Cartan structure equations and Levi-Civita connection in noncommutative geometry

We study the differential and Riemannian geometry of algebras $A$ endowed with an action of a triangular Hopf algebra $H$ and noncommutativity compatible with the associated braiding. The modules of one forms and of braided derivations are modules in a compact closed category of $H$-equivariant $A$-bimodules, whose internal morphisms correspond to tensor fields. Vector fields and forms approaches to curvature and torsion are proven to be equivalent by extending the Cartan calculus to left (right) $A$-module (not necessarily $A$-bimodule) connections. The Cartan structure equations and the Bianchi identities are derived. Existence and uniqueness of the Levi-Civita connection for arbitrary pseudo-Riemannian metrics is proven via a Koszul formula. The general theory includes Drinfeld twists of commutative geometries and also cotriangular Hopf algebras. It is illustrated with the example of the tensor square of Sweedler Hopf algebra which becomes a noncommutative Einstein manifold via a non-central metric.