How to use the vpython.box function in vpython

def test_graphics_canvas_init(self):
        # Create a canvas with all options being used (different to defaults)
        scene = canvas.GraphicsCanvas3D(
            height=360,
            width=480,
            title="Test Graphics Canvas Creation",
            caption="Caption text here",
            grid=False
        )
        try:
            # Put a box in the created scene
            box(canvas=scene.scene)
        except:
            # Something went wrong
            self.assertEqual(False, True)

def test_vpython_to_se3(self):
        # Create a scene
        scene = canvas.GraphicsCanvas3D(title="TEST VPYTHON TO SE3")

        # Create a basic entity
        # pos = 1, 2, 3
        # X = 0, 0, -1
        # Y = -1, 0, 0
        # Z = 0, 1, 0
        entity = box(
            pos=vector(1, 2, 3),
            axis=vector(0, 0, -1),
            up=vector(-1, 0, 0)
        )
        scene.scene.waitfor("draw_complete")

        # Check resulting SE3
        arr = array([
            [0, -1, 0, 1],
            [0, 0, 1, 2],
            [-1, 0, 0, 3],
            [0, 0, 0, 1]
        ])
        expected = SE3(arr)
        self.assertEqual(common.vpython_to_se3(entity), expected)

ref_vel = self.ref_vel

		pos = np.array([state[0], state[1], state[2]]).flatten()
		att = np.array([state[3], state[4], state[5], state[6]]).flatten()
		vel = np.array([state[7], state[8], state[9]]).flatten()


		current_quat = Quaternion(att)
		x_axis = current_quat.rotation_matrix.dot(np.array([1.0, 0.0, 0.0]))
		y_axis = current_quat.rotation_matrix.dot(np.array([0.0, 1.0, 0.0]))
		z_axis = current_quat.rotation_matrix.dot(np.array([0.0, 0.0, 1.0]))

		if self.viewer is None:
			self.viewer = canvas(title='Quadrotor 3D', width=640, height=480, center=vector(0, 0, 2), forward=vector(1, 1, -0.5), up=vector(0, 0, 1), background=color.white, range=4.0, autoscale = False)
			self.render_quad1 = box(canvas = self.viewer, pos=vector(pos[0],pos[1],0), axis=vector(x_axis[0],x_axis[1],x_axis[2]), length=0.2, height=0.05, width=0.05)
			self.render_quad2 = box(canvas = self.viewer, pos=vector(pos[0],pos[1],0), axis=vector(y_axis[0],y_axis[1],y_axis[2]), length=0.2, height=0.05, width=0.05)
			self.render_rotor1 = cylinder(canvas = self.viewer, pos=vector(pos[0],pos[1],0), axis=vector(0.01*z_axis[0],0.01*z_axis[1],0.01*z_axis[2]), radius=0.2, color=color.cyan, opacity=0.5)
			self.render_rotor2 = cylinder(canvas = self.viewer, pos=vector(pos[0],pos[1],0), axis=vector(0.01*z_axis[0],0.01*z_axis[1],0.01*z_axis[2]), radius=0.2, color=color.cyan, opacity=0.5)
			self.render_rotor3 = cylinder(canvas = self.viewer, pos=vector(pos[0],pos[1],0), axis=vector(0.01*z_axis[0],0.01*z_axis[1],0.01*z_axis[2]), radius=0.2, color=color.cyan, opacity=0.5)
			self.render_rotor4 = cylinder(canvas = self.viewer, pos=vector(pos[0],pos[1],0), axis=vector(0.01*z_axis[0],0.01*z_axis[1],0.01*z_axis[2]), radius=0.2, color=color.cyan, opacity=0.5)
			self.render_velocity = pointer = arrow(pos=vector(pos[0],pos[1],0), axis=vector(vel[0],vel[1],vel[2]), shaftwidth=0.05, color=color.green)
			self.render_ref = sphere(canvas = self.viewer, pos=vector(ref_pos[0], ref_pos[1], ref_pos[2]), radius=0.02, color=color.blue, make_trail = True)
			grid_xy = make_grid(5, 100)
		if self.state is None: return None

		self.render_quad1.pos.x = pos[0]
		self.render_quad1.pos.y = pos[1]
		self.render_quad1.pos.z = pos[2]
		self.render_quad2.pos.x = pos[0]
		self.render_quad2.pos.y = pos[1]
		self.render_quad2.pos.z = pos[2]
		rotor_pos = 0.5*x_axis

