Tutorials on picking and placing using specific robot pose and custom tool and object

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Hi,

Based on the offline simulation in Moveit, I'd like to pick and place an object with a specific robot pose which is horizontal to the ground (just like carrying the dishes from one place to another horizontally) . And a custom tool is installed on the end-effector of UR10 and the object is also custom. I have found the tutorials on grasping the simple object, such as cube and cylinder, not the custom ones. Do you have any tutorials or solutions about the problems?