After talking with you about it, I got a better idea of what a possible design for this could look like and I ended up making something in that direction for the interactive/manual end-effector control from Viser, and I used it in some hand-eye calibration experiments. The Cartesian control part does point in the ROS 2 direction we were discussing.
And the motion node itself is here:
So I think this could later be wrapped as a more configurable ROS 2 node, with the IK backend selectable as a parameter.
The GUI I am using there is visible in the 2nd and 3rd videos in this PR comment:
That calibration workflow is still very, very experimental though, and not something I would recommend to anyone for reliable extrinsics on the SO-101
Add camera calibration tools + motion services for SO-101 by legalaspro · Pull Request #11 · legalaspro/so101-ros-physical-ai · GitHub