please give the answer in the python language

$7\mathrm{.}8[18]$ Sketch graphs of position, velocity, and acceleration for the two$-$segment

continuous$-$acceleration spline given in Example $7\mathrm{.}2.$ Sketch them for a joint for

which ${}_0=30\mathrm{.}0,{}_v=-20\mathrm{.}0,$ and ${}_g=5\mathrm{.}0,$ and each segment lasts $3\mathrm{.}0$ seconds.