I am trying to control a 6 DOF robotic arm with stepper motor actuator controlled with arduino. So far I have managed to simulate the arm and move it in rviz by giving the end coordinate using move group interface. But i do not know how to link this simulated movement to a real robot movement.

I've seen a lot of documentation where people drag the simulated arm around in rviz and click on "plan and execute" to move the real robot. However, since I'd like the robot to move to a certain coordinate, I use move group interface to do so instead of manually dragging the arm in simulation. But by doing so, I'm unable to use the "plan and execute" button.

My understanding of ROS is still far from perfect , thus I'd appreciate it if anyone can help to point me in the right direction.