3d object in python with joints

Question

I got a new project and I dont know how I can start.
The idea is to create a 3d model with joints and "move" (the angle of the joints) them. The best way would be in python. Is their a libary for something like this?

Also I have to interact with code the joints. So I can give the script different values and the angle of the joints will change.

EDIT: So the libary I was searching for is Pybullet but I got errors by typing pip install pybullet. Here the errors: ERROR: Failed building wheel for pybullet and error: legacy-install-failure