How to use MoveIt perception where parts placing is important?

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Hello,

I am having project where industrial part place is important after pick with robotic arm. so I want to detect part placing location in containers using camera. Problem is, container location may change w.r.t to robotic arm so there is no defined place location. Also, parts should be arranged vertical(there are slots to hanged) at specific location in container.

So, How can I use MoveIt and ROS to visualize container and place position for parts using camera and robotic arm?

Thanks.