code: def _attrib_to_transform(attrib):
      
  
      transform = np.eye(4, dtype=np.float64)
      if 'transform' in attrib:
          # wangle their transform format
          values = np.array(
              attrib['transform'].split(),
              dtype=np.float64).reshape((4, 3)).T
          transform[:3, :4] = values
      return transform
docs: Extract a homogenous transform from a dictionary.
  
      Parameters
      ------------
      attrib: dict, optionally containing 'transform'
  
      Returns
      ------------
      transform: (4, 4) float, homogeonous transformation