Animating Linkages with Python
....and Matplotlib's Animation Function
Sam Korman from Team TrotBot put his Python skills to work to improve our simulators, and shares his code below. For those who are not that experienced with Python, Sam included many useful comments in his code.
Here's the rough code that generated the above simulation of Strandbeest, TrotBot, and Strider. (FYI, this script was copy/pasted from 3 separate sims, so it's a bit sloppy)
The algorithms, and how we used them to simulate linkages, are described here.