code: def from_rotation_and_translation(
              rotation_matrix=((1, 0, 0), (0, 1, 0), (0, 0, 1)),
              translation_vec=(0, 0, 0), tol=0.1):
          
          rotation_matrix = np.array(rotation_matrix)
          translation_vec = np.array(translation_vec)
          if rotation_matrix.shape != (3, 3):
              raise ValueError("Rotation Matrix must be a 3x3 numpy array.")
          if translation_vec.shape != (3,):
              raise ValueError("Translation vector must be a rank 1 numpy array "
                               "with 3 elements.")
          affine_matrix = np.eye(4)
          affine_matrix[0:3][:, 0:3] = rotation_matrix
          affine_matrix[0:3][:, 3] = translation_vec
          return SymmOp(affine_matrix, tol)
docs: Creates a symmetry operation from a rotation matrix and a translation
          vector.
  
          Args:
              rotation_matrix (3x3 array): Rotation matrix.
              translation_vec (3x1 array): Translation vector.
              tol (float): Tolerance to determine if rotation matrix is valid.
  
          Returns:
              SymmOp object