Geometric transformation so that each mesh/pointcloud rotate in its own axis

### Checklist

- [x] I have searched for [similar issues](https://github.com/isl-org/Open3D/issues).
- [x] For Python issues, I have tested with the [latest development wheel](https://www.open3d.org/docs/latest/getting_started.html#development-version-pip).
- [x] I have checked the [release documentation](https://www.open3d.org/docs/release/) and the [latest documentation](https://www.open3d.org/docs/latest/) (for `main` branch).

### My Question

I don't know if this question could I ask here even having more to do with computer graphics in general than Open3D, I am trying to modify these example starting to work with 4 meshes/pointclouds:

`import open3d as o3d
import copy
import numpy as np

mesh = o3d.geometry.TriangleMesh.create_coordinate_frame()
mesh_tx1 = copy.deepcopy(mesh).translate((1.5, 0, 0))
mesh_tx2 = copy.deepcopy(mesh).translate((1, 0, 0))
mesh_tz = copy.deepcopy(mesh).translate((0, 0, 1.5))
print(f'Center of mesh: {mesh.get_center()}')
print(f'Center of mesh tx: {mesh_tx1.get_center()}')
print(f'Center of mesh ty: {mesh_tx2.get_center()}')
print(f'Center of mesh ty: {mesh_tz1.get_center()}')
o3d.visualization.draw_geometries([mesh, mesh_tx1, mesh_tx2, mesh_tz1])`

And after come in this scenario so that each triangle mesh base rotate a certain amount of degrees and their opposite color arrows touch one in each other like this (Sorry for don't show a good quality picture, I was too lazy to draw them in a 3D software so I finished drawing them by hand and I drew it a little hurry):


How could I do it?