How to use the meshcat.geometry function in meshcat

def loadViewerGeometryObject(self, geometry_object,geometry_type, color=None):
        """Load a single geometry object"""

        import meshcat.geometry

        viewer_name = self.getViewerNodeName(geometry_object, geometry_type)
        if geometry_object.meshPath == "":
            raise IOError("{} mesh file not found for link {}.".format(str(geometry_type).lower(),geometry_object.name))
        # Get file type from filename extension.
        _, file_extension = os.path.splitext(geometry_object.meshPath)
        if file_extension.lower() == ".dae":
            obj = meshcat.geometry.DaeMeshGeometry.from_file(geometry_object.meshPath)
        elif file_extension.lower() == ".obj":
            obj = meshcat.geometry.ObjMeshGeometry.from_file(geometry_object.meshPath)
        elif file_extension.lower() == ".stl":
            obj = meshcat.geometry.StlMeshGeometry.from_file(geometry_object.meshPath)
        else:
            raise ImportError("Unknown mesh file format: {}.".format(geometry_object.meshPath))
        material = meshcat.geometry.MeshPhongMaterial()
        # Set material color from URDF, converting for triplet of doubles to a single int.
        if color is None:
            meshColor = geometry_object.meshColor
        else:
            meshColor = color
        material.color = int(meshColor[0] * 255) * 256**2 + int(meshColor[1] * 255) * 256 + int(meshColor[2] * 255)
        # Add transparency, if needed.
        if float(meshColor[3]) != 1.0:
            material.transparent = True
            material.opacity = float(meshColor[3])
        self.viewer[viewer_name].set_object(obj, material)