The basic idea of the youBot API is to represent a robot system as a combination of decoupled functional sub-systems. That is, this API represents manipulator arm and base platform as the combination of several joints. At the same time each joint is defined as a combination of a motor and a gearbox.
There are three main classes in the youBot API that a user should be aware of.
This software is published under a dual-license: GNU Lesser General Public License LGPL 2.1 and BSD license. The dual-license implies that users of this code may choose which terms they prefer.