code: def mesh(mesh, T_mesh_world=RigidTransform(from_frame='obj', to_frame='world'),
               style='surface', smooth=False, color=(0.5,0.5,0.5), name=None):
          
          if not isinstance(mesh, trimesh.Trimesh):
              raise ValueError('Must provide a trimesh.Trimesh object')
  
          mp = MaterialProperties(
              color = np.array(color),
              k_a = 0.5,
              k_d = 0.3,
              k_s = 0.1,
              alpha = 10.0,
              smooth=smooth,
              wireframe=(style == 'wireframe')
          )
  
          obj = SceneObject(mesh, T_mesh_world, mp)
          if name is None:
              name = str(uuid.uuid4())
          Visualizer3D._scene.add_object(name, obj)
docs: Visualize a 3D triangular mesh.
  
          Parameters
          ----------
          mesh : trimesh.Trimesh
              The mesh to visualize.
          T_mesh_world : autolab_core.RigidTransform
              The pose of the mesh, specified as a transformation from mesh frame to world frame.
          style : str
              Triangular mesh style, either 'surface' or 'wireframe'.
          smooth : bool
              If true, the mesh is smoothed before rendering.
          color : 3-tuple
              Color tuple.
          name : str
              A name for the object to be added.