@staticmethod<EOL><INDENT>def mesh(mesh, T_mesh_world=RigidTransform(from_frame='<STR_LIT>', to_frame='<STR_LIT>'),<EOL>style='<STR_LIT>', smooth=False, color=(<NUM_LIT:0.5>,<NUM_LIT:0.5>,<NUM_LIT:0.5>), name=None):<DEDENT>
if not isinstance(mesh, trimesh.Trimesh):<EOL><INDENT>raise ValueError('<STR_LIT>')<EOL><DEDENT>mp = MaterialProperties(<EOL>color = np.array(color),<EOL>k_a = <NUM_LIT:0.5>,<EOL>k_d = <NUM_LIT>,<EOL>k_s = <NUM_LIT:0.1>,<EOL>alpha = <NUM_LIT>,<EOL>smooth=smooth,<EOL>wireframe=(style == '<STR_LIT>')<EOL>)<EOL>obj = SceneObject(mesh, T_mesh_world, mp)<EOL>if name is None:<EOL><INDENT>name = str(uuid.uuid4())<EOL><DEDENT>Visualizer3D._scene.add_object(name, obj)<EOL>
Visualize a 3D triangular mesh.

        Parameters
        ----------
        mesh : trimesh.Trimesh
            The mesh to visualize.
        T_mesh_world : autolab_core.RigidTransform
            The pose of the mesh, specified as a transformation from mesh frame to world frame.
        style : str
            Triangular mesh style, either 'surface' or 'wireframe'.
        smooth : bool
            If true, the mesh is smoothed before rendering.
        color : 3-tuple
            Color tuple.
        name : str
            A name for the object to be added.