Moving in work space bounds

[pulkit]

Hi 

I am using ROS INDIGO with Ubuntu 14.04. I am using an arm manipulator and using MoveIt! for generating motion plans. However I want my manipulator arm to move in a fixed constrained space like a cube of given dimensions. I have already treied with setting position constraints and orientation constraint, but they work on single links only. But I want the constraints to be applied to the whole manipulator arm. 

I have tried creating four walls and constraining the robot, so due to collision avoidance the robot moves in a constrained volume. However that is not an effective way to achieve it, so if someone has any suggestions regarding that, plz comment.

Thanks