Abstracted out number of links for equation generation. Now we can have a true n-link chain.
Have an expression for the center of mass and total angular momenum for the 2 link snake.
Have an n-link animation working mostly. Need to add the joint and mc plotting.
Added center of mass to animation.
Added exponentially decreasing torque to prevent it from spinning like crazy.
Added function to read in precompiled cython code.
Trying to analytically analyze the 2 link snake, but not doing it well.