This paper investigates the motion planning problem of planar m-link (m≥4) closed chains among point obstacles with extension to arbitrary convex 2-D obstacles. The configuration space (C-space) of closed chains is embedded into two copies of m-3 dimensional tori. Two structural sets. the C-boundaries and the C-obstacles. https://www.roneverhart.com/Castello-di-Amorosa-Il-Barone-Napa-Valley-Cabernet-Sauvignon-2007/