def table(T_table_world=RigidTransform(from_frame='table', to_frame='world'), dim=0.16, color=(0,0,0)):
        """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.
        """

        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)
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.