Use angr inside the radare2 debugger.
Create an angr state from the current debugger state.
pip install r2angrdbg
r2angr implements the angrdbg API, you can use it after the call to r2angrdbg.init
import r2pipe
import r2angrdbg
r2 = r2pipe.open("stuff")
r2angrdbg.init(r2)
r2.cmd("l33t r2 cmd")
sm = r2angrdbg.StateManager()
# stuffs with angrdbg StateManager ...see the examples folder.