def using_so3(): I Using a 3D rotation matrix Returns R P_0 q_A the SO(3) rotation matrix describing the orientation of frame {A} with respect to the world frame the coordinate vector P with respect to the world frame (1D array) the coordinate vector Q with respect to the {A} frame (1D array) pass Starting from frame {0}, frame {A} is obtained by consecutive rotations of: 0.2 radians about the x-axis, then 0.3 radians about the new y-axis and then 0.4 radians about the new z-axis. Now compute: 1. The rotation matrix describing frame {A} with respect to frame {0}. 2. The 3D point P has a coordinate vector of Ap = the coordinate of point P in the world frame, Op? (1, 2, 3) with respect to frame {A}. What is 3. The 3D point Q has a coordinate vector of (3, 4, 1) with respect to the world frame. What is the coordinate of point Q in frame {A}? Note: You do not need to invert a matrix to solve this. Why is this so?