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I think you should define the surrounding environment by adding one or more CollisionObjects. The motion planner will take these into account and avoid collisions with these objects.

The move_group_interface tutorial gives an example of how to do this:

C++: http://docs.ros.org/hydro/api/pr2_moveit_tutorials/html/planning/src/doc/move_group_interface_tutorial.html

Python: http://docs.ros.org/hydro/api/pr2_moveit_tutorials/html/planning/scripts/doc/move_group_python_interface_tutorial.html

Note that the Python tutorial does not (yet?) contain this specific example, so use the C++ tutorial.