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There is a piece of software, MoveIt!, that is for manipulation motion planning and execution.

What are the specs of your arm? MoveIt supports 6DOF arms very well. However, for lower DOF arms one has to tweak the system a little bit, and do things like generate your own inverse kinematics solvers. There is a little bit of a learning curve.

I'm currently working on integrating a simple 2DOF arm with it, not without challenges, but once you have it setup it can be very powerful.