code: def mesh_stable_pose(mesh, T_obj_table,
                           T_table_world=RigidTransform(from_frame='table', to_frame='world'),
                           style='wireframe', smooth=False, color=(0.5,0.5,0.5),
                           dim=0.15, plot_table=True, plot_com=False, name=None):
          
          T_obj_table = T_obj_table.as_frames('obj', 'table')
          T_obj_world = T_table_world * T_obj_table
  
          Visualizer3D.mesh(mesh, T_obj_world, style=style, smooth=smooth, color=color, name=name)
          if plot_table:
              Visualizer3D.table(T_table_world, dim=dim)
          if plot_com:
              Visualizer3D.points(Point(np.array(mesh.center_mass), 'obj'), T_obj_world, scale=0.01)
          return T_obj_world
docs: Visualize a mesh in a stable pose.
  
          Parameters
          ----------
          mesh : trimesh.Trimesh
              The mesh to visualize.
          T_obj_table : autolab_core.RigidTransform
              Pose of object relative to table.
          T_table_world : autolab_core.RigidTransform
              Pose of table relative to world.
          style : str
              Triangular mesh style, either 'surface' or 'wireframe'.
          smooth : bool
              If true, the mesh is smoothed before rendering.
          color : 3-tuple
              Color tuple.
          dim : float
              The side-length for the table.
          plot_table : bool
              If true, a table is visualized as well.
          plot_com : bool
              If true, a ball is visualized at the object's center of mass.
          name : str
              A name for the object to be added.
  
          Returns
          -------
          autolab_core.RigidTransform
              The pose of the mesh in world frame.