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Yes and no.

The direct solution to your problem is what you put in it as the request. You must know, where the gripper is relative to your robot, so you can easily transform the target pose for the gripper at the object into a target pose for the base. This is what you put into move_base.

However, that is just the interface. The default global planner might work, but is not necessarily best suited for this project. You might check out sbpl_lattice_planner or similar.