When MoveIt! gets all of this information about the robot and its configuration, we can say that it is properly configured and we can start commanding the robot from the user interfaces. We can either use C++ or Python MoveIt! APIs to command the move group node to perform actions such as pick/place, IK, or FK, among others. Using the RViz motion planning plugin, we can command the robot from the RViz GUI itself. This is what we are going to do in the next subsection!