def offset_grid_pixels(pts, vision_tform_local_grid, cell_size):
    """Offset the local grid's pixels to be in the world frame instead of the local grid frame."""
    x_base = vision_tform_local_grid.position.x + cell_size * 0.5
    y_base = vision_tform_local_grid.position.y + cell_size * 0.5
    pts[:, 0] += x_base
    pts[:, 1] += y_base
    return pts