map position from world space to model (data) space, basically applies the inverse world affine transform
Parameters:
position (tuple[float, float, float] | np.ndarray) – The xyz positions we wish to map to model space, an (x, y, z) tuple or an array of
shape (num_points, 3)
Returns:
either shape (3,) or (num_points, 3), specifying position in model space
