import numpy as np # make it bigger by 1.5. new_traj_pts = scale_pts_around_centroid_np(traj_pts, scale_x=1.5, scale_y=1.5, scale_z=1) # move it to the right by 10cm. new_traj_pts = translate_pts_np(traj_pts, delta=[0.1, 0, 0]) # move it to the front by 20cm. new_traj_pts = translate_pts_np(traj_pts, delta=[0, -0.2, 0]) # rotate it clockwise by 40 degrees. new_traj_pts = rotate_3d_pts_around_centroid_np(traj_pts, angle_z=-np.deg2rad(40)) # rotate by 30 degrees and make it slightly smaller temp_traj_pts = rotate_3d_pts_around_centroid_np(traj_pts, angle_z=np.deg2rad(30)) new_traj_pts = scale_pts_around_centroid_np(temp_traj_pts, scale_x=0.7, scale_y=0.7, scale_z=1)