EDIT: If you're on Windows, check out the Anaconda python distribution. I'm told it makes installing all the libraries you mentioned as easy as it is on *nix systems: https://www.continuum.io/downloads
For learning and even publication purposes, I'd consider looking at Jupyter Notebooks: http://jupyter.org/
There's still some configuration involved to get it to work, but most of the required libraries should come bundled in the installation.
As for learning those tools -- probably just do a few quick tutorials to get the gist of Pandas/Numpy, and then slowly try migrating small data projects that you'd normally do in R to Python.
The screen layout is very similar to RStudio and you can see the inside of variables and data frames like in RStudio.
Btw - Yhat developers also hang out here in HN.