Writing software for robotic platforms can be arduous, time-consuming, and error-prone. In recent years, the number of research groups working in robotics has grown exponentially, each group having platforms with peculiar characteristics. The choice of morphology, actuation systems, and sensing technology is virtually unlimited, and code reuse is fundamental to getting new robots up and running in the shortest possible time. In addition, it is pervasive for researchers willing to test new ideas in simulation without wasting time in coding, for instance, using high-level languages for rapid code prototyping. To pursue these goals, in the past years several robotics frameworks have been designed for teaching or for controlling specific platforms, e.g., OpenRAVE [1], Drake [2] and SL [3].