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What you want to do is outside the scope of MoveIt, although a solution may well make use of MoveIt along with other packages to achieve the final goal.

If you can calibrate the end effector camera, setup a node to detect the poses of QR codes in camera images, then you have all the required information to send an EE pose goal to moveit, and in a rather jerky way achieve what you want.

But you need to define a bit more clearly how you want the robot to achieve the required behaviour and very importantly how it can do it safely without colliding with any static or mobile objects in its work-cell.