@staticmethod
def create_cylinder(env, body_name, t, dims, color=[0, 1, 1]):
    infocylinder = OpenRAVEBody.create_body_info(GeometryType.Cylinder, dims, color)
    if (type(env) != Environment):
        print('Environment object is not valid')
    cylinder = RaveCreateKinBody(env, '')
    cylinder.InitFromGeometries([infocylinder])
    cylinder.SetName(body_name)
    cylinder.SetTransform(t)
    return cylinder
@staticmethod
def create_cylinder(env, body_name, t, dims, color=[0, 1, 1]):
    infocylinder = OpenRAVEBody.create_body_info(GeometryType.Cylinder, dims, color)
    if (type(env) != Environment):
        print('Environment object is not valid')
    cylinder = RaveCreateKinBody(env, )
    cylinder.InitFromGeometries([infocylinder])
    cylinder.SetName(body_name)
    cylinder.SetTransform(t)
    return cylinder