\subsection{Forward Kinematics (FK)}
$T_{WB_n}(\theta) = \mat{T}_{WB_0} \mat{T}_{B_0B_1}(\theta_1) \cdots \mat{T}_{B_{n - 1}B_n}(\theta_n)$.\\
For 2R system: ${_W}\vec{t}_{WE} = \begin{bmatrix}
    L_1 \cos(\theta_1) + L_2 \cos(\theta_1 + \theta_2)\\
    L_1 \sin(\theta_1) + L_2 \sin(\theta_1 + \theta_2)
\end{bmatrix}$\\
With workspace (pos) $W$ for $\theta_1, \theta_2 \in [-\pi, \pi]$
% TODO: Example? (w02s42 possibly)
