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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 linear_trajectory_to(self, target_tf, traj_len):
 """Creates a trajectory of poses linearly interpolated from this tf to a target tf. Parameters target_tf : :obj:`RigidTransform` The RigidTransform to interpolate to. traj_len : int The number of RigidTransforms in the returned trajectory. Returns ------- :obj:`list` of :obj:`RigidTransform` A list of interpolated transforms from this transform to the target. """

        if traj_len < 0:
            raise ValueError('Traj len must at least 0')
        delta_t = 1.0 / (traj_len + 1)
        t = 0.0
        traj = []
        while t < 1.0:
            traj.append(self.interpolate_with(target_tf, t))
            t += delta_t
        traj.append(target_tf)
        return traj