def METHOD_NAME(
    rotation: npt.NDArray,
    translation: npt.NDArray,
) -> np.ndarray:
    """
    Compose a transformation from a rotation matrix and a translation matrix.
    Args:
        rotation (np.ndarray): The rotation to add to the final transformation matrix.
        translation (np.ndarray): The translation to add to the final
            transformation matrix.
    Returns:
        np.ndarray: The transformation matrix.
    """
    transformation = np.zeros((4, 4))
    transformation[:3, :3] = rotation
    transformation[3, :3] = translation
    transformation[3, 3] = 1.0
    return transformation