def get_plane_from_3dmatrix(matrix):
    """Extract the plane_normal and plane_origin from a transformation matrix."""
    # The normal of the plane can be extracted from the 3x3 rotation part of the matrix
    plane_normal = matrix[:3, 2]
    plane_origin = matrix[:3, 3]
    return plane_normal, plane_origin
Extract the plane_normal and plane_origin from a transformation matrix.
infinigen/core/constraints/evaluator/indoor_util.py