Robotiq gripper depth compensation

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No, that is not taken into account. Or at least, not automatically (how could it, this is behaviour that is rather specific to this particular piece of hardware).

So in order to account for this offset, I would need to calculate the gripper kinematics myself basing on the return value from the gripper, and feed add/subtract it from the planned value, right?

This is all just speculation (and I don't know anything about the robotiq drivers/pkgs, but: if there are JointStates, a urdf and correctly modelled kinematics, TF frames for the fingers could be published "automatically". If you then define a toolframe that lies between the fingers, and ..

.. make this dependend on the location(s) of the TFs of the fingers, you should be able to have MoveIt plan for those, instead of for tool0 (of the UR). I can't remember right now whether MoveIt is able to plan to goals that are expressed in frames other than the ones that are part of the ..

.. group it's planning for, but that would make things even easier.

Doing it manually is also an option, but doesn't seem too 'nice'.

But let's wait for some other posters, perhaps they have better suggestions.

This question is not specific enough to give a real answer. Please add screenshots to illustrate the behavior (I don't have the gripper). What do you mean by "compensated"? Will moveit avoid collisions correctly? yes, probably. Will the grasp frame automatically adapt to the size of the object ...

the gripper should grasp? No. But you have to compute your grasp poses yourself/via some external module anyway. So it is actually better that MoveIt does no "magic" here to compensate for something, because it would interfere with your grasp computation.

Altogether I don't like gvdhoorn's answer "no". It depends on the exact question.