To create an environment similar to what you see when installing the Robotics Toolbox for MATLAB

from spatialmath import *
from spatialmath.base import *
from roboticstoolbox import *

This provides familiar functionality like:

>>> a = SE3(1, 2, 3)
>>> T = transl(1, 2, 3)
>>> R = rotx(0.3)

and other functions like jtraj, ctraj