1. A method for coating an object, the method comprising: generating a three-dimensional model of the object; forming a segment that represents the object in the three-dimensional model; and generating instructions for coating the object based on the segment, in which the instructions are configured to cause a robotic coating system to coat the object, wherein generating instructions comprises: identifying a plurality of waypoints along the object; determining a plurality of surface normals, wherein each surface normal in the plurality of surface normals is calculated at a corresponding waypoint in the plurality of waypoints; and generating a trajectory for movement of the robotic coating system along the object based on the plurality of waypoints and the plurality of surface normals.