MoveIt: place the end effector in the middle of the arm

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Hello,

I would like to use MoveIt to plan trajectories, but in a particular configuration: the end-effector is not on the tip of the wrist, but it is in the middle of the rightarm_upper_arm_link (referring to UR5e robot).

Is it possible to force MoveIt to plan in this settings? Basically I want to place therightarm_upper_arm_link in a target pose while I don't care about the pose of the wrist, but still keeping the collision check.

Thank you in advance!