r'\`(.*)\`',
                    r'<span style="color: #3399ff">\1</span>',
                    """<u><b>Commands:</b></u>
%Click% to toggle information about a node.
%Double click% to perform a quick web scan on this node.
<u><b>Camera usage:</b></u>
`Right button drag or Ctrl-drag` to rotate "camera" to view scene.
`Shift-drag` to move the object around.
`Middle button or Alt-drag` to drag up or down to zoom in or out.
  On a two-button mouse, `middle is wheel or left + right`.
Touch screen: pinch/extend to zoom, swipe or two-finger rotate."""
                )
            )
        )
        vpython.scene.exit = True
        start = vpython.box()
        rings = {}
        tr3d = {}
        for i in trace:
            tr = trace[i]
            tr3d[i] = []
            for t in range(1, max(tr) + 1):
                if t not in rings:
                    rings[t] = []
                if t in tr:
                    if tr[t] not in rings[t]:
                        rings[t].append(tr[t])
                    tr3d[i].append(rings[t].index(tr[t]))
                else:
                    rings[t].append(("unk", -1))
                    tr3d[i].append(len(rings[t]) - 1)

pos = np.array([state[0], state[1], state[2]]).flatten()
		att = np.array([state[3], state[4], state[5], state[6]]).flatten()
		vel = np.array([state[7], state[8], state[9]]).flatten()
		load_pos = np.array([state[10], state[11], state[12]]).flatten()
		load_vel = np.array([state[13], state[14], state[15]]).flatten()

		current_quat = Quaternion(att)
		x_axis = current_quat.rotation_matrix.dot(np.array([1.0, 0.0, 0.0]))
		y_axis = current_quat.rotation_matrix.dot(np.array([0.0, 1.0, 0.0]))
		z_axis = current_quat.rotation_matrix.dot(np.array([0.0, 0.0, 1.0]))
		tether_vec = load_pos - pos

		if self.viewer is None:
			self.viewer = canvas(title='Quadrotor 3D Slungload', width=640, height=480, center=vector(0, 0, 0), forward=vector(1, 1, -1), up=vector(0, 0, 1), background=color.white)
			self.render_quad1 = box(canvas = self.viewer, pos=vector(pos[0],pos[1],0), axis=vector(x_axis[0],x_axis[1],x_axis[2]), length=0.2, height=0.05, width=0.05)
			self.render_quad2 = box(canvas = self.viewer, pos=vector(pos[0],pos[1],0), axis=vector(y_axis[0],y_axis[1],y_axis[2]), length=0.2, height=0.05, width=0.05)
			self.render_rotor1 = cylinder(canvas = self.viewer, pos=vector(pos[0],pos[1],0), axis=vector(0.01*z_axis[0],0.01*z_axis[1],0.01*z_axis[2]), radius=0.2, color=color.cyan, opacity=0.5)
			self.render_rotor2 = cylinder(canvas = self.viewer, pos=vector(pos[0],pos[1],0), axis=vector(0.01*z_axis[0],0.01*z_axis[1],0.01*z_axis[2]), radius=0.2, color=color.cyan, opacity=0.5)
			self.render_rotor3 = cylinder(canvas = self.viewer, pos=vector(pos[0],pos[1],0), axis=vector(0.01*z_axis[0],0.01*z_axis[1],0.01*z_axis[2]), radius=0.2, color=color.cyan, opacity=0.5)
			self.render_rotor4 = cylinder(canvas = self.viewer, pos=vector(pos[0],pos[1],0), axis=vector(0.01*z_axis[0],0.01*z_axis[1],0.01*z_axis[2]), radius=0.2, color=color.cyan, opacity=0.5)
			self.render_velocity = pointer = arrow(pos=vector(pos[0],pos[1],0), axis=vector(vel[0],vel[1],vel[2]), shaftwidth=0.05, color=color.green)
			self.render_ref = sphere(canvas = self.viewer, pos=vector(ref_pos[0], ref_pos[1], ref_pos[2]), radius=0.02, color=color.blue, make_trail = True)
			self.render_tether = cylinder(canvas = self.viewer, pos=vector(pos[0],pos[1],0), axis=vector(tether_vec[0],tether_vec[1],tether_vec[2]), radius=0.01, color=color.black)
			self.render_load = sphere(canvas = self.viewer, pos=vector(load_pos[0], load_pos[1], load_pos[2]), radius=0.1, color=color.red, make_trail = True)
		if self.state is None: return None

		self.render_quad1.pos.x = pos[0]
		self.render_quad1.pos.y = pos[1]
		self.render_quad1.pos.z = pos[2]
		self.render_quad2.pos.x = pos[0]
		self.render_quad2.pos.y = pos[1]
		self.render_quad2.pos.z = pos[2]

if thickness < 0.0:
        raise ValueError("Thickness must be greater than 0")

