The C-space and task space of a planar 2R robot is shown below, where $l_1 = l_2 = 0.5$.
Real world obstacles are always defined in task space, when planning in C-space we need to
know the coordinates of any obstacles in C-space. An obstacle is shown in the task space, its
coordinates are a linear line from [-0.5, 0.5] to [0.5, 0.5].
Convert this obstacle from task space to C-space. (MATLAB Recommended)