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The pick-and-place pipeline in MoveIt! is not the best for accomplishing custom tasks like the one you describe. In fact, the move_group interfaces can be really limiting. For custom tasks, it is almost always better to use the MoveIt! libraries directly. I am in the process of open-sourcing `MoveIt! Grasps, a package for grasp generation and scoring that sounds like it would fit your needs.

Note that moveit_grasps is intended to be used outside of MoveGroup.