Please note that the given matrix is R73 and not R37.

import numpy as np p_3 = np.array([[0.73145268], [0.74098914], [-0.12542049]]) R_73 = np.array([[0.07760933, -0.43668320, -0.89626144], [0.22105218, -0.86906059, 0.44257161], [-0.97216908, -0.23246823, 0.02908257]]) q_7 = np.array([[0.33114303], [-0.61205079], [-0.33292534]])

The position and orientation of frame 3 in the coordinates of frame 7 are: p3=0.731452680.740989140.12542049R73=0.077609330.221052180.972169080.436683200.869060590.232468230.896261440.442571610.02908257 A point q in the coordinates of frame 7 is: q7=0.331143030.612050790.33292534 import numpy as np p3=np.array([[0.73145268],[0.74098914],[0.12542049]])R73=np.array([[0.07760933,0.43668320,0.89626144],[0.22105218,0.86906059,0.44257161],q7=np.array([[0.33114303],[.61205079],[.33292534]]) Find q in the coordinates of frame 3