OK so I managed to get this all working with your help!!!. Really appreciate the help & your patience with all this.
I had the following problems
My naming convention was totally wrong for the calibrationMat. What I gave you was camera2base but I previously said it was base2camera. I didn’t realise that camera2base means in relation to the robot coordinate frame. By following your logic and breaking down each each transformation I could get it to work and also understand what each section was doing
Just on naming conventions is there a good tutorial / explanation on all this that you would recommend. For example when you write the following
it looks like there are 3 different ways of saying the same thing which I am not familiar with
1: obj2cam
2: cam_obj,
3: (cam ← obj)
Thanks again!!