Encapsulation and Abstraction in 3D: Modules for Vase Sculptures in OpenSCAD

As I have done more and more modeling using OpenSCAD, I keep wondering if there is a “better” way of abstracting libraries. In particular, what is the “right” way to say that the attachment point of an arm is at point [x,y,z, yaw,pitch,roll]. Sure you can use the origin for a particular part, but what happens if you have more than one point of connection?

I feel like there is more that can be done here. However I love the functionality the author gives on taking advantage of the “children” concept in OpenSCAD.