diff --git a/README.md b/README.md
index 575de691d3ad0f6dbd70bca9979a0599ed2c600e..325415a8de5bc616fab040fabd650a9f3a02669c 100644
--- a/README.md
+++ b/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
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 }
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\ No newline at end of file