    # Length of the line using the magnitude
    line_len = mag(pos2-pos1)

    # Position of the line is the midpoint (centre) between the ends
    position = (pos1 + pos2) / 2

    # Axis direction of the line (to align the box (line) to intersect the two points)
    axis_dir = pos2 - pos1

    # Return a box of thin width and height to resemble a line
    # thickness = 0.01
    return box(canvas=scene,
               pos=position,
               axis=axis_dir,
               length=line_len,
               width=thickness,
               height=thickness,
               color=vector(colour[0], colour[1], colour[2]))

:param structure: `float` or `str` representing the joint length or STL path to load from
        :type structure: `float`, `str`
        :raises ValueError: Joint length must be greater than 0
        :return: Graphical object for the joint
        :rtype: class:`vpython.compound`
        """
        if isinstance(structure, float):
            length = structure
            if length <= 0.0:
                raise ValueError("Joint length must be greater than 0")

            box_midpoint = vector(length / 2, 0, 0)

            # Create a box along the +x axis, with the origin (point of rotation) at (0, 0, 0)
            graphic_obj = box(
                canvas=self.__scene,
                pos=vector(box_midpoint.x, box_midpoint.y, box_midpoint.z),
                axis=x_axis_vector,
                size=vector(length, 0.1, 0.1),
                up=y_axis_vector
            )

            # Set the boxes new origin
            graphic_obj = compound([graphic_obj], origin=vector(0, 0, 0), axis=x_axis_vector, up=y_axis_vector)

            return graphic_obj
        else:
            return import_object_from_numpy_stl(structure, self.__scene)

ref_pos = self.ref_pos
		ref_vel = self.ref_vel

		pos = np.array([state[0], state[1], state[2]]).flatten()
		att = np.array([state[3], state[4], state[5], state[6]]).flatten()
		vel = np.array([state[7], state[8], state[9]]).flatten()


		current_quat = Quaternion(att)
		x_axis = current_quat.rotation_matrix.dot(np.array([1.0, 0.0, 0.0]))
		y_axis = current_quat.rotation_matrix.dot(np.array([0.0, 1.0, 0.0]))
		z_axis = current_quat.rotation_matrix.dot(np.array([0.0, 0.0, 1.0]))

		if self.viewer is None:
			self.viewer = canvas(title='Quadrotor 3D', width=640, height=480, center=vector(0, 0, 2), forward=vector(1, 1, -0.5), up=vector(0, 0, 1), background=color.white, range=4.0, autoscale = False)
			self.render_quad1 = box(canvas = self.viewer, pos=vector(pos[0],pos[1],0), axis=vector(x_axis[0],x_axis[1],x_axis[2]), length=0.2, height=0.05, width=0.05)
			self.render_quad2 = box(canvas = self.viewer, pos=vector(pos[0],pos[1],0), axis=vector(y_axis[0],y_axis[1],y_axis[2]), length=0.2, height=0.05, width=0.05)
			self.render_rotor1 = cylinder(canvas = self.viewer, pos=vector(pos[0],pos[1],0), axis=vector(0.01*z_axis[0],0.01*z_axis[1],0.01*z_axis[2]), radius=0.2, color=color.cyan, opacity=0.5)
			self.render_rotor2 = cylinder(canvas = self.viewer, pos=vector(pos[0],pos[1],0), axis=vector(0.01*z_axis[0],0.01*z_axis[1],0.01*z_axis[2]), radius=0.2, color=color.cyan, opacity=0.5)
			self.render_rotor3 = cylinder(canvas = self.viewer, pos=vector(pos[0],pos[1],0), axis=vector(0.01*z_axis[0],0.01*z_axis[1],0.01*z_axis[2]), radius=0.2, color=color.cyan, opacity=0.5)
			self.render_rotor4 = cylinder(canvas = self.viewer, pos=vector(pos[0],pos[1],0), axis=vector(0.01*z_axis[0],0.01*z_axis[1],0.01*z_axis[2]), radius=0.2, color=color.cyan, opacity=0.5)
			self.render_velocity = pointer = arrow(pos=vector(pos[0],pos[1],0), axis=vector(vel[0],vel[1],vel[2]), shaftwidth=0.05, color=color.green)
			self.render_ref = sphere(canvas = self.viewer, pos=vector(ref_pos[0], ref_pos[1], ref_pos[2]), radius=0.02, color=color.blue, make_trail = True)
			grid_xy = make_grid(5, 100)
		if self.state is None: return None

