How to use the pytransform3d.plot_utils.Arrow3D function in pytransform3d

mutation_scale=20, lw=3, arrowstyle="-|>", color="k")
    ax.add_artist(axis_arrow)

    p1 = (unitx if np.abs(a[0]) <= np.finfo(float).eps else
          perpendicular_to_vectors(unity, a[:3]))
    p2 = perpendicular_to_vectors(a[:3], p1)

    angle_p1p2 = angle_between_vectors(p1, p2)
    arc = np.empty((100, 3))
    for i, t in enumerate(np.linspace(0, 2 * a[3] / np.pi, 100)):
        w1, w2 = _slerp_weights(angle_p1p2, t)
        arc[i] = p + 0.5 * s * (a[:3] + w1 * p1 + w2 * p2)
    ax.plot(arc[:-5, 0], arc[:-5, 1], arc[:-5, 2], color="k", lw=3, **kwargs)

    arrow_coords = np.vstack((arc[-1], arc[-1] + 20 * (arc[-1] - arc[-3]))).T
    angle_arrow = Arrow3D(
        arrow_coords[0], arrow_coords[1], arrow_coords[2],
        mutation_scale=20, lw=3, arrowstyle="-|>", color="k")
    ax.add_artist(angle_arrow)

    for i in [0, -1]:
        arc_bound = np.vstack((p + 0.5 * s * a[:3], arc[i])).T
        ax.plot(arc_bound[0], arc_bound[1], arc_bound[2], "--", c="k")

    return ax

y_translation = 0.2
z_rotation = np.pi / 4.0
A2B = np.array([
    [np.cos(z_rotation), -np.sin(z_rotation), 0.0, x_translation],
    [np.sin(z_rotation), np.cos(z_rotation), 0.0, y_translation],
    [0.0, 0.0, 1.0, 0.0],
    [0.0, 0.0, 0.0, 1.0]
])
PB = transform(A2B, PA)

plot_transform(ax=ax, A2B=np.eye(4))
ax.scatter(PA[:, 0], PA[:, 1], PA[:, 2], c="orange")
plot_transform(ax=ax, A2B=A2B, ls="--", alpha=0.5)
ax.scatter(PB[:, 0], PB[:, 1], PB[:, 2], c="cyan")

axis_arrow = Arrow3D(
    [0.7, 0.3],
    [0.4, 0.9],
    [0.2, 0.2],
    mutation_scale=20, lw=3, arrowstyle="-|>", color="k")
ax.add_artist(axis_arrow)

plt.tight_layout()
plt.show()

def __init__(self, H, show_direction=True, n_frames=10, s=1.0, **kwargs):
            super(Trajectory, self).__init__()

            self.show_direction = show_direction

            self.trajectory = Line3D([], [], [], **kwargs)
            self.key_frames = [Frame(np.eye(4), s=s, **kwargs)
                               for _ in range(n_frames)]

            if self.show_direction:
                self.direction_arrow = Arrow3D(
                    [0, 0], [0, 0], [0, 0],
                    mutation_scale=20, lw=1, arrowstyle="-|>", color="k")

            self.set_data(H)

x_translation = -0.1
y_translation = 0.2
z_rotation = np.pi / 4.0
A2B = np.array([
    [np.cos(z_rotation), -np.sin(z_rotation), 0.0, x_translation],
    [np.sin(z_rotation), np.cos(z_rotation), 0.0, y_translation],
    [0.0, 0.0, 1.0, 0.0],
    [0.0, 0.0, 0.0, 1.0]
])

plot_transform(ax=ax, A2B=np.eye(4), ls="--", alpha=0.5)
ax.scatter(PA[:, 0], PA[:, 1], PA[:, 2], c="orange")
plot_transform(ax=ax, A2B=A2B)

axis_arrow = Arrow3D(
    [0.0, -0.1],
    [0.0, 0.2],
    [0.2, 0.2],
    mutation_scale=20, lw=3, arrowstyle="-|>", color="k")
ax.add_artist(axis_arrow)

plt.tight_layout()
plt.show()

def draw(self, renderer):
            """Draw the patch."""
            xs3d, ys3d, zs3d = self._verts3d
            xs, ys, zs = proj3d.proj_transform(xs3d, ys3d, zs3d, renderer.M)
            self.set_positions((xs[0], ys[0]), (xs[1], ys[1]))
            super(Arrow3D, self).draw(renderer)

ax_s : float, optional (default: 1)
        Scaling of the new matplotlib 3d axis

    kwargs : dict, optional (default: {})
        Additional arguments for the plotting functions, e.g. alpha

    Returns
    -------
    ax : Matplotlib 3d axis
        New or old axis
    """
    a = check_axis_angle(a)
    if ax is None:
        ax = make_3d_axis(ax_s)

    axis_arrow = Arrow3D(
        [p[0], p[0] + s * a[0]],
        [p[1], p[1] + s * a[1]],
        [p[2], p[2] + s * a[2]],
        mutation_scale=20, lw=3, arrowstyle="-|>", color="k")
    ax.add_artist(axis_arrow)

    p1 = (unitx if np.abs(a[0]) <= np.finfo(float).eps else
          perpendicular_to_vectors(unity, a[:3]))
    p2 = perpendicular_to_vectors(a[:3], p1)

    angle_p1p2 = angle_between_vectors(p1, p2)
    arc = np.empty((100, 3))
    for i, t in enumerate(np.linspace(0, 2 * a[3] / np.pi, 100)):
        w1, w2 = _slerp_weights(angle_p1p2, t)
        arc[i] = p + 0.5 * s * (a[:3] + w1 * p1 + w2 * p2)
    ax.plot(arc[:-5, 0], arc[:-5, 1], arc[:-5, 2], color="k", lw=3, **kwargs)