1. A method of controlling a depth sensor and a robotic arm, the depth sensor and the robotic arm operate in a workspace, the robotic arm comprises an end effector, the method comprising: causing the end effector of the robotic arm to non-continuously traverse through the workspace based on a pattern, wherein the end effector is stopped at positions within the workspace specified by the pattern; and at each position from the positions within the workspace at which the end effector is stopped: collecting a sensor calibration point for the position of the end effector within the workspace detected by the depth sensor, the sensor calibration point for the position comprises coordinates of the end effector at the position within the workspace in a sensor coordinate frame; and collecting an arm calibration point for the position of the end effector within the workspace detected by the robotic arm, the arm calibration point for the position comprises coordinates of the end effector at the position within the workspace in an arm coordinate frame.