Eye-to-hand calibration

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Thank you all (@Eduardo and @crackwitz ) for your help. I have solved my problem, My main problem was in data collection. The eye-hand calibration method is very sensitive to the target and gripper poses. For all who might be interested in this topic in future, here is my final code for eye-hand calibration:

def calibrate_eye_hand(R_gripper2base, t_gripper2base, R_target2cam, t_target2cam, eye_to_hand=True):

    if eye_to_hand:
        # change coordinates from gripper2base to base2gripper
        R_base2gripper, t_base2gripper = [], []
        for R, t in zip(R_gripper2base, t_gripper2base):
            R_b2g = R.T
            t_b2g = -R_b2g @ t
            R_base2gripper.append(R_b2g)
            t_base2gripper.append(t_b2g)
        
        # change parameters values
        R_gripper2base = R_base2gripper
        t_gripper2base = t_base2gripper

    # calibrate
    R, t = cv2.calibrateHandEye(
        R_gripper2base=R_gripper2base,
        t_gripper2base=t_gripper2base,
        R_target2cam=R_target2cam,
        t_target2cam=t_target2cam,
    )

    return R, t
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