Is it possible to simulate a pick and place simulation using moveit (Motion Planning) and generate the code of the simulation [closed]

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I am new to ROS and I want to simulate a simple pick and place simulation with ROS, Gazebo, Moveit, and Rviz. I've tried to read and follow the moveit tutorial on the website documentation. However, something spark in my head. I was wondering whether it is possible to run a motion planning in Moveit and generate the code of that plans and use it to run a simulation. I tried to search for this tool or solution, but I haven't found any up until now. If anyone knows about this, please let me know (the website / source)

Thanks a lot.

PS: I know about Moveit Setup Assistant and I realized that it only allowes us to generate the code for initial setup, not the simulation and execution in particular.