Question: please give the answer in the python language ? 0 P 2 O R G = [ a 1 c 1 - d 2 s

please give the answer in the python language
?0P2ORG=[a1c1-d2s1a1s1+d2c10]
Give the 22 Jacobian that relates the two joint rates to the linear velocity of the
origin of frame {2}. Give a value of where the device is at a singularity.
please give the answer in the python language ? 0

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