I am currently working on a program where I used object_location variable that comes out of the Robotiq Wrist Camera to create robot trajectories in X and Y directions. One question that I have is what is the reference of the angles in the object_location variable? Are the angles simply the angles of the orientation of the part found relative to the robot base or are they relative to the object taught in the camera locate note (basically the orientation difference between the taught object and the found object?)
@Annick_Mottard can you help on this?
 

@Sebastien your first bet seems correct! The three angles you get are rotations in X, Y and Z in the robot's base reference frame. They represent the rotation between the robot's base and the detected part's reference frame. Note that the detected part's frame returned is always flat on the work plane that has been taught during the calibration (Z axis pointing downwards). 

Was that helpful?

@Annick_Mottard I think it helps. I will keep working on this and try to post some results later!