MoveIt Python API ROS2 Humble Pick & Place

[kavikode]

How can we modify the existing code to demonstrate pick and place in ROS2 Humble with MoveIt Python API?

it is extremely challenging because the documentation is not clear for somebody learning for the 1st time. Please help.

Can someone help me understand the imports to include in the following tutorial for https://moveit.picknik.ai/main/doc/examples/motion_planning_python_api/motion_planning_python_api_tutorial.html#single-pipeline-planning-pose-goal

Please help me understand the entire process. I understand the 1st step is to specify a yaml configuration file that defines the parameters associated with our moveit_py node.

I'm trying to do this for the Tiago Simulation for ROS2 Humble, link: https://github.com/pal-robotics/tiago_simulation