How to use the meshcat.geometry.Box function in meshcat

def draw_plane_in_meshcat(vis, point, normal, size, name):
    size = np.array(size)
    vis["perception"]["tabletopsegmenter"][name].set_object(
        meshcat_g.Box(size))

    box_tf = get_tf_from_point_normal(point, normal)
    vis["perception"]["tabletopsegmenter"][name].set_transform(box_tf)

from __future__ import absolute_import, division, print_function

import math
import time

import meshcat

vis = meshcat.Visualizer().open()

box = meshcat.geometry.Box([0.5, 0.5, 0.5])
vis.set_object(box)

draw_times = []

for i in range(200):
    theta = (i + 1) / 100 * 2 * math.pi
    now = time.time()
    vis.set_transform(meshcat.transformations.rotation_matrix(theta, [0, 0, 1]))
    draw_times.append(time.time() - now)
    time.sleep(0.01)

print(sum(draw_times) / len(draw_times))

# that matches the LCM geometry.
    # For MESH geometry, this function checks if a texture file exists next
    # to the mesh file, and uses that to provide the material information if
    # present. For BOX, SPHERE, CYLINDER geometry as well as MESH geometry
    # not satisfying the above, this function uses the geom.color field to
    # create a flat color for the object. In the case of other geometry types,
    # both fields are returned as None.
    meshcat_geom = None
    material = None
    element_local_tf = RigidTransform(
        RotationMatrix(Quaternion(geom.quaternion)),
        geom.position).GetAsMatrix4()

    if geom.type == geom.BOX:
        assert geom.num_float_data == 3
        meshcat_geom = meshcat.geometry.Box(geom.float_data)
    elif geom.type == geom.SPHERE:
        assert geom.num_float_data == 1
        meshcat_geom = meshcat.geometry.Sphere(geom.float_data[0])
    elif geom.type == geom.CYLINDER:
        assert geom.num_float_data == 2
        meshcat_geom = meshcat.geometry.Cylinder(
            geom.float_data[1],
            geom.float_data[0])
        # In Drake, cylinders are along +z
        # In meshcat, cylinders are along +y
        # Rotate to fix this misalignment
        extra_rotation = tf.rotation_matrix(
            math.pi/2., [1, 0, 0])
        element_local_tf[0:3, 0:3] = (
            element_local_tf[0:3, 0:3].dot(
                extra_rotation[0:3, 0:3]))