For those interested, I’ve just released the first beta version (v0.1.0) of roboglia, a framework that is somehow inspired by pypot but uses a significantly easier approach to extend its device base. For the time being it supports the most common Dynamixel servos and a few I2C devices. Next version will add support for SPI devices and hopefully a lot more devices.
For those interested the code is on GitHub here:
Contributions are more than welcome and there is a whole page about how you can help.
Very soon there will be a number of other hardware releases, including a Raspberry Pi HAT with dual Dynamixel bus, IMU, ADC and Audio based on WM8960 for speech processing.
Happy to hear your feedback.