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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 _make_input(self, action, old_quat):
 """ Helper function that returns a dictionary with keys dpos, rotation from a raw input array. The first three elements are taken to be displacement in position, and a quaternion indicating the change in rotation with respect to @old_quat. """

        return {
            "dpos": action[:3],
            # IK controller takes an absolute orientation in robot base frame
            "rotation": T.quat2mat(T.quat_multiply(old_quat, action[3:7])),
        }