def _add_can(self, geom):
    color = [1, 0, 0]
    if (hasattr(geom, 'color') and (geom.color == 'blue')):
        color = [0, 0, 1]
    elif (hasattr(geom, 'color') and (geom.color == 'green')):
        color = [0, 1, 0]
    elif (hasattr(geom, 'color') and (geom.color == 'red')):
        color = [1, 0, 0]
    self.env_body = OpenRAVEBody.create_cylinder(self._env, self.name, np.eye(4), [geom.radius, geom.height], color)
    self._env.AddKinBody(self.env_body)
def _add_can(self, geom):
    color = [1, 0, 0]
    if (hasattr(geom, 'color') and (geom.color == 'blue')):
        color = [0, 0, 1]
    elif (hasattr(geom, 'color') and (geom.color == 'green')):
        color = [0, 1, 0]
    elif (hasattr(geom, 'color') and (geom.color == 'red')):
        color = [1, 0, 0]
    self.env_body = OpenRAVEBody.create_cylinder(self._env, self.name, np.eye(4), [geom.radius, geom.height], color)
    self._env.AddKinBody(self.env_body)