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Create a CollisionOperation op and set:
op.object1 = op.COLLISION_SET_ALL
op.object2 = op.COLLISION_SET_ALL
op.operation = op.DISABLE
and add it to the MoveArmGoal.
It sounds like you already tried something similar, but these can be tricky to get exactly right (for example using "all" or all instead of op.COLLISION_SET_ALL doesn't work) so I'd recommend trying it again. I use the collision operations frequently with MoveArm and they do work in the way you expect.
Note that you need to pass the collision operation as part of the move arm goal; it won't work to set the planning scene because MoveArm resets it.
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