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clarification about workings off Robot Dk

Hi guys, i 'mbuilding a 6 dof robotic arm and i would like touse a Rasberry Pi 4 to controll the motor drivers, and other devices like gripers and external axis...

is there all ready done some controller software program that i can install in the RPI to translated the comands that coming out from the Robot Dk, in motors movements (robot controller), better if comunicated in CAN protocoll ?

As i understood, Robot Dk comunicate with the controller through the  driver writed in python sending the movement comands... is this the way howall works. isn't it?

Thanks a lot

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