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Hi, I am trying to calibration Xarm6 using realsense. What should I change it to do it.

I am working on ur5e model. calibration everything done smoothly. tf also published. What is the next step to move robot arm to target poistion. i getting this error for python code: [ INFO] [1692708015.050660691]: Loading robot model 'ur5e_robot'...
[rospack] Error: package 'ur_description' not found
[librospack]: error while executing command
[ERROR] [1692708015.101847539]: Error retrieving file [package://ur_description/meshes/ur5e/collision/base.stl]: Package [ur_description] does not exist
[ WARN] [1692708015.101913826]: Link base_link_inertia has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rospack] Error: package 'ur_description' not found
[librospack]: error while executing command
[ERROR] [1692708015.123158021]: Error retrieving file [package://ur_description/meshes/ur5e/collision/shoulder.stl]: Package [ur_description] does not exist
[ WARN] [1692708015.123208731]: Link shoulder_link has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rospack] Error: package 'ur_description' not found
[librospack]: error while executing command
[ERROR] [1692708015.146232073]: Error retrieving file [package://ur_description/meshes/ur5e/collision/upperarm.stl]: Package [ur_description] does not exist
[ WARN] [1692708015.146285351]: Link upper_arm_link has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rospack] Error: package 'ur_description' not found
[librospack]: error while executing command
[ERROR] [1692708015.167086579]: Error retrieving file [package://ur_description/meshes/ur5e/collision/forearm.stl]: Package [ur_description] does not exist
[ WARN] [1692708015.167146771]: Link forearm_link has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rospack] Error: package 'ur_description' not found
[librospack]: error while executing command
[ERROR] [1692708015.189023219]: Error retrieving file [package://ur_description/meshes/ur5e/collision/wrist1.stl]: Package [ur_description] does not exist
[ WARN] [1692708015.189099533]: Link wrist_1_link has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rospack] Error: package 'ur_description' not found
[librospack]: error while executing command
[ERROR] [1692708015.212023616]: Error retrieving file [package://ur_description/meshes/ur5e/collision/wrist2.stl]: Package [ur_description] does not exist
[ WARN] [1692708015.212073091]: Link wrist_2_link has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rospack] Error: package 'ur_description' not found
[librospack]: error while executing command
[ERROR] [1692708015.236744720]: Error retrieving file [package://ur_description/meshes/ur5e/collision/wrist3.stl]: Package [ur_description] does not exist
[ WARN] [1692708015.236805908]: Link wrist_3_link has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[ WARN] [1692708015.236913265]: No geometry is associated to any robot links
[ WARN] [1692708015.253013040]: IK plugin for group 'manipulator' relies on deprecated API. Please implement initialize(RobotModel, ...).
[ INFO] [1692708015.256823390]: IK Using joint shoulder_link -6.28319 6.28319
[ INFO] [1692708015.256860081]: IK Using joint upper_arm_link -6.28319 6.28319
[ INFO] [1692708015.256887159]: IK Using joint forearm_link -3.14159 3.14159
[ INFO] [1692708015.256911933]: IK Using joint wrist_1_link -6.28319 6.28319
[ INFO] [1692708015.256930768]: IK Using joint wrist_2_link -6.28319 6.28319
[ INFO] [1692708015.256954094]: IK Using joint wrist_3_link -6.28319 6.28319
[ INFO] [1692708015.256982159]: Looking in common namespaces for param name: manipulator/position_only_ik
[ INFO] [1692708015.258219543]: Looking in common namespaces for param name: manipulator/solve_type
[ INFO] [1692708015.259798958]: Using solve type Distance
[ WARN] [1692708015.485792970]: TF_OLD_DATA ignoring data from the past (Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained) for frame camera_color_optical_frame at time 1692707948.158540 according to authority unknown_publisher
[ INFO] [1692708016.327674486]: Ready to take commands for planning group manipulator.
Traceback (most recent call last):
File "test2.py", line 56, in
move_to_target_position()
File "test2.py", line 43, in move_to_target_position
group.set_workspace("/home/toor/catkin_ws/src/universal_robot/ur_description/meshes/ur5e/collision")
File "/opt/ros/noetic/lib/python3/dist-packages/moveit_commander/move_group.py", line 561, in set_workspace
raise MoveItCommanderException(
moveit_commander.exception.MoveItCommanderException: Expected 0, 4 or 6 values in list specifying workspace"

I need to use D435 and Ur10e to do hand eye calibration, what should I change from the UR5 example to UR10e? Thanks

Compare with the following repo：

1. https://github.com/crigroup/handeye
2. https://github.com/FlyShiang/eye-in-hand-calibration