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Robotiq gripper depth compensation

Hi, a quick question. The height of the Robotiq gripper changes with respect to how wide it's open. Is this depth somehow automatically compensated when planning a trajectory of UR5 robot with this gripper attached to it in moveit?

Robotiq gripper depth compensation

Hi, a quick question. The height of the Robotiq gripper changes with respect to how wide it's open. Is this depth somehow automatically compensated when planning a trajectory of UR5 robot with this gripper attached to it it, for example in moveit?

Robotiq gripper depth compensation

Hi, a quick question. The height of the Robotiq gripper changes with respect to how wide it's open. Is this depth somehow automatically compensated when planning a trajectory of UR5 robot with this gripper attached to it, for example in moveit?

EDIT: Gripper pictures docs for anyone wondering: