@staticmethod
def create_box(env, name, transform, dims, color=[0, 0, 1]):
    infobox = OpenRAVEBody.create_body_info(KinBody.Link.GeomType.Box, dims, color, 0, True)
    box = RaveCreateKinBody(env, '')
    box.InitFromGeometries([infobox])
    box.SetName(name)
    box.SetTransform(transform)
    return box
@staticmethod
def create_box(env, name, transform, dims, color=[0, 0, 1]):
    infobox = OpenRAVEBody.create_body_info(KinBody.Link.GeomType.Box, dims, color, 0, True)
    box = RaveCreateKinBody(env, )
    box.InitFromGeometries([infobox])
    box.SetName(name)
    box.SetTransform(transform)
    return box