<SYSTEM_TASK:>
Solve the following problem using Python, implementing the functions described below, one line at a time
<END_TASK>
<USER_TASK:>
Description:
 def get(self, frame_to, frame_from=None):
 """ Get the transform from one frame to another, assuming they are connected in the transform tree. If the frames are not connected a NetworkXNoPath error will be raised. Parameters --------- frame_from: hashable object, usually a string (eg 'world'). If left as None it will be set to self.base_frame frame_to: hashable object, usually a string (eg 'mesh_0') Returns --------- transform: (4,4) homogenous transformation matrix """


        if frame_from is None:
            frame_from = self.base_frame

        cache_key = str(frame_from) + ':' + str(frame_to)
        cached = self._cache[cache_key]
        if cached is not None:
            return cached

        transform = np.eye(4)
        path = self._get_path(frame_from, frame_to)

        for i in range(len(path) - 1):
            data, direction = self.transforms.get_edge_data_direction(
                path[i], path[i + 1])
            matrix = data['matrix']
            if direction < 0:
                matrix = np.linalg.inv(matrix)
            transform = np.dot(transform, matrix)

        geometry = None
        if 'geometry' in self.transforms.node[frame_to]:
            geometry = self.transforms.node[frame_to]['geometry']

        self._cache[cache_key] = (transform, geometry)

        return transform, geometry