code: def compare(self, other, t_threshold=1e-3, r_threshold=1e-3):
          
          return compute_rmsd(self.t, other.t) < t_threshold and compute_rmsd(self.r, other.r) < r_threshold
docs: Compare two transformations
  
             The RMSD values of the rotation matrices and the translation vectors
             are computed. The return value is True when the RMSD values are below
             the thresholds, i.e. when the two transformations are almost
             identical.