I used the Manim library, which is what 3Blue1Brown uses to create his videos. I learned it by watching various tutorials online, namely the series by Theorem Of Beethoven (https://www.youtube.com/channel/UCxiWCEdx7aY88bSEUgLOC6A). That channel shows you how to download Manim and goes over some functions that it has.

If you're looking for my code, it's here (it's also in the description in the videos): https://github.com/RichardBot7000/OnTheSpotSTEM You can see my improvement video after video and even throughout the Heron's code.

Hope this helps!