After running the "solve-field" program to get an astrometric solution for your images (use the --scale-low, --scale-high arguments to make it faster), there will be a WCS file containing the result. You can set the output filename for that file using the "--wcs FILENAME" argument, if that makes it easier! That WCS file is a FITS header. You can read those in python using the fitsio package (there are other options, but I like fitsio the best); "pip install fitsio" should work, and the README has good intro documentation.
https://github.com/esheldon/fitsio. Oh, actually, you may not even need that; the
astrometry.net package includes the programs "wcs-rd2xy" and "wcs-xy2rd" that take a WCS file and allow you to convert between pixel positions and RA,Decs. Running "wcs-rd2xy -w FILE.wcs -r RA -d DEC" will give you pixel coordinates of your target, and from there you should be able to decide how you need to move your telescope mount.