You are reading the documentation for an older Pickit release. Documentation for the latest release (3.0) can be found here.
Why is the pick pose Pickit sends through always too high or too low?¶
In most cases this is related to a wrong definition of the pick frame in Pickit or the tool center point (TCP) of the robot.
You can find more information on defining the pick frame in Pickit here: Pick frame
You can find more information on defining the TCP here: How to define the tool center point (TCP) on a Universal Robots