please give the answer in the python language$4\mathrm{.}11[24]$ A $2-$DOF positioning table is used to orient parts for arc$-$welding. The for$-$

ward kinematics that locate the bed of the table $($link $2)$ with respect to the base

$($link $0)$ are

${?}_2^{0}T=\left[\begin{array}{cccc}{c}_1{c}_2& -c_1{s}_2& s_1& l_2{s}_1+l_1\\ s_2& c_2& 0& 0\\ -s_1{c}_2& s_1{s}_2& c_1& l_2{c}_1+h_1\\ 0& 0& 0& 1\end{array}\right]$

Given any unit direction fixed in the frame of the bed $($link $2),{?}^2$hat$(V),$ give the inverse$-$

kinematic solution for ${}_1,{}_2$ such that this vector is aligned with ${?}^0$hat$(Z)($i$.$e$.,$ upward$).$

Are there multiple solutions? Is there a singular condition for which a unique

solution cannot be obtained?