code: def plane_transform(origin, normal):
      
      transform = align_vectors(normal, [0, 0, 1])
      transform[0:3, 3] = -np.dot(transform,
                                  np.append(origin, 1))[0:3]
      return transform
docs: Given the origin and normal of a plane find the transform
      that will move that plane to be coplanar with the XY plane.
  
      Parameters
      ----------
      origin : (3,) float
          Point that lies on the plane
      normal : (3,) float
          Vector that points along normal of plane
  
      Returns
      ---------
      transform: (4,4) float
          Transformation matrix to move points onto XY plane