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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 bullet_base_pose_to_world_pose(self, pose_in_base):
 """ Convert a pose in the base frame to a pose in the world frame. Args: pose_in_base: a (pos, orn) tuple. Returns: pose_in world: a (pos, orn) tuple. """

        pose_in_base = T.pose2mat(pose_in_base)

        base_pos_in_world = np.array(p.getBasePositionAndOrientation(self.ik_robot)[0])
        base_orn_in_world = np.array(p.getBasePositionAndOrientation(self.ik_robot)[1])
        base_pose_in_world = T.pose2mat((base_pos_in_world, base_orn_in_world))

        pose_in_world = T.pose_in_A_to_pose_in_B(
            pose_A=pose_in_base, pose_A_in_B=base_pose_in_world
        )
        return T.mat2pose(pose_in_world)