In Gazebo environment, how to pick an item added by spawnModel() function

The question is based on the example https://uk.mathworks.com/help/robotics/examples/pick-and-place-workflow-in-gazebo-using-ros.html

1) Start a ROS-based simulator for a KINOVA Gen3 robot and configure the MATLAB connection with the robot simulator.

2) I add an objective (coke can) by using the spawnModel() function as:

can = GazeboModel('coke_can','gazeboDB');

itemLocationXYZ = [0.32 -0.3028 0.5];

spawnModel(gazebo, can, [itemLocationXY(1) itemLocationXY(2) itemLocationXY(3)]);

3) I input the item location itemLocationXYZ into the the coordinator, and execute the robot to grabe the can according to the feeded information (coordinator). However, it seems like the inputed location does not fit the coordinate system in the robot.

coordinator.Parts = {};

part.centerPoint = [itemLocationXYZ(1), itemLocationXYZ(2), itemLocationXYZ(3)];

coordinator.Parts{i} = part;

4) I have tried to solve this problem, and I checked https://uk.mathworks.com/help/robotics/examples/control-pr2-arm-movements-using-actions-and-ik.html

Seems I need a transformation between the input position and the end-effector