Most packages these days do ODB++ output as standard, you do not have to pay Mentor for a license (Mentor own the ODB++ spec).
Otherwise its Gerber, Excellon drill file, IPC-D-356 netlist format, BOM and pick and place information. If you want info about component look up information on the IPC-7351 format, this will show you the component origin, also generaly the pick up point. Otherwise use the component centroid as a basis for youur pick up point, most component are pretty standard so this point will do. Make a fid the 0,0 point for your pick and place data. Hieght is only a concern for fitting in cases assembly house will sort out any height issues.