Is there a way for ROS developers to use MoveIt Motion Planning and generate the code of the plan? [closed]

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I am new to ROS and my goal is to recreate a simple pick and place simulation with ROS, without using any instant packages from github. For the past few weeks , I have been learning about MoveIt and one of it's feature Motion Planning. I was wondering whether there is a way for me to planned the simulation (using Motion Planning) and generate the code. Or perhaps, are there particular tools that allow me to do that in ROS? Is it common that we need to code out everything about the simulation (except the initial setup as we can use MoveIt Setup Assistant) ?

Please do ask a clarification if my question was not clear enough. Thanks