def METHOD_NAME(T,length,width,lighting=True,fancy=False):
    """Draws an axis-aligned transform widget for the se3 transform T.
    Length / width govern the length / width of the axes.  If fancy=True,
    draws the axes with real volume rather than lines"""
    mat = zip(*se3.homogeneous(T))
    mat = sum([list(coli) for coli in mat],[])
    glPushMatrix()
    glMultMatrixf(mat)
    if fancy:
        #center
        setcolor(1,1,1,1,lighting=lighting)
        box((-width*0.75,-width*0.75,-width*0.75),(width*0.75,width*0.75,width*0.75),lighting=lighting)
        #x axis
        setcolor(1,0,0,1,lighting=lighting)
        box((-width*0.5,-width*0.5,-width*0.5),(length,width*0.5,width*0.5),lighting=lighting)
        #y axis
        setcolor(0,1,0,1,lighting=lighting)
        box((-width*0.5,-width*0.5,-width*0.5),(width*0.5,length,width*0.5),lighting=lighting)
        #z axis
        setcolor(0,0,1,1,lighting=lighting)
        box((-width*0.5,-width*0.5,-width*0.5),(width*0.5,width*0.5,length),lighting=lighting)
    else:
        glDisable(GL_LIGHTING)
        glBegin(GL_LINES)
        glColor4f(1,1,1,1)
        glVertex3f(0,0,0)
        glColor4f(1,0,0,1)
        glVertex3f(length,0,0)
        glColor4f(1,1,1,1)
        glVertex3f(0,0,0)
        glColor4f(0,1,0,1)
        glVertex3f(0,length,0)
        glColor4f(1,1,1,1)
        glVertex3f(0,0,0)
        glColor4f(0,0,1,1)
        glVertex3f(0,0,length)
        glEnd()
    glPopMatrix()