Simulation of forward kinematics of a 2R Robotic Arm in PYTHON

Objective: import math import matplotlib.pyplot as plt l1 = 4 l2 = 2 theta1_start = 0 theta1_end = 90 theta2_start = 0 theta2_end = 30 theta1 = [] theta2 = [] # values of theta 1 for x in range(theta1_start,theta1_end,10): theta1.append(theta1_start + x) theta1.append(90) a = 0 for x in theta1: theta1[a] = (x / 180)*math.pi a+=1…