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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 dot(self, other_tf):
 """Compose this rigid transform with another. This transform is on the left-hand side of the composition. Parameters other_tf : :obj:`RigidTransform` The other RigidTransform to compose with this one. Returns ------- :obj:`RigidTransform` A RigidTransform that represents the composition. Raises ------ ValueError If the to_frame of other_tf is not identical to this transform's from_frame. """

        if other_tf.to_frame != self.from_frame:
            raise ValueError('To frame of right hand side ({0}) must match from frame of left hand side ({1})'.format(other_tf.to_frame, self.from_frame))

        pose_tf = self.matrix.dot(other_tf.matrix)
        rotation, translation = RigidTransform.rotation_and_translation_from_matrix(pose_tf)

        if isinstance(other_tf, SimilarityTransform):
            return SimilarityTransform(self.rotation, self.translation, scale=1.0,
                                       from_frame=self.from_frame,
                                       to_frame=self.to_frame) * other_tf
        return RigidTransform(rotation, translation,
                              from_frame=other_tf.from_frame,
                              to_frame=self.to_frame)