Make CT build and add a double jointed arm optimization.

Add an arm move simulation which needs to avoid a box.  It's a
starting point for future work.

Change-Id: I1d84a7749376d853acf72c9fb7b9a43af7caabfa
diff --git a/third_party/matplotlib-cpp/BUILD b/third_party/matplotlib-cpp/BUILD
index 9d21f21..8eb8734 100644
--- a/third_party/matplotlib-cpp/BUILD
+++ b/third_party/matplotlib-cpp/BUILD
@@ -8,6 +8,7 @@
     deps = [
         "@usr_repo//:python2.7_lib",
     ],
+    visibility = ["//visibility:public"],
     restricted_to = ["//tools:k8"],
 )