please give the answer in the python language

$3\mathrm{.}9[11]$ For the two$-$link manipulator shown in Fig. $3\mathrm{.}32($a$),$ the link$-$transformation

matrices, ${?}_1^{0}T$ and ${?}_2^{1}T,$ were constructed. Their product is

${?}_2^{0}T=\left[\begin{array}{cccc}c{}_{1}c{}_2& -c{}_{1}s{}_2& s{}_1& l_{1}c{}_1\\ s{}_{1}c{}_2& -s{}_{1}s{}_2& -c{}_1& l_{1}s{}_1\\ s{}_2& c{}_2& 0& 0\\ 0& 0& 0& 1\end{array}\right].$

The link$-$frame assignments used are indicated in Fig. $3\mathrm{.}32($b$).$ Note that frame $\{0\}$

is coincident with frame $\{1\}$ when ${}_1=0.$ The length of the second link is $l_2.$ Find

an expression for the vector ${?}^0{P}_{\text{t}\text{i}\text{p}},$ which locates the tip of the arm relative to the

$\{0\}$ frame.