This code produces an animation of a double pendulum. This solution is a result of numerical solutions to differential equations produced by dynamics. In my research, energy methods were used to simplify the set of differential equations, but I wanted to be different.

Also note, you can add an input torque in the double_pendulum.py file, which is something that I couldn't find anywhere else.

Here is the result of double_pendulum.py in master:

Here is the result of double_pendulum.py in input_torque: