diff --git a/serl_robot_infra/franka_env/utils/__init__.py b/serl_robot_infra/franka_env/utils/__init__.py
index e69de29b..5a9142fc 100644
--- a/serl_robot_infra/franka_env/utils/__init__.py
+++ b/serl_robot_infra/franka_env/utils/__init__.py
@@ -0,0 +1,8 @@
+from .image_object_affine import (
+    EuclideanAffine2D,
+    benchmark_affine_strategies,
+    build_affine_matrix,
+    preprocess_mask,
+    transform_segmented_object,
+    update_planar_robot_state,
+)
diff --git a/serl_robot_infra/franka_env/utils/image_object_affine.py b/serl_robot_infra/franka_env/utils/image_object_affine.py
new file mode 100644
index 00000000..bdeda0e3
--- /dev/null
+++ b/serl_robot_infra/franka_env/utils/image_object_affine.py
@@ -0,0 +1,175 @@
+from __future__ import annotations
+
+from dataclasses import dataclass
+from time import perf_counter
+from typing import Dict, Optional, Tuple
+
+import numpy as np
+from scipy import ndimage
+
+
+@dataclass(frozen=True)
+class EuclideanAffine2D:
+    """A 2D Euclidean transform in image coordinates."""
+
+    rotation_rad: float = 0.0
+    translation_px: Tuple[float, float] = (0.0, 0.0)
+    center_px: Optional[Tuple[float, float]] = None
+
+
+def _rotation_matrix(theta: float) -> np.ndarray:
+    c, s = np.cos(theta), np.sin(theta)
+    return np.array([[c, -s], [s, c]], dtype=np.float64)
+
+
+def build_affine_matrix(shape_hw: Tuple[int, int], transform: EuclideanAffine2D) -> np.ndarray:
+    """Builds a 2x3 forward affine matrix [[A|t]] in x-y convention."""
+    h, w = shape_hw
+    center = (
+        np.asarray(transform.center_px, dtype=np.float64)
+        if transform.center_px is not None
+        else np.array([(w - 1) / 2.0, (h - 1) / 2.0], dtype=np.float64)
+    )
+    a = _rotation_matrix(transform.rotation_rad)
+    t = np.asarray(transform.translation_px, dtype=np.float64)
+    effective_t = center + t - (a @ center)
+    return np.concatenate([a, effective_t[:, None]], axis=1)
+
+
+def preprocess_mask(mask: np.ndarray, kernel_size: int = 5) -> np.ndarray:
+    """Denoises a binary mask with close+open morphology."""
+    binary = (mask > 0)
+    structure = np.ones((kernel_size, kernel_size), dtype=bool)
+    clean = ndimage.binary_closing(binary, structure=structure)
+    clean = ndimage.binary_opening(clean, structure=structure)
+    return (clean.astype(np.uint8) * 255)
+
+
+def _warp_by_inverse_mapping(image: np.ndarray, transform: EuclideanAffine2D, order: int) -> np.ndarray:
+    h, w = image.shape[:2]
+    center = (
+        np.asarray(transform.center_px, dtype=np.float64)
+        if transform.center_px is not None
+        else np.array([(w - 1) / 2.0, (h - 1) / 2.0], dtype=np.float64)
+    )
+    r = _rotation_matrix(transform.rotation_rad)
+    t = np.asarray(transform.translation_px, dtype=np.float64)
+
+    yy, xx = np.meshgrid(np.arange(h), np.arange(w), indexing="ij")
+    output_xy = np.stack([xx, yy], axis=0).reshape(2, -1)
+    input_xy = (r.T @ (output_xy - t[:, None] - center[:, None])) + center[:, None]
+
+    coords = np.stack([input_xy[1], input_xy[0]], axis=0)
+    if image.ndim == 2:
+        warped = ndimage.map_coordinates(image, coords, order=order, mode="constant", cval=0.0)
+        return warped.reshape(h, w)
+
+    channels = []
+    for c in range(image.shape[2]):
+        ch = ndimage.map_coordinates(image[..., c], coords, order=order, mode="constant", cval=0.0)
+        channels.append(ch.reshape(h, w))
+    return np.stack(channels, axis=-1)
+
+
+def _fill_removed_region(image: np.ndarray, mask: np.ndarray) -> np.ndarray:
+    """Simple background fill using nearest valid pixel."""
+    valid = mask == 0
+    _, indices = ndimage.distance_transform_edt(~valid, return_indices=True)
+    filled = image.copy()
+    if image.ndim == 3:
+        filled[~valid] = image[indices[0][~valid], indices[1][~valid]]
+    else:
+        filled[~valid] = image[indices[0][~valid], indices[1][~valid]]
+    return filled
+
+
+def transform_segmented_object(
+    image: np.ndarray,
+    mask: np.ndarray,
+    transform: EuclideanAffine2D,
+    *,
+    preprocess: bool = True,
+) -> Tuple[np.ndarray, np.ndarray, np.ndarray]:
+    if image.ndim != 3:
+        raise ValueError("Expected image with shape [H, W, C].")
+    if mask.shape[:2] != image.shape[:2]:
+        raise ValueError("Mask and image spatial dimensions must match.")
