TypeError: only size-1 arrays can be converted to Python scalars

import numpy as np
import pandas as pd
import matplotlib.pyplot as plt
 
from math import radians
 
Initial_value = pd.DataFrame({'X': [5, 4.3],
                                    'Y': [-5.6, -1.2],
                              'Z': [0, 0],
                              'Theta': [0,0],
                              'Fi': [0,0],
                                    'Psi': [np.radians(0),np.radians(90)]})
 
Initial_array = Initial_value.values
Initial_value.head()
 
def rotate(In_val): 
    P=[]
    
    
    P[0, 0] = cos(In_val['Fi'].values)*cos(In_val['Theta'].values)*cos(In_val['Psi'].values)-sin(In_val['Fi'].values)*sin(In_val['Psi'].values)
    P[0, 1] = -cos(In_val['Fi'].values)*cos(In_val['Theta'].values)*sin(In_val['Psi'].values)-sin(In_val['Fi'].values)*cos(In_val['Psi'].values)
    P[0, 2] = cos(In_val['Fi'].values)*sin(In_val['Theta'].values)
    P[0, 3] = In_val['X'].values
    P[1, 0] = sin(In_val['Fi'].values)*cos(In_val['Theta'].values)*cos(In_val['Psi'].values)+cos(In_val['Fi'].values)*sin(In_val['Psi'].values)
    P[1, 1] = -sin(In_val['Fi'].values)*cos(In_val['Theta'].values)*sin(In_val['Psi'].values)+cos(In_val['Fi'].values)*cos(In_val['Psi'].values)
    P[1, 2] = sin(In_val['Fi'].values)*sin(In_val['Theta'].values)
    P[1, 3] = In_val['Y'].values
    P[2, 0] = -sin(In_val['Theta'].values)*cos(In_val['Psi'].values)
    P[2, 1] = sin(In_val['Theta'].values)*sin(In_val['Psi'].values)
    P[2, 2] = cos(In_val['Theta'].values)
    P[2, 3] = In_val['Z'].values
    P[3, 0] = 0
    P[3, 1] = 0
    P[3, 2] = 0
    P[3, 3] = 1
    
    return P  
 
rotate(Initial_value)