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XYZ coordinates using slicer?

I have a process in which I need a robot to go to specific coordinates on the surface of a part that has contours. Is there any software that could use the 3d model of the part to generate xyz surface coordinates in a 1x1 inch square based on user selection of the point? More specifically, could I slice a specific portion of a part with shifting references, instead of a build plate.
if I am not mistaken, rhino and python can generate XYZ coordinate of your surface with your required contour.

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