How do I get the joint angles of a Baxter arm using OMPL?

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Hello,

I am moving my arm using OMPL and Moveit. I am doing the ik_pick_and_place_demo with added obstacles. How do I get it to pick the first obstacle, drop and then pick the second obstacle and then drop. I do know that the path can be planned using RViz, but I do not know how to extract any information from that planned path and generate way points. I am coding in Python on ROS Kinetic.

Thank you.