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How to Access the Coordinates of Objects Detected by the Wrist Camera ? 

Learn how to retrieve object positions from a “Cam Locate” node for use in your robot program

Context

By default, the Robotiq Wrist Camera and its “Cam Locate” node detect multiple objects, but do not expose their exact coordinates directly for use in robot programs. This article explains how to retrieve these coordinates using a provided sample program, how the data is structured, and how to integrate this into your application.

 

What’s possible by default

When you run a Cam Locate node in a URCap program:

  • A variable f is created automatically by the node.

  • f[0] contains the number of detected parts.

  • However, the positions (X, Y, Rz) of those parts are not directly exposed without a workaround.

 
Cam Locate
number_of_parts = f[0]
 

This tells you how many parts were found, but not their positions.

 

Using the Robotiq sample program to retrieve coordinates

Robotiq provides a sample program that retrieves the full list of object positions after detection. 

 

Conclusion

While the Wrist Camera does not expose object positions by default, you can access them through the f variable created by the Cam Locate node. With a sample parsing routine, you can retrieve each detected object’s coordinates and use them in your robot logic.