A presentation given for ME 8287: Advanced Robotics with Medical Applications at the University of Minnesota on using Python for rigid body dynamics analysis and control.
Materials can be found here: https://github.com/jcrist/talks/tree/master/dynamics_talk
Demo can be downloaded, or you can view it on nbviewer here: http://nbviewer.ipython.org/github/jcrist/talks/blob/master/dynamics_talk/dynamics_talk_demo.ipynb