3-d printed metrology feature geometry and detection

A method comprising:

• 3-D printing a component, including printing-in with the component an engagement feature configured to be engaged by a robot end effector of a robot;
• controlling the robot to engage the engagement feature with the robot end effector;
• controlling the robot to move the component within a field of view of a measurement device;
• scanning a portion of the component with the measurement device;
• determining, based on the scanned portion, at least a position of the component or an orientation of the component;
• determining a join frame based on at least the determined position or the determined orientation;
• and
• controlling the robot to position the component based on the join frame such that the component is configured to be joined with a part.