def matrix_compose_4x4(rotation, translation):
    """
    Compose a 4x4 matrix using rotations and translation.
    :param rotation: 3x3 matrix (list of list)
    :param translation: list
    :return:
    """
    r = range(4)
    m = [[0 for _ in r] for _ in r]
    three = range(3)
    for i in three:
        for j in three:
            m[i][j] = rotation[i][j]
        m[i][3] = translation[i]
    m[3][3] = 1
    return m