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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 force_in_A_to_force_in_B(force_A, torque_A, pose_A_in_B):
 """ Converts linear and rotational force at a point in frame A to the equivalent in frame B. Args: force_A: 3-dim iterable for linear force in A torque_A: 3-dim iterable for rotational force (moment) in A pose_A_in_B: numpy array of shape (4,4) corresponding to the pose of A in frame B Returns: force_B, torque_B: two numpy arrays of shape (3,) for the forces in B """

    pos_A_in_B = pose_A_in_B[:3, 3]
    rot_A_in_B = pose_A_in_B[:3, :3]
    skew_symm = _skew_symmetric_translation(pos_A_in_B)
    force_B = rot_A_in_B.T.dot(force_A)
    torque_B = -rot_A_in_B.T.dot(skew_symm.dot(force_A)) + rot_A_in_B.T.dot(torque_A)
    return force_B, torque_B