code: def pose(T_frame_world, alpha=0.1, tube_radius=0.005, center_scale=0.01):
          
          R = T_frame_world.rotation
          t = T_frame_world.translation
  
          x_axis_tf = np.array([t, t + alpha * R[:,0]])
          y_axis_tf = np.array([t, t + alpha * R[:,1]])
          z_axis_tf = np.array([t, t + alpha * R[:,2]])
  
          Visualizer3D.points(t, color=(1,1,1), scale=center_scale)
          Visualizer3D.plot3d(x_axis_tf, color=(1,0,0), tube_radius=tube_radius)
          Visualizer3D.plot3d(y_axis_tf, color=(0,1,0), tube_radius=tube_radius)
          Visualizer3D.plot3d(z_axis_tf, color=(0,0,1), tube_radius=tube_radius)
docs: Plot a 3D pose as a set of axes (x red, y green, z blue).
  
          Parameters
          ----------
          T_frame_world : autolab_core.RigidTransform
              The pose relative to world coordinates.
          alpha : float
              Length of plotted x,y,z axes.
          tube_radius : float
              Radius of plotted x,y,z axes.
          center_scale : float
              Radius of the pose's origin ball.