Take a robot with you to a particular point (move group??)

[MARHEM602]

Hello,

I've been working on a project for several months.
I use a Fanuc Cr7ial robot that I calibrate by triangulation with an xbox v1 kinect (with aruco tags).
I use this same kinect to detect objects and change their reference points using the calibration matrix. (I use Yolo for detection).
At the point where the robot is calibrated, I have the coordinates of the objects in the robot's frame of reference.
Now I'd like to take the robot to the parts to pick them up using a pneumatic gripper.
I think I need to go through Moveit via "move group". I'm not sure of anything and I'd like to know if anyone has already done this and if I'm on the right track.

Thank you in advance.