code: def five_sided_box(size, rgba, group, thickness):
      
      geoms = []
      x, y, z = size
      r = thickness / 2
      geoms.append(
          new_geom(
              geom_type="box", size=[x, y, r], pos=[0, 0, -z + r], rgba=rgba, group=group
          )
      )
      geoms.append(
          new_geom(
              geom_type="box", size=[x, r, z], pos=[0, -y + r, 0], rgba=rgba, group=group
          )
      )
      geoms.append(
          new_geom(
              geom_type="box", size=[x, r, z], pos=[0, y - r, 0], rgba=rgba, group=group
          )
      )
      geoms.append(
          new_geom(
              geom_type="box", size=[r, y, z], pos=[x - r, 0, 0], rgba=rgba, group=group
          )
      )
      geoms.append(
          new_geom(
              geom_type="box", size=[r, y, z], pos=[-x + r, 0, 0], rgba=rgba, group=group
          )
      )
      return geoms
docs: Args:
          size ([float,flat,float]):
          rgba ([float,float,float,float]): color
          group (int): Mujoco group
          thickness (float): wall thickness
  
      Returns:
          []: array of geoms corresponding to the
              5 sides of the pot used in BaxterLift