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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 planar_matrix_to_3D(matrix_2D):
 """ Given a 2D homogenous rotation matrix convert it to a 3D rotation matrix that is rotating around the Z axis Parameters matrix_2D: (3,3) float, homogenous 2D rotation matrix Returns matrix_3D: (4,4) float, homogenous 3D rotation matrix """


    matrix_2D = np.asanyarray(matrix_2D, dtype=np.float64)
    if matrix_2D.shape != (3, 3):
        raise ValueError('Homogenous 2D transformation matrix required!')

    matrix_3D = np.eye(4)
    # translation
    matrix_3D[0:2, 3] = matrix_2D[0:2, 2]
    # rotation from 2D to around Z
    matrix_3D[0:2, 0:2] = matrix_2D[0:2, 0:2]

    return matrix_3D