code: def to_transformation_matrix(translation, orientation_matrix=np.zeros((3, 3))):
      
      matrix = np.eye(4)
  
      matrix[:-1, :-1] = orientation_matrix
      matrix[:-1, -1] = translation
      return matrix
docs: Converts a tuple (translation_vector, orientation_matrix)  to a transformation matrix
  
      Parameters
      ----------
      translation: numpy.array
          The translation of your frame presented as a 3D vector.
      orientation_matrix: numpy.array
          Optional : The orientation of your frame, presented as a 3x3 matrix.