With something similar to this: https://www.scan-xpress.com.au/products/tactile-...

viraptor on Feb 12, 2022 | parent | context | favorite | on: CAD files for the external shell (surface topology...

With something similar to this: https://www.scan-xpress.com.au/products/tactile-multisensor-...

You touch the object in as many points as you need and translate the touch coordinates from the angles of your tool's arm to XYZ. Or some systems allow you to do it optically.