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The infromation provided by TF is the beginning of what you need. Generally what you'll want to do is compute the target point for the arm or manipulator from the coordinate frames via the transforms as appropriate.

And then you'll want to take that target point and provide it to an inverse kinematic(IK) solver which will compute the position of the robot's arms which will achieve your goal. The IK will use your robot defintion to generate the joint positions.

And the more canonical way to do this is to also give it to a motion planner to compute the path from A to B.