map position from model (data) space to world space, basically applies the world affine transform
Parameters:
position (tuple[float, float, float] | np.ndarray) – The xyz positions we wish to map to world 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 world space
