pick-place without using moveit's pipeline that uses 'Grasp'

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Hello,

Recently I am confused in usability of Moveit's API Pick, Place. I have read many docs about it. But my project is to do camera based picking and placing of a box with industrial robot and I couldn't find any way to include camera part in this API's from Here. Rather I have developed a program to do simple picking and placing of a box with camera without the Moveit's Grasp functionality. And to achieve that I simply give calculated poses to the robot step by step and then robot executes all steps. I didn't faced any problems regarding doing it. Picking and placing simulation process running smooth in RVIZ. But now my question is did I developed my program in a right way without using Grasp? My program structure is like this:

Step 1 : Home position
step 2 : go to position of picking object
step 3 : close gripper
step 4 : go to placing position
step 5 : open gripper

My system is : Ubuntu 18 with ROS Melodic. Industrial arm: ABB

Any useful guidance will be very appriciated. Thank you.