please give the answer in the python language

$5\mathrm{.}16[20]$ A $3R$ manipulator has kinematics that correspond exactly to the set of

$Z-Y-Z$ Euler angles $($i$.$e$.,$ the forward kinematics are given by $(2\mathrm{.}72)$ with $={}_1,$

$={}_2,$ and $={}_3).$ Give the Jacobian relating joint velocities to the angular

velocity of the final link.