@staticmethod
def create_sphere(env, name, transform, dims, color=[0, 0, 1]):
    infobox = OpenRAVEBody.create_body_info(GeometryType.Sphere, dims, color)
    sphere = RaveCreateKinBody(env, '')
    sphere.InitFromGeometries([infobox])
    sphere.SetName(name)
    sphere.SetTransform(transform)
    return sphere
@staticmethod
def create_sphere(env, name, transform, dims, color=[0, 0, 1]):
    infobox = OpenRAVEBody.create_body_info(GeometryType.Sphere, dims, color)
    sphere = RaveCreateKinBody(env, )
    sphere.InitFromGeometries([infobox])
    sphere.SetName(name)
    sphere.SetTransform(transform)
    return sphere