| 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). | |