<p>The goal of Human–Robot Collaboration is to simplify interaction complexity between humans and robots within collaborative robotic systems. Although ongoing research investigates the use of digital twins and immersive technologies to tackle existing collaboration challenges, current solutions mainly focus on enabling the robotic agent to interpret human actions with varying degrees of success. The lack of a unified approach also leads to separate solutions that do not address the critical issues for collaborative systems. Therefore, a general human–robot interaction framework that enables better collaboration by providing more system information to the human agent in real-time is needed. This paper presents a novel framework, that provides humans with more understanding during collaboration and helps manufacturers and researchers implement a human-centric collaborative robotic system. This is done by providing robot states and actions information immersively through virtual reality, leading to safer and more predictable collaboration. The framework is validated by demonstration with applications in product assembly where the human and robot agents share information and the human can visualize and optimize the robot motion plan, thus improving process performance with a healthy worker experience. Besides the tested context, this framework could also be beneficial for training and medical rehabilitation purposes.</p>