This project focuses on the development of a robotic drawing system capable of autonomous trajectory generation on non-standard, non-planar physical geometries. The workflow utilizes high-fidelity point-cloud scanning to digitize a stochastically deformed mesh, followed by the computational projection of topographical contour data onto the resulting mesh surface. To resolve discrepancies between the digital twin and physical substrate, I implemented work object calibration and motion planning that optimized for variable Z-depths and complex fold geometries. By generating RAPID code directly from the projected 3D paths, I achieved precise end-effector interaction across high-curvature regions, successfully synchronizing digital simulation with real-world execution.