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Does your robot's workspace cover full 6-Dof? In that case you should be able to find an IK solution.

If it isn't, yes, randomization will work and be simple to implement. However, there might be better solutions. If you use a numeric solver for IK, this could give you the nearest pose, even if the IK was not solved exactly.

Alternatively you could also get the grasps for you object first (if possible) and find IK solutions only for the valid grasps.