image (configurable via IMAGE_INPUT): image stream with metadata containing encoding and shape or width/height.
camera_info (optional): [fx, fy, cx, cy] float array with distortion in metadata.
tcp_pose: [x, y, z, roll, pitch, yaw] from dora_ulite6 in mm/deg.

Controls (OpenCV Window)

Environment Variables

Variable	Default	Description
`IMAGE_INPUT`	`image`	Image input name
`CAMERA_INFO_INPUT`	`camera_info`	Camera info input name
`POSE_INPUT`	`tcp_pose`	Robot pose input name
`STATUS_INPUT`	`status`	Robot status input name (used for command completion)
`COMMAND_OUTPUT`	`robot_cmd`	Output name for robot command messages
`POSES_FILE`	`config/calibration_poses.yml`	YAML file path for calibration poses
`POSE_UNITS`	`m`	Units for poses file (`m` or `mm`)
`MOVE_SPEED`	(unset)	Move speed override (mm/s)
`OUTPUT_FILE`	`calibration.npz`	Output calibration file (observations saved as `{name}_observations.npz`)
`METHOD`	`TSAI`	Hand-eye method (TSAI, PARK, HORAUD, ANDREFF, DANIILIDIS)
`SQUARES_X`	`4`	ChArUco board squares X
`SQUARES_Y`	`6`	ChArUco board squares Y
`SQUARE_LENGTH`	`0.04`	Square length (m)
`MARKER_LENGTH`	`0.03`	Marker length (m)
`AUTO_RUN`	`true`	Automatically iterate poses and capture
`WAIT_AFTER_MOVE`	`2.0`	Seconds to wait after a move before capture
`MOVE_HOME_ON_START`	`true`	Move to calibration home when starting
`HOME_X`	`200`	Calibration home X (mm)
`HOME_Y`	`0`	Calibration home Y (mm)
`HOME_Z`	`300`	Calibration home Z (mm)
`HOME_ROLL`	`180`	Calibration home roll (deg)
`HOME_PITCH`	`0`	Calibration home pitch (deg)
`HOME_YAW`	`0`	Calibration home yaw (deg)
`MIN_CORNERS`	`6`	Minimum ChArUco corners required for pose
`LOG_INTERVAL`	`2.0`	Seconds between console detection logs
`AUTO_SOLVE`	`true`	Automatically solve and save after last pose

Calibration runs automatically: moves through poses, captures, and saves results.
For safe operation, keep a clear workspace around the robot.