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Sound like a neat project - I hope they're paying you well.
If your reference markers (April Tags, ARuCO?) look like QR codes than you should be able to get a 3D pose of the center of the marker. Of course, your camera will have to be properly calibrated to the markers in question to get a true metric 3D pose.
With a 3D pose, you can use move_it to easily plan a trajectory for the arm to reach.
Good luck
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