Thanks rthaker for the response. I found a way to accomplish it which was based of one of AshleyG’s learn with me live sessions. She wrote a behavior script to count boxes in contact with a pallet. I began with her code and reported back the coordinates of the objects instead of counting them. Then I added a function to monitor when the objects fall off so they could be removed from the array.
I like your suggestion of using bounding boxes. It would likely be a cleaner approach. I will need to investigate that.