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I am not sure I understand the question too well. Are you trying to just move the arm, or do you want to do planning as well? Are you using the moveit_commander MoveGroupCommander class?

The moveit_commander package will do planning for you, and define regions in the environment where you want to move towards (something like up to 1mm error I think, with respect to where you tell it to go; you can set the error margin). Are you interested in following straight line trajectories only?

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