I´d suggest using meshgrid. Here is the documentation.

Example

>>> nx, ny = (3, 2)
>>> x = np.linspace(0, 1, nx)
>>> y = np.linspace(0, 1, ny)
>>> xv, yv = np.meshgrid(x, y)
>>> xv
array([[ 0. ,  0.5,  1. ],
       [ 0. ,  0.5,  1. ]])
>>> yv
array([[ 0.,  0.,  0.],
       [ 1.,  1.,  1.]])

linspace args:

1. Start value
2. Final value
3. Number of all values in the vector

You can use np.mgrid for this, it's often more convenient than np.meshgrid because it creates the arrays in one step:

import numpy as np
X,Y = np.mgrid[-5:5.1:0.5, -5:5.1:0.5]

For linspace-like functionality, replace the step (i.e. 0.5) with a complex number whose magnitude specifies the number of points you want in the series. Using this syntax, the same arrays as above are specified as:

X, Y = np.mgrid[-5:5:21j, -5:5:21j]

You can then create your pairs as:

xy = np.vstack((X.flatten(), Y.flatten())).T

As @ali_m suggested, this can all be done in one line:

xy = np.mgrid[-5:5.1:0.5, -5:5.1:0.5].reshape(2,-1).T

Best of luck!