How to Move Yumi Arm to predifined position?

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I'm working on a project that requires taking images from camera and doing some process and extract the real coordinates and send them to the robot arm. I was able to do all the camera part, also I was able to connect my ABB yumi Robot to ROS server and I'm able to get the state of both arms and move both arms using MOVEIT+Rviz (random valid motion) using Yumi package from orebro university My question is that how to make the arms moving to a specific coordinates using the MOVEIT+Rviz or even writing a C++ code to make the arms move to those coordinates.