metadata
license: mit
tags:
- LeRobot
- robotwin
task_categories:
- robotics
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).