Consider the visualization we have covered during the lectures, which provides the configuration space of a 2-link planar arm in the presence of polygonal obstacles. Write a script (in python or in your preferred environment of choice) to generate similar visualizations of the C-space of a 2-link planar arm. Place the arm at the center of the workspace and a small number (3-5) of polygonal obstacles around it which allow some robot configurations to be collision free. Provide in your report at least a couple of examples of environments that you were able to compute a solution and a description of what did you have to implement in order to complete the visualization tool.