def METHOD_NAME(
    rx: float = 0.0,
    ry: float = 0.0,
    rz: float = 0.0,
    tx: float = 0.0,
    ty: float = 0.0,
    tz: float = 0.0,
    sx: float = 1.0,
    sy: float = 1.0,
    sz: float = 1.0,
    ref_frame = "extrinsic",
):
    """Build an affine transformation matrix from a set of parameters. Applies
    scaling, rotation, and translation in that order.
    """
    s = scaling(sx, sy, sz)
    r = rotation(rx, ry, rz, ref_frame)
    t = translation(tx, ty, tz)
    return t @ r @ s