Pose Trans in Python

Hi !

I would like to use the pose Trans function but I don´t know how to implement it via python. Did someone managed to write a example code for this in python?

b) Move with respect to feature. The below code will have the robot move 10cm along the X, Y and Z axes of the feature and rotate 90 degrees about the Z-axis.

Example code:

global pose_wrt_feature = p[0.1,0.1,0.1,0,0 , 1.57]

global feature_wrt_base = p[0.03,0.03,0.03,0,0,0]

global pose_wrt_base = pose_trans(feature_wrt_base, pose_wrt_feature)

movel( pose_wrt_base , a=1.2, v=0.25)