code: def make_pose(translation, rotation):
      
      pose = np.zeros((4, 4))
      pose[:3, :3] = rotation
      pose[:3, 3] = translation
      pose[3, 3] = 1.0
      return pose
docs: Makes a homogenous pose matrix from a translation vector and a rotation matrix.
  
      Args:
          translation: a 3-dim iterable
          rotation: a 3x3 matrix
  
      Returns:
          pose: a 4x4 homogenous matrix