 92357533
+oid sha256:0275df5bb5e0b28a59bbe5043cab1b1cb464b4cc6a5bcc5ff6b32fa49a643178
+size 102462939

data/chunk-000/file-031.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:fd029e8830d30179236b758da0c32529f7f092844bc7d25f064e1cd8f88246fd
-size 92466256
+oid sha256:451d91ca65ad3d423014041ecc4cfdbec42d99ab6e2d46e6d0733111a338dcb9
+size 102545358

data/chunk-000/file-032.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:79c6e79c926074b29b75e112b2f164b076880c712508806058c720a9598eb3f8
-size 94001523
+oid sha256:c0db697f619eadb8cdff8dbcf3844fd3a1c9a5ff19e424d0bf324f227b17fb40
+size 104254859

data/chunk-000/file-033.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f6b89cd28c62b34c6637b2b2b96088eb47e60bf16a7b7d065c48f7e0005dae8d
-size 92079275
+oid sha256:ea02c7cbb60ae43058e76bfd4560458c6919981299a73d8ca4e4f96849d1e3ec
+size 102097962

data/chunk-000/file-034.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a2a16d42334332a3ea9c7548e7b2eedfe43849e0764b51a1b45585e70e14bea9
-size 91119371
+oid sha256:9b85a5c481ec07679f6df8e895c3873fdeeafbc1ac241e2e7a8ae3e385093cdd
+size 101065105

data/chunk-000/file-035.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:db7b772dba5419aeec74862c451f6a5dface9abfbf4e0b7fb1ad19d5e46e1be8
-size 94566172
+oid sha256:89fc7ba0e3e188034b52758c271d9461b04b077eb2d9434b187b2b590316624a
+size 104910332

data/chunk-000/file-036.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:48f09e10a6b52c9f286a1a4d068d78f4ede47e754bedf3b1cd6552450eb7997b
-size 93798985
+oid sha256:da82c177bbd0815a78eb260bff9b0bf41072f36ad1839a390f9d81584a4d541f
+size 104083312

data/chunk-000/file-037.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:74f91a79a7c3d3cb0f8b0caf804d0013a93914af12827969a5ef116862a0cf00
-size 92176441
+oid sha256:9bbe8aa7b5f69079a7ee1531d9dbac237455e1e5f5115e3c1cd932ccf5626e60
+size 102241180

data/chunk-000/file-038.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:5f131850bcee4f7280305a8d03052dfa41dbd7cfa2ff1c4cc8e011d29476c017
-size 93941335
+oid sha256:eb5463d87ef92fd747878be49ad6dcf184034a6c3ed0ff006c35451c04885719
+size 104219624

data/chunk-000/file-039.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d90bea18d95b6e8afd404f97eaca96209cd7d25c63e630b67484c5ea54d4ca3d
-size 92394934
+oid sha256:84c6a4c84ff0cad6fd8bf9fac7cedaf7582880fc60f5837e697a8bdd881047f4
+size 102480130

data/chunk-000/file-040.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d77726e78db1baf10255baafeb42f54abadb7f6a41e4b163e35e3d4e972a2855
-size 93018297
+oid sha256:5f1cb574e1680b5bb0f293f1afc6bcf0f4eec7cd69ef8b93b2e6dfcde0247dec
+size 103159979

data/chunk-000/file-041.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:494790a6d510789fbd3ba53598e036ffb8bbc35ca281177c99cf8435f51d457c
-size 93239282
+oid sha256:2c2e89fb83bf4e2d173f311cf1e3da7b1b6c6a3fce1fcd3b918bb1cf8a428cd8
+size 103396525

data/chunk-000/file-042.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b4f9f53aff0a9aebec403837c03fc9e045b106ceda77f88af8304eca73fd44d3
-size 92678958
+oid sha256:0095b2a3ab1194dd67df85daa336896b9e5b5f3687c45ff44b3edafc1d1ab2c3
+size 102798819

data/chunk-000/file-043.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:da71999ffcf7eed0ae4a86b133b300eddf0870a5103c9ca3589ee99e94cb398d
-size 94049765
+oid sha256:96129a99f60d2af99043dd77b8375351b6c29b3e1577de9eed853c3d99563272
+size 104306217

data/chunk-000/file-044.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:38da93f84468b44aba35943fd6cced5d9798c60304883a19d34d657affa34292
-size 93418878
+oid sha256:2d01908ec41865bc04f6bac942f349653b0d36e7677f8589e3e64af8c8732a61
+size 103622969

data/chunk-000/file-045.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:947a177c8caa04ebd943c94fc1aabba33c111eca1a6046fe0755f0072cce16a2
-size 92112580
+oid sha256:4f7999ce701d56774314fa2f093f55bebf2c56c9320c2970aebb040cc33d365b
+size 102174161

data/chunk-000/file-046.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:be137d54289d5b8e2a27f89755d50ea386dadd72373e034ff2adb47e306133f9
-size 92775777
+oid sha256:ab29239e68edeeafc036b61b34507b64851db1f4dd1d2068963a71de13c9e7ee
+size 102916415

data/chunk-000/file-047.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4ea818694372a804f91087c28e2b41fe9948963668e6e1e7a625763c6f667ea7
-size 91705104
+oid sha256:69d409daa5075a577c6ce6c1240897d19f4508cdfb82cc310f9d8d3f4497cdf2
+size 101709529

data/chunk-000/file-048.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f3bac0edd051caaa2c052f44454a76d933a73efacc738224ade2f14f0a38b20f
-size 92272525
+oid sha256:319b7f85b2612dceb67590d5b98b9fad0a65e9a16c9bbed725197a7b29a01e7e
+size 102350579