# Tool orientation

**URL:** <https://forum.universal-robots.com/t/tool-orientation/39592>\
**Category:** Technical Questions\
**Created:** [April 24, 2025, 7:45am UTC](https://forum.universal-robots.com/t/tool-orientation/39592 "2025-04-24T07:45:58Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![kgs](https://avatars.discourse-cdn.com/v4/letter/k/90ced4/32.png) [@kgs](https://forum.universal-robots.com/u/kgs)\
**Post date:** [April 24, 2025, 7:45am UTC](https://forum.universal-robots.com/t/tool-orientation/39592/1 "2025-04-24T07:45:58Z")

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I am working with a UR20 and an ACF-K end effector for sanding. I want to use the force control of the tool alone not combined with the force control of the robot to sand a curved surface. Is there a way to adapt to the surface curvatures without using predifined waypoints and the force control of the robot.

The tools urcap allows me to use a force perpendicular to the surface but not torques.  
Thank you