Check calibration hasn't drifted

[williamshen-nz]

Description

Right now, we don't have a mechanism of checking whether the extrinsics of the wrist camera has shifted.

Potential solutions:

1. Move the robot to poses so it can view itself and compare expected robot rendering given current joint positions against actual camera image.
2. Check whether the gripper mask has shifted a lot

Motivation

If the camera is knocked, then the 3D representation generated by Tiptop will be inaccurate and lead to execution failures

Alternatives Considered

No response