code: def linear_trajectory_to(self, target_tf, traj_len):
          
          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
docs: 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.