Path Planning with a Manipulator Arm around an Object

[SoxRule1]

Hello,
I am a graduate student, and my Thesis paper will involve Isaac Sim and possibly Isaac Lab. What is the best course of action to take if I want to train a manipulator arm (specifically a UR16e) to find the best scanning path for the tooling end around an object? The base of the UR16e will either be in a fixed location or will have the ability to move linearly, depending on the size of the object, or we will be able to move the object itself (which is going to be the simplest outcome). I am still fairly new to Isaac Lab, and I am learning it slowly at this point. I am trying to learn if this is a possibility before I run headfirst into a wall.