Add hand-eye calibration utility for OpenArm

[micondy]

Describe the feature you want

Add a hand–eye calibration utility to the repository.

[abetomo]

Thank you for the feature request!
Could you share more details: for example, what camera setup you're using, or whether you have a specific calibration method in mind?
That would help us understand what's needed.

[micondy]

Thank you for the feature request! Could you share more details: for example, what camera setup you're using, or whether you have a specific calibration method in mind? That would help us understand what's needed.

Thanks for the reply.

1. Camera: I am using an Intel RealSense camera. I noticed that the robot shown on the official website also appears to use a similar camera mounted on the chest.

2. Hardware: It would be helpful if the robot arm could support mounting a camera on the end-effector, ideally with a dedicated mounting bracket.

3. Calibration: I don’t have a specific preference for the calibration algorithm, but it would be great if the repository could support both Eye-in-Hand and Eye-to-Hand calibration.

Thanks!

[micondy]

I implemented a hand–eye calibration solution based on this repository: https://github.com/micondy/handeye_calib.git, with some assistance from AI.

However, the results still have noticeable errors and are quite sensitive to the quality of the captured data. I’m currently unsure what the best approach would be to further compensate for these errors.

Perhaps for the OpenArm setup, using a fixed hardware-mounted camera with a well-defined and known pose could provide a more stable and reliable solution.