How to use the meshcat.transformations function in meshcat

import math
import time

import meshcat

vis = meshcat.Visualizer().open()

box = meshcat.geometry.Box([0.5, 0.5, 0.5])
vis.set_object(box)

draw_times = []

for i in range(200):
    theta = (i + 1) / 100 * 2 * math.pi
    now = time.time()
    vis.set_transform(meshcat.transformations.rotation_matrix(theta, [0, 0, 1]))
    draw_times.append(time.time() - now)
    time.sleep(0.01)

print(sum(draw_times) / len(draw_times))

opacity: the opacity of the coordinate axes, between 0 and 1.
    """
    delta_xyz = np.array([[length / 2, 0, 0],
                          [0, length / 2, 0],
                          [0, 0, length / 2]])

    axes_name = ['x', 'y', 'z']
    colors = [0xff0000, 0x00ff00, 0x0000ff]
    rotation_axes = [[0, 0, 1], [0, 1, 0], [1, 0, 0]]

    for i in range(3):
        material = meshcat.geometry.MeshLambertMaterial(
            color=colors[i], opacity=opacity)
        vis[prefix][name][axes_name[i]].set_object(
            meshcat.geometry.Cylinder(length, radius), material)
        X = meshcat.transformations.rotation_matrix(
            np.pi/2, rotation_axes[i])
        X[0:3, 3] = delta_xyz[i]
        vis[prefix][name][axes_name[i]].set_transform(X)

if geom.type == geom.BOX:
        assert geom.num_float_data == 3
        meshcat_geom = meshcat.geometry.Box(geom.float_data)
    elif geom.type == geom.SPHERE:
        assert geom.num_float_data == 1
        meshcat_geom = meshcat.geometry.Sphere(geom.float_data[0])
    elif geom.type == geom.CYLINDER:
        assert geom.num_float_data == 2
        meshcat_geom = meshcat.geometry.Cylinder(
            geom.float_data[1],
            geom.float_data[0])
        # In Drake, cylinders are along +z
        # In meshcat, cylinders are along +y
        # Rotate to fix this misalignment
        extra_rotation = tf.rotation_matrix(
            math.pi/2., [1, 0, 0])
        element_local_tf[0:3, 0:3] = (
            element_local_tf[0:3, 0:3].dot(
                extra_rotation[0:3, 0:3]))
    elif geom.type == geom.MESH:
        meshcat_geom = meshcat.geometry.ObjMeshGeometry.from_file(
            geom.string_data[0:-3] + "obj")
        # Handle scaling.
        # TODO(gizatt): See meshcat-python#40 for incorporating scale as a
        # field rather than a matrix multiplication.
        scale = geom.float_data[:3]
        element_local_tf[:3, :3] = element_local_tf[:3, :3].dot(np.diag(scale))
        # Attempt to find a texture for the object by looking for an
        # identically-named *.png next to the model.
        # TODO(gizatt): Support .MTLs and prefer them over png, since they're
        # both more expressive and more standard.