2R ROBOTIC ARM python

Objective: import matplotlib.pyplot as plt import math #inputs l1= 1 l2= 2 n_thetha=10 thetha_start= 0 thetha_end= math.pi/2 thetha1=[] thetha2=[] for i in range(0,n_thetha): tmp=thetha_start+i*(thetha_end-thetha_start)/(n_thetha-1) thetha1.append(tmp) thetha2.append(tmp) x0=0 y0=0 ct=1 for t1 in thetha1: for t2 in thetha2: x1=l1*math.cos(t1)…