Create workobject from 3 vectors

I combed the available functions and I was surprised not to see this.
I have a sensor that is able to give me 3 3D points (poses) in the world.
I wanted to programmatically create a workobject based on these 3 points (their vectors, rather), just like when we create a workobject using the pendant and the nice 3 points procedure (Origin, then X positive direction, then Y positive direction).
Is there anyone who knows how to do this, or that can point me towards a resource to implement this? I am unsure if it will be possible, but we seem to have a couple of matrix tools (SVD etc.) available now so it could be?

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