TODO
three_pts_localization()
arbitrary_pts_localization()
worldxy_to_robot_base_xform()
xform_to_xyz_quaternion()
rgpoint_to_cgpoint()
cgpoint_to_rgpoint()
cgframe_to_rgplane()
rgtransform_to_cgtransformation()
rgtransform_to_matrix()
cgtransformation_to_rgtransform()
matrix_to_rgtransform()
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