Robot Pose Calibration

curobo.examples.reference.robot_pose_calibration demonstrates robot pose estimation in an interactive Viser viewer. Observations are synthetic points sampled from the Franka robot mesh with a known pose offset and added noise.

python -m curobo.examples.reference.robot_pose_calibration

Viewer controls

Control	Behavior
Pose frame	Sets the initial robot pose estimate.
Global Calibrate	Runs ICP with rotation sampling without requiring an initial guess.
Local Calibrate	Refines the current pose using mesh SDFs and Levenberg–Marquardt optimization.

Arguments

Argument	Default	Description
--device	cuda:0	CUDA device.
--n-points	500	Number of sampled observation points.
--noise	0.002	Observation noise standard deviation in meters.
--port	8080	Viser server port.