The shift toward full end-to-end cold-chain processing of raw oysters with minimal human contact is driving demand for high-speed robotic automation. Raw oysters are inherently soft and prone to deformation, leading to unstable grasps and tray misalignment during automated handling. These failures pose challenges for integrating robotic grasping systems into food production lines. Soft robotic grippers offer advantages for food handling, and form-closure structures can further enhance performance. However, pick-and-place position parameters (e.g., height) can still affect handling success rate. This study focus on the effect of pick-and-place height on robotic handling performance. An experimental platform was built with adjustable pick-and-place height parameters relative to the conveyor belt and the tray. Handling success rate was evaluated based on grasp stability and tray placement accuracy. Results show that the optimal height settings yield stable grasping and avoid obvious misalignment, enabling high-speed handling and improved packaging quality. This work highlights the critical role of pick-and-place height in the robotic handling system and provides practical control guidelines for implementing automated handling of soft aquatic products in the food industry.