def make_pose(translation, rotation):
    """
    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
    """
    pose = np.zeros((4, 4))
    pose[:3, :3] = rotation
    pose[:3, 3] = translation
    pose[3, 3] = 1.0
    return pose
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