@staticmethod
def create_body_info(body_type, dims, color, transparency=0.8, visible=True):
    infobox = KinBody.Link.GeometryInfo()
    infobox._type = body_type
    infobox._vGeomData = dims
    infobox._bVisible = True
    infobox._fTransparency = transparency
    infobox._vDiffuseColor = color
    return infobox
@staticmethod
def create_body_info(body_type, dims, color, transparency=0.8, visible=True):
    infobox = KinBody.Link.GeometryInfo()
    infobox._type = body_type
    infobox._vGeomData = dims
    infobox._bVisible = True
    infobox._fTransparency = transparency
    infobox._vDiffuseColor = color
    return infobox