code: def table(T_table_world=RigidTransform(from_frame='table', to_frame='world'), dim=0.16, color=(0,0,0)):
          
  
          table_vertices = np.array([[ dim,  dim, 0],
                                     [ dim, -dim, 0],
                                     [-dim,  dim, 0],
                                     [-dim, -dim, 0]]).astype('float')
          table_tris = np.array([[0, 1, 2], [1, 2, 3]])
          table_mesh = trimesh.Trimesh(table_vertices, table_tris)
          table_mesh.apply_transform(T_table_world.matrix)
          Visualizer3D.mesh(table_mesh, style='surface', smooth=True, color=color)
docs: Plot a table mesh in 3D.
  
          Parameters
          ----------
          T_table_world : autolab_core.RigidTransform
              Pose of table relative to world.
          dim : float
              The side-length for the table.
          color : 3-tuple
              Color tuple.