def METHOD_NAME(
    self, point_clouds, bounding_boxes, transformation, **kwargs
):
    point_clouds_xyz = point_clouds[..., :3]
    point_clouds_xyz += transformation["pose"][:3]
    bounding_boxes_xyz = bounding_boxes[..., :3]
    bounding_boxes_xyz += transformation["pose"][:3]
    return (
        tf.concat([point_clouds_xyz, point_clouds[..., 3:]], axis=-1),
        tf.concat([bounding_boxes_xyz, bounding_boxes[..., 3:]], axis=-1),
    )