+
+    clean_mask = preprocess_mask(mask) if preprocess else (mask > 0).astype(np.uint8) * 255
+    object_rgb = image * (clean_mask[..., None] > 0)
+    background = _fill_removed_region(image, clean_mask > 0)
+
+    moved_object = _warp_by_inverse_mapping(object_rgb.astype(np.float32), transform, order=1)
+    moved_mask = _warp_by_inverse_mapping(clean_mask.astype(np.float32), transform, order=0)
+    moved_mask = (moved_mask > 0.5).astype(np.uint8) * 255
+
+    composite = background.copy()
+    moved_mask_bool = moved_mask > 0
+    composite[moved_mask_bool] = moved_object[moved_mask_bool].astype(image.dtype)
+    return composite, moved_mask, build_affine_matrix(image.shape[:2], transform)
+
+
+def update_planar_robot_state(
+    robot_state_xytheta: np.ndarray,
+    transform: EuclideanAffine2D,
+    meters_per_pixel: float,
+    *,
+    camera_yaw_in_robot_rad: float = 0.0,
+) -> np.ndarray:
+    robot_state_xytheta = np.asarray(robot_state_xytheta, dtype=np.float64)
+    if robot_state_xytheta.shape != (3,):
+        raise ValueError("robot_state_xytheta must have shape (3,).")
+
+    tx_px, ty_px = transform.translation_px
+    delta_cam = np.array([tx_px, ty_px], dtype=np.float64) * float(meters_per_pixel)
+
+    c, s = np.cos(camera_yaw_in_robot_rad), np.sin(camera_yaw_in_robot_rad)
+    rot = np.array([[c, -s], [s, c]], dtype=np.float64)
+    delta_robot = rot @ delta_cam
+
+    updated = robot_state_xytheta.copy()
+    updated[:2] += delta_robot
+    updated[2] += float(transform.rotation_rad)
+    return updated
+
+
+def benchmark_affine_strategies(
+    image: np.ndarray,
+    mask: np.ndarray,
+    transform: EuclideanAffine2D,
+    *,
+    num_runs: int = 100,
+) -> Dict[str, float]:
+    clean_mask = preprocess_mask(mask)
+
+    def full_frame():
+        _warp_by_inverse_mapping(image.astype(np.float32), transform, order=1)
+        _warp_by_inverse_mapping(clean_mask.astype(np.float32), transform, order=0)
+
+    ys, xs = np.where(clean_mask > 0)
+    if len(xs) == 0:
+        raise ValueError("Mask is empty. Cannot benchmark ROI strategy.")
+    x0, x1 = xs.min(), xs.max() + 1
+    y0, y1 = ys.min(), ys.max() + 1
+    roi = image[y0:y1, x0:x1]
+
+    local_transform = EuclideanAffine2D(
+        rotation_rad=transform.rotation_rad,
+        translation_px=transform.translation_px,
+        center_px=((roi.shape[1] - 1) / 2.0, (roi.shape[0] - 1) / 2.0),
+    )
+
+    def roi_only():
+        _warp_by_inverse_mapping(roi.astype(np.float32), local_transform, order=1)
+
+    start = perf_counter()
+    for _ in range(num_runs):
+        full_frame()
+    full_ms = (perf_counter() - start) * 1e3 / num_runs
+
+    start = perf_counter()
+    for _ in range(num_runs):
+        roi_only()
+    roi_ms = (perf_counter() - start) * 1e3 / num_runs
+
+    return {"full_frame_ms": full_ms, "roi_only_ms": roi_ms, "speedup_x": full_ms / max(roi_ms, 1e-9)}
diff --git a/serl_robot_infra/tests/test_image_object_affine.py b/serl_robot_infra/tests/test_image_object_affine.py
new file mode 100644
index 00000000..e5b8e9fd
--- /dev/null
+++ b/serl_robot_infra/tests/test_image_object_affine.py
@@ -0,0 +1,48 @@
+import numpy as np
+
+from franka_env.utils.image_object_affine import (
+    EuclideanAffine2D,
+    benchmark_affine_strategies,
+    transform_segmented_object,
+    update_planar_robot_state,
+)
+
+
+def test_transform_segmented_object_moves_mask():
+    image = np.zeros((64, 64, 3), dtype=np.uint8)
+    image[20:30, 20:30] = (255, 0, 0)
+    mask = np.zeros((64, 64), dtype=np.uint8)
+    mask[20:30, 20:30] = 255
+
+    transform = EuclideanAffine2D(rotation_rad=0.0, translation_px=(10, 5), center_px=(24.5, 24.5))
+    output, moved_mask, _ = transform_segmented_object(image, mask, transform)
+
+    assert output.shape == image.shape
+    assert moved_mask.sum() > 0
+    ys, xs = np.where(moved_mask > 0)
+    assert xs.min() >= 29
+    assert ys.min() >= 24
+
+
+def test_update_planar_robot_state_applies_translation_and_rotation():
+    state = np.array([0.0, 0.0, 0.0])
+    transform = EuclideanAffine2D(rotation_rad=np.pi / 4.0, translation_px=(20.0, 0.0))
+
+    updated = update_planar_robot_state(state, transform, meters_per_pixel=0.001)
+
+    np.testing.assert_allclose(updated[:2], np.array([0.02, 0.0]), atol=1e-6)
+    np.testing.assert_allclose(updated[2], np.pi / 4.0, atol=1e-6)
+
+
+def test_benchmark_affine_strategies_returns_metrics():
+    image = np.zeros((128, 128, 3), dtype=np.uint8)
+    image[40:80, 40:80] = 255
+    mask = np.zeros((128, 128), dtype=np.uint8)
+    mask[40:80, 40:80] = 255
+    transform = EuclideanAffine2D(rotation_rad=0.3, translation_px=(5.0, -2.0))
+
+    metrics = benchmark_affine_strategies(image, mask, transform, num_runs=5)
+
+    assert set(metrics.keys()) == {"full_frame_ms", "roi_only_ms", "speedup_x"}
+    assert metrics["full_frame_ms"] > 0
+    assert metrics["roi_only_ms"] > 0