---
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).