Sometimes it makes more sense to pick the box from the side at the conveyor.
This works well in Pally. The easiest way to do this is calibrating an ‘imaginary’ pick position somewhere above the box and then using a few custom Move commands in BeforeGrab and AfterGrab callbacks to move the robot between the imaginary pick point and the real pick point (from above the box to the side).
And back again to the imaginary pick position where the box is beneath the gripper as you can see in the picture below.
The rest is then handled by Pally.