How to use the pytransform3d.plot_utils.make_3d_axis function in pytransform3d

A2C = random_transform(random_state)
D2B = random_transform(random_state)

tm = TransformManager()
tm.add_transform("A", "world", A2world)
tm.add_transform("B", "world", B2world)
tm.add_transform("A", "C", A2C)
tm.add_transform("D", "B", D2B)

plt.figure(figsize=(10, 5))

ax = make_3d_axis(3, 121)
ax = tm.plot_frames_in("world", ax=ax, alpha=0.6)
ax.view_init(30, 20)

ax = make_3d_axis(3, 122)
ax = tm.plot_frames_in("A", ax=ax, alpha=0.6)
ax.view_init(30, 20)

plt.show()

random_state = np.random.RandomState(0)
A2world = random_transform(random_state)
B2world = random_transform(random_state)
A2C = random_transform(random_state)
D2B = random_transform(random_state)

tm = TransformManager()
tm.add_transform("A", "world", A2world)
tm.add_transform("B", "world", B2world)
tm.add_transform("A", "C", A2C)
tm.add_transform("D", "B", D2B)

plt.figure(figsize=(10, 5))

ax = make_3d_axis(3, 121)
ax = tm.plot_frames_in("world", ax=ax, alpha=0.6)
ax.view_init(30, 20)

ax = make_3d_axis(3, 122)
ax = tm.plot_frames_in("A", ax=ax, alpha=0.6)
ax.view_init(30, 20)

plt.show()

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
    """
    if P is None or len(P) == 0:
        raise ValueError("Trajectory does not contain any elements.")

    if ax is None:
        ax = make_3d_axis(ax_s)

    H = matrices_from_pos_quat(P)
    trajectory = Trajectory(H, show_direction, n_frames, s, **kwargs)
    trajectory.add_trajectory(ax)

    return ax

frame : string
            Reference frame

        ax : Matplotlib 3d axis, optional (default: None)
            If the axis is None, a new 3d axis will be created

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

        Returns
        -------
        ax : Matplotlib 3d axis
            New or old axis
        """
        if ax is None:
            ax = make_3d_axis(ax_s)
        for obj in objects:
            ax = obj.plot(self, frame, ax)
        return ax

Both frames of a connection must be in the whitelist to plot the
            connection

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

        Returns
        -------
        ax : Matplotlib 3d axis
            New or old axis
        """
        if frame not in self.nodes:
            raise KeyError("Unknown frame '%s'" % frame)

        if ax is None:
            ax = make_3d_axis(ax_s)

        nodes = self._whitelisted_nodes(whitelist)

        if "c" not in kwargs and "color" not in kwargs:
            kwargs["color"] = "black"

        for frame_names, transform in self.transforms.items():
            from_frame, to_frame = frame_names
            if from_frame in nodes and to_frame in nodes:
                try:
                    from2ref = self.get_transform(from_frame, frame)
                    to2ref = self.get_transform(to_frame, frame)
                    ax.plot(
                        (from2ref[0, 3], to2ref[0, 3]),
                        (from2ref[1, 3], to2ref[1, 3]),
                        (from2ref[2, 3], to2ref[2, 3]),

Scaling of the axis and angle that will be drawn

    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)

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

    name : string, optional (default: None)
        Name of the frame, will be used for annotation

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

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

    if A2B is None:
        A2B = np.eye(4)
    A2B = check_transform(A2B)

    frame = Frame(A2B, name, s, **kwargs)
    frame.add_frame(ax)

    return ax

s : float, optional (default: 1)
        Scaling of the frame that will be drawn

    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
    """
    if ax is None:
        ax = make_3d_axis(ax_s)

    if R is None:
        R = np.eye(3)
    R = check_matrix(R)

    A2B = np.eye(4)
    A2B[:3, :3] = R
    A2B[:3, 3] = p

    frame = Frame(A2B, s=s, **kwargs)
    frame.add_frame(ax)

    return ax