Assume that you happened to know the coordinates of your sensor in some Cartesian coordinate system, and you want to derive the coordinates of your robot centre. For the robot configuration you know the offset of the sensor from the robot centre, but not the other way around. The solution:

# assume this is the offset of the sensor from the robot centre
offset="1.3,-0.6,0.3,-0.5,0.6,-0.7"

inversed_offset=$( echo "0,0,0,0,0,0" | points-frame --to="$offset" --fields="x,y,z,roll,pitch,yaw" --precision=16 )

Now inversed_offset is the position (and pose) of the robot centre in the coordinate system associated with the sensor.

Step by step demo: