@staticmethod
def create_basket_col(env):
    long_info1 = OpenRAVEBody.create_body_info(KinBody.Link.GeomType.Box, [0.3, 0.15, 0.015], [0, 0.75, 1])
    long_info2 = OpenRAVEBody.create_body_info(KinBody.Link.GeomType.Box, [0.3, 0.15, 0.015], [0, 0.75, 1])
    short_info1 = OpenRAVEBody.create_body_info(KinBody.Link.GeomType.Box, [0.015, 0.15, 0.2], [0, 0.75, 1])
    short_info2 = OpenRAVEBody.create_body_info(KinBody.Link.GeomType.Box, [0.015, 0.15, 0.2], [0, 0.75, 1])
    bottom_info = OpenRAVEBody.create_body_info(KinBody.Link.GeomType.Box, [0.3, 0.015, 0.2], [0, 0.75, 1])
    long_info1._t = OpenRAVEBody.transform_from_obj_pose([0, (- 0.118), 0.208], [0, 0, 0.055])
    long_info2._t = OpenRAVEBody.transform_from_obj_pose([0, (- 0.118), (- 0.208)], [0, 0, (- 0.055)])
    short_info1._t = OpenRAVEBody.transform_from_obj_pose([0.309, (- 0.118), 0], [(- 0.055), 0, 0])
    short_info2._t = OpenRAVEBody.transform_from_obj_pose([(- 0.309), (- 0.118), 0], [0.055, 0, 0])
    bottom_info._t = OpenRAVEBody.transform_from_obj_pose([0, (- 0.25), 0], [0, 0, 0])
    basket = RaveCreateRobot(env, '')
    basket.InitFromGeometries([long_info1, long_info2, short_info1, short_info2, bottom_info])
    return basket
@staticmethod
def create_basket_col(env):
    long_info1 = OpenRAVEBody.create_body_info(KinBody.Link.GeomType.Box, [0.3, 0.15, 0.015], [0, 0.75, 1])
    long_info2 = OpenRAVEBody.create_body_info(KinBody.Link.GeomType.Box, [0.3, 0.15, 0.015], [0, 0.75, 1])
    short_info1 = OpenRAVEBