2R Robotic arm simulator using Python

In this program we are simulating the motion of a 2R robotic arm inside a workspace using Python. The images are saved under different file names using a counter and then they are stiched together to form a gif animation of the 2R robotic arm in different positions. The code is given below -

import math
import matplotlib.pyplot as plt

# Inputs
l1 = 1
l2 = 0.5

n_theta = 10

theta_start = 0
theta_end  = math.pi/2

theta1 = []
theta2 = []

for i in range(0,n_theta):
	temp = theta_start + i*(theta_end - theta_start)/(n_theta - 1)
	theta1.append(temp)
	theta2.append(temp)

x0 = 0
y0 = 0

ct = 1
for t1 in theta1:
		for t2 in theta2:
			# Link1,Lin2 connector
			x1 = l1*math.cos(t1)
			y1 = l1*math.sin(t1)

			# Coordinates of manipulator
			x2 = x1 + l2*math.cos(t2)
			y2 = y1 + l2*math.sin(t2)
			
			filename = str(ct) + '.png'
			ct = ct + 1

			plt.figure()
			plt.plot([x0,x1],[y0,y1])
			plt.plot([x1,x2],[y1,y2])
			plt.xlim([0,2])
			plt.ylim([0,2])
			plt.savefig(filename)

The animation received as output is shown below -