code: def rotate(self, angle, axis=(1, 0, 0), axis_point=(0, 0, 0), rad=False):
          
          if rad:
              anglerad = angle
          else:
              anglerad = angle / 57.29578
          axis = utils.versor(axis)
          a = np.cos(anglerad / 2)
          b, c, d = -axis * np.sin(anglerad / 2)
          aa, bb, cc, dd = a * a, b * b, c * c, d * d
          bc, ad, ac, ab, bd, cd = b * c, a * d, a * c, a * b, b * d, c * d
          R = np.array(
              [
                  [aa + bb - cc - dd, 2 * (bc + ad), 2 * (bd - ac)],
                  [2 * (bc - ad), aa + cc - bb - dd, 2 * (cd + ab)],
                  [2 * (bd + ac), 2 * (cd - ab), aa + dd - bb - cc],
              ]
          )
          rv = np.dot(R, self.GetPosition() - np.array(axis_point)) + axis_point
  
          if rad:
              angle *= 57.29578
          # this vtk method only rotates in the origin of the actor:
          self.RotateWXYZ(angle, axis[0], axis[1], axis[2])
          self.SetPosition(rv)
          if self.trail:
              self.updateTrail()
          return self
docs: Rotate ``Actor`` around an arbitrary `axis` passing through `axis_point`.