MoveIt_PY: Motion Planning Python API

[kavikode]

Following the example In the link: https://moveit.picknik.ai/main/doc/examples/motion_planning_python_api/motion_planning_python_api_tutorial.html

We'd like to perform motion planning for the Tiago robot simulation by specifying a goal state via a ROS message representing the pose goal.

Will you please provide an example of how to set and execute plan of a pose goal for the end effector of the Tiago robot in a the moveit_py node and a yaml configuration file that defines the associated parameters for the defined moveit_py node?

Is there existing example? Thank you so much!