		self.render_quad1.pos.x = pos[0]
		self.render_quad1.pos.y = pos[1]
		self.render_quad1.pos.z = pos[2]
		self.render_quad2.pos.x = pos[0]
		self.render_quad2.pos.y = pos[1]
		self.render_quad2.pos.z = pos[2]

pos = np.array([state[0], state[1], state[2]]).flatten()
		att = np.array([state[3], state[4], state[5], state[6]]).flatten()
		vel = np.array([state[7], state[8], state[9]]).flatten()
		load_pos = np.array([state[10], state[11], state[12]]).flatten()
		load_vel = np.array([state[13], state[14], state[15]]).flatten()

		current_quat = Quaternion(att)
		x_axis = current_quat.rotation_matrix.dot(np.array([1.0, 0.0, 0.0]))
		y_axis = current_quat.rotation_matrix.dot(np.array([0.0, 1.0, 0.0]))
		z_axis = current_quat.rotation_matrix.dot(np.array([0.0, 0.0, 1.0]))
		tether_vec = load_pos - pos

		if self.viewer is None:
			self.viewer = canvas(title='Quadrotor 3D Slungload', width=640, height=480, center=vector(0, 0, 0), forward=vector(1, 1, -1), up=vector(0, 0, 1), background=color.white)
			self.render_quad1 = box(canvas = self.viewer, pos=vector(pos[0],pos[1],0), axis=vector(x_axis[0],x_axis[1],x_axis[2]), length=0.2, height=0.05, width=0.05)
			self.render_quad2 = box(canvas = self.viewer, pos=vector(pos[0],pos[1],0), axis=vector(y_axis[0],y_axis[1],y_axis[2]), length=0.2, height=0.05, width=0.05)
			self.render_rotor1 = cylinder(canvas = self.viewer, pos=vector(pos[0],pos[1],0), axis=vector(0.01*z_axis[0],0.01*z_axis[1],0.01*z_axis[2]), radius=0.2, color=color.cyan, opacity=0.5)
			self.render_rotor2 = cylinder(canvas = self.viewer, pos=vector(pos[0],pos[1],0), axis=vector(0.01*z_axis[0],0.01*z_axis[1],0.01*z_axis[2]), radius=0.2, color=color.cyan, opacity=0.5)
			self.render_rotor3 = cylinder(canvas = self.viewer, pos=vector(pos[0],pos[1],0), axis=vector(0.01*z_axis[0],0.01*z_axis[1],0.01*z_axis[2]), radius=0.2, color=color.cyan, opacity=0.5)
			self.render_rotor4 = cylinder(canvas = self.viewer, pos=vector(pos[0],pos[1],0), axis=vector(0.01*z_axis[0],0.01*z_axis[1],0.01*z_axis[2]), radius=0.2, color=color.cyan, opacity=0.5)
			self.render_velocity = pointer = arrow(pos=vector(pos[0],pos[1],0), axis=vector(vel[0],vel[1],vel[2]), shaftwidth=0.05, color=color.green)
			self.render_ref = sphere(canvas = self.viewer, pos=vector(ref_pos[0], ref_pos[1], ref_pos[2]), radius=0.02, color=color.blue, make_trail = True)
			self.render_tether = cylinder(canvas = self.viewer, pos=vector(pos[0],pos[1],0), axis=vector(tether_vec[0],tether_vec[1],tether_vec[2]), radius=0.01, color=color.black)
			self.render_load = sphere(canvas = self.viewer, pos=vector(load_pos[0], load_pos[1], load_pos[2]), radius=0.1, color=color.red, make_trail = True)
		if self.state is None: return None

		self.render_quad1.pos.x = pos[0]
		self.render_quad1.pos.y = pos[1]
		self.render_quad1.pos.z = pos[2]
		self.render_quad2.pos.x = pos[0]
		self.render_quad2.pos.y = pos[1]