What about Simulink

The MATLAB version of the Toolbox had some support for Simulink, with the roblocks block library. Python has no Simulink!

I have developed a simple Python-based block-diagram simulation tool called bdsim which is showing some promise. bdsim can now run a bunch of examples from the Robotics, Vision & Control 2nd edition, and these can be found in its examples folder.

Specialized bdsim blocks for robotics are included with this toolbox, in the blocks folder, and so far includes support for robot manipulators, mobile robots and multirotor drones

roboticstoolbox.blocks.arm..............: FKine IKine Jacobian Tr2Delta Delta2Tr Point2Tr TR2T FDyn IDyn Gravload 
........................................: Inertia Inertia_X FDyn_X ArmPlot Traj JTraj LSPB CTraj CirclePath 
roboticstoolbox.blocks.mobile...........: Bicycle Unicycle DiffSteer VehiclePlot 
roboticstoolbox.blocks.uav..............: MultiRotor MultiRotorMixer MultiRotorPlot