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

# 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]))
    elif geom.type == geom.MESH:
        meshcat_geom = meshcat.geometry.ObjMeshGeometry.from_file(
            geom.string_data[0:-3] + "obj")

def add_geometry(self, geometry, pathname, transform):
        vis = self.vis
        material = g.MeshBasicMaterial(
            reflectivity=self.reflectivity, sides=0, wireframe=self.wireframe
        )
        material.transparency = self.transparency
        material.opacity = self.opacity

        if isinstance(geometry, Sphere):
            sphere = geometry
            vis[pathname].set_object(g.Sphere(sphere.radius), material)
            vis[pathname].set_transform(transform)

        elif isinstance(geometry, Cylinder):
            cyl = geometry
            vis[pathname].set_object(g.Cylinder(cyl.length, cyl.radius), material)
            # meshcat cylinder is aligned along y-axis. Align along z then apply the
            # node's transform as normal.
            transform = np.copy(transform)
            # Change basic XYZ -> XZY
            transform[:, [1, 2]] = transform[:, [2, 1]]
            vis[pathname].set_transform(transform)

        elif isinstance(geometry, Mesh):
            obj = meshcat.geometry.StlMeshGeometry.from_stream(
                io.BytesIO(trimesh.exchange.stl.export_stl(geometry.trimesh))
            )

end = end_ray.position
            if world_segment == "short":
                if end_ray == history[-1][0]:
                    end = (
                        np.array(start_ray.position)
                        + np.array(start_ray.direction) * short_length
                    )
            colour = wavelength_to_hex_int(nanometers)
            ids.append(self.add_line_segment(start, end, colour=colour))

            if baubles:
                event = start_part[1]
                if event in {Event.TRANSMIT}:
                    baubid = self.get_next_identifer()
                    vis[f"exit/{baubid}"].set_object(
                        g.Sphere(bauble_radius),
                        g.MeshBasicMaterial(
                            color=colour, transparency=False, opacity=1
                        ),
                    )
                    vis[f"exit/{baubid}"].set_transform(tf.translation_matrix(start))

                    ids.append(baubid)
        return ids