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.

def to_transformation_matrix(translation, orientation_matrix=np.zeros((3, 3))):
    """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.
    """
    matrix = np.eye(4)

    matrix[:-1, :-1] = orientation_matrix
    matrix[:-1, -1] = translation
    return matrix