Unified real-time control and safety layer for the Flexiv Rizon — teleop, MPC, RL, sim2real, with a MuJoCo sim.

SpaceMouse teleoperation bridge for Flexiv Rizon arms with ROS 2 Humble and MoveIt Servo

Strict eye-to-hand calibration between a fixed ZED 2i camera and a Flexiv Rizon arm using a ChArUco board on the flange, with a falsifiable validation suite (recovers T_base_camera).

Strict eye-to-hand ChArUco calibration between a fixed ZED 2i camera and a Flexiv Rizon arm, with an illustrated hardware-setup guide and a falsifiable validation suite. Canonical: github.com/ZihaoLu001/zed-flexiv-charuco-calib