Method for Generating Training Data for a Machine Learning (ML) Model

The invention relates to a method for generating training data for an ML model. The training data is designed to configure the ML model using a machine learning method. In particular, the ML model is designed to be used as part of a method for ascertaining control data for a gripping device for gripping an object. The invention is characterized by the steps of: -selecting an object, -selecting starting data of the object above a flat surface, -generating a falling movement of the object in the direction of the flat surface beginning with the starting data, -capturing an image of the object after the movement of the object has come to a standstill on the flat surface, -assigning an identifier to the captured image, said identifier comprising ID information for a stable position assumed by the object, wherein the stable position assumed by the object is designed and configured such that all of the object position data that can be converted into one another by means of a movement and/or rotation about a surface normal of the flat surface is assigned to the assumed stable position, and-storing the training data comprising the captured image and the identifier assigned thereto.