How to move gripper to reach a object

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Hello,

I'm using Moveit! to do motion planning with my motoman mh5 robotic arm.

I found the problem about motion planning when I want to reach a object. For example, I try to move the robot to catch the object which is on the table, and I input the position of object into Moveit! to do motion planning, and it only can move horizontally an vertically(refer to the coordinate system axis of base_link).

In this case, If I would like to approach the object, the gripper will collide the object that I want to grasp. Therefore, I want to let robot move forward by tool direction. The gif is captured from GPD project video, and that's what I want to do.

I already survey it for a week, but still can't got any information about it. If anyone could help me this, it would be nice to me.

Thanks!