In the previous section, we learned that we can plan and execute trajectories for our robot using the MoveIt RViz environment. But, this is not the most common case.

Usually, we would want to move our robot with our control program, and this is exactly what we are going to do in this chapter! For this course, we are going to use Python to control the robot, because it's easier and faster.

First of all, we will have to create a MoveIt package for the fetch robot, just like we learned to do in the previous section.