An offline programming device capable of automatically generating a measuring program by which the time and the workload for making an offline program may be greatly reduced. The offline programming device includes a storing part for storing a plurality of data in relation to a plurality of measurement points of the object and the position and the orientation of a vision sensor relative to the movable part of the robot; a calculating part for calculating the position and the orientation of the vision sensor relative to each measurement point when the measurement point is measured; a measuring program making part for making at least one measuring program, based on the plurality of data stored in the storing part, by means of which the position and the orientation of the vision sensor may be achieved; an evaluating part for evaluating the at least one measuring program according to a predetermined evaluative criteria; and a selecting part for selecting a measuring program, from the at least one measuring program, which satisfies the predetermined evaluative criteria.