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Solve the following problem using Python, implementing the functions described below, one line at a time
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Description:
 def get_pose_error(target_pose, current_pose):
 """ Computes the error corresponding to target pose - current pose as a 6-dim vector. The first 3 components correspond to translational error while the last 3 components correspond to the rotational error. Args: target_pose: a 4x4 homogenous matrix for the target pose current_pose: a 4x4 homogenous matrix for the current pose Returns: A 6-dim numpy array for the pose error. """

    error = np.zeros(6)

    # compute translational error
    target_pos = target_pose[:3, 3]
    current_pos = current_pose[:3, 3]
    pos_err = target_pos - current_pos

    # compute rotational error
    r1 = current_pose[:3, 0]
    r2 = current_pose[:3, 1]
    r3 = current_pose[:3, 2]
    r1d = target_pose[:3, 0]
    r2d = target_pose[:3, 1]
    r3d = target_pose[:3, 2]
    rot_err = 0.5 * (np.cross(r1, r1d) + np.cross(r2, r2d) + np.cross(r3, r3d))

    error[:3] = pos_err
    error[3:] = rot_err
    return error