[Marwa Moronya]

When I right click the box and try to get with robot, then select UR10 (the robot), the TCP moves to the bottom of box (Upper left corner) instead of  grabbing it from the top. I think the issue could be because the reference frame of the box is attached at the upper left corner. Why is this behaviour happening and how can I resolve it? Kindly. 
I need to get the object from the top and not the bottom.
   

[Albert]

You should add a tool (TCP) that matches your desired position to grab your box. You can use this TCP just to teach the targets and later update your programs or targets to use another TCP.