code: def interpolate_with(self, other_tf, t):
          
          if t < 0 or t > 1:
              raise ValueError('Must interpolate between 0 and 1')
  
          interp_translation = (1.0 - t) * self.translation + t * other_tf.translation
          interp_rotation = transformations.quaternion_slerp(self.quaternion, other_tf.quaternion, t)
          interp_tf = RigidTransform(rotation=interp_rotation, translation=interp_translation,
                                    from_frame = self.from_frame, to_frame = self.to_frame)
          return interp_tf
docs: Interpolate with another rigid transformation.
  
          Parameters
          ----------
          other_tf : :obj:`RigidTransform`
              The transform to interpolate with.
  
          t : float
              The interpolation step in [0,1], where 0 favors this RigidTransform.
  
          Returns
          -------
          :obj:`RigidTransform`
              The interpolated RigidTransform.
  
          Raises
          ------
          ValueError
              If t isn't in [0,1].