Years ago, I wrote a Python module using the VPython 3D graphics library to simulate a three-wheeled robot modeled after the Parallax Scribbler, that could execute Logo-like “turtle” motion commands. It worked really well as an educational tool for programming students, since using VPython’s graphics meant that you could manipulate the robot even from the interpreter prompt, a line at a time, and rotate and zoom the 3D view even while the robot is moving. No window event loop, no multithreading to think about.

I soon added a stall sensor and proximity sensors for detecting and navigating around obstacles, such as the walls of a maze as shown in the screenshot below.

from vturtle import *
robot = Robot(obstacles=maze())

In the intervening 14-ish years, VPython has undergone a significant refactoring. I’ve recently updated the robot simulator code accordingly, so that it now works in the currently latest VPython version 7.6.5. The code is on GitHub.