---
tags:
- LeRobot
- droid
task_categories:
- robotics
---

# 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`.