PyTrajectory is a Python library for trajectory generation for nonlinear control systems. It relies on solving a boundary value problem (bvp) via a collocation method. It is based on the scientific work of Graichen, et al. (see references in Background section of the documentation), but does not depend on proprietary code like Matlabs bvp4c.
It is developed at Dresden University of Technology at the Institute for Control Theory, see also other control related software.
The documentation can be found at readthedocs.org.
See the Usage or Examples section of the documentation. The examples files can also be downloaded here.
The animation above belongs to example 8.