def METHOD_NAME():
    from_pt = Point(20, 20, 40)
    to_pt = Point(0, 0, 10)
    arc = plan_arc(from_pt, to_pt, 50, extra_waypoints=[(5, 10), (20, 30)])
    check_arc_basic([a[0] for a in arc], from_pt, to_pt)
    assert arc[1][0].x == 5
    assert arc[1][0].y == 10
    assert arc[1][0].z == 50
    assert arc[2][0].x == 20
    assert arc[2][0].y == 30
    assert arc[2][0].z == 50