def pose(T_frame_world, alpha=0.1, tube_radius=0.005, center_scale=0.01):
        """Plot a 3D pose as a set of axes (x red, y green, z blue).

        Parameters
        ----------
        T_frame_world : autolab_core.RigidTransform
            The pose relative to world coordinates.
        alpha : float
            Length of plotted x,y,z axes.
        tube_radius : float
            Radius of plotted x,y,z axes.
        center_scale : float
            Radius of the pose's origin ball.
        """
        R = T_frame_world.rotation
        t = T_frame_world.translation

        x_axis_tf = np.array([t, t + alpha * R[:,0]])
        y_axis_tf = np.array([t, t + alpha * R[:,1]])
        z_axis_tf = np.array([t, t + alpha * R[:,2]])

        Visualizer3D.points(t, color=(1,1,1), scale=center_scale)
        Visualizer3D.plot3d(x_axis_tf, color=(1,0,0), tube_radius=tube_radius)
        Visualizer3D.plot3d(y_axis_tf, color=(0,1,0), tube_radius=tube_radius)
        Visualizer3D.plot3d(z_axis_tf, color=(0,0,1), tube_radius=tube_radius)