Examples are provided that describe calibration of a sensor of a robotic device. In one example, a system includes least one processor and data storage comprising instructions executable by the at least one processor to cause the system to perform operations. The operations include simulating a movement of a robotic component of a robotic device to a plurality of positions. The operations may also include determining a relationship between a simulated torque values and simulated force values at the plurality of positions. The operations may also include determining expected torque values based on detected force values and the determined relationship. Based on the expected torque values satisfying a threshold associated with the simulated torque values, determining a plurality of calibration parameters of the one or more sensors according to the optimization.