code: def check_matrix(m):
      
      if m.shape != (4, 4):
          raise ValueError("The argument must be a 4x4 array.")
      if max(abs(m[3, 0:3])) > eps:
          raise ValueError("The given matrix does not have correct translational part")
      if abs(m[3, 3] - 1.0) > eps:
          raise ValueError("The lower right element of the given matrix must be 1.0.")
docs: Check the sanity of the given 4x4 transformation matrix