PROJECT SUMMARY
In this project, you will implement a dual-arm extrinsic calibration pipeline in simulation using PyBullet. Two robot arms are mounted with fixed bases, and your goal is to estimate the fixed transform between their coordinate frames.
The robot end-effector orientation can be kept fixed during data collection. Calibration will be done by matching the same set of 3D points measured by both arms. You will create a small calibration toolbox, evaluate accuracy with clear plots and export the final calibration result for the future dual-arm tasks.
WHAT YOU WILL DO
- Build a dual-arm PyBullet setup
- Collect calibration data with fixed tool orientation
- Estimate the extrinsic transform
- Build an evaluation toolbox
- Export and demonstrate the result in simulation
WHY THIS PROJECT MATTERS
- Dual-arm systems depend on accurate frame alignment. If the extrinsic calibration is wrong, both arms will disagree about object locations, leading to handover failures or collision risk.
- You will gain hands-on experience with key robotics skills: coordinate frames, calibration, kinematics, evaluation metrics.