Robot gripper pushing through component

I am currently trying to pick up a box using a LEG_760_2_KUKA_MG_8 gripper, but everytime the robot goes to pick the object it pushes through the object and the gripper doesn’t close. Is there anyway i can change the pick position on the gripper so it doesn’t phase through the object?


Have you tried defining your tool and tcp in your feed task?

I have but it has had no effect