[Jokin]

I would like to ask how to generate poses on a specific surface. How can I generate random poses in such a way that the robot's TCP  is oriented normal to the object? I would like to generate 50 random poses. I've been looking on the forum, and they mention that object. GetPoints() can be used, but I'm not sure how to use it.

[Albert]

You can find some examples on how to extract a point and a normal to the surface in the description of the GetPoints function (RoboDK API for Python):
https://robodk.com/doc/en/PythonAPI/robo....GetPoints

[Jokin]

You can find some examples on how to extract a point and a normal to the surface in the description of the GetPoints function (RoboDK API for Python):
https://robodk.com/doc/en/PythonAPI/robo....GetPoints

Okay. GetPoints() returns the xyz coordinates relative to the object, and i, j, k relative to what? If I want to orient my tool pointing to that surface, should it be oriented in the direction of -i, -j, -k? Or do I need to transform the orientations returned by GetPoints to the robot's reference frame?

Thanks!!

[Albert]

The IJK vector is the normal of the surface. This is usually the vector of the Z axis of the tool, not the Euler rotation angles.

You could use a function like the point_Zaxis_2_pose to create a pose from a point and a Z axis:
https://robodk.com/doc/en/PythonAPI/robo...xis_2_pose