dgrachev/robotwin_extrinsics

RoboTwin 2.0 (aloha-agilex) with per-frame camera extrinsics

lerobot/robotwin_unified with three added per-frame features:

• observation.extrinsics.cam_high — head camera pose (static mount)
• observation.extrinsics.cam_left_wrist / .cam_right_wrist — wrist camera poses via FK over the stored joint states (sensor pose = URDF camera-link pose)

Each is [pos(3), quat xyzw(4)] (float32) of the camera in the world frame, in the OpenCV convention (+x image-right, +y image-down, +z into the scene), matching the images as stored (no flip).