Rotate the list of points using rotation matrix R
    :param coords: List of points to be rotated
    :param R: Rotation matrix
    :return: List of rotated points

def rotateCoords(coords, R):
    """
    Rotate the list of points using rotation matrix R
    :param coords: List of points to be rotated
    :param R: Rotation matrix
    :return: List of rotated points
    """
    newlist = list()
    for pp in coords:
        rpp = matrixTimesVector(R, pp)
        newlist.append(rpp)
    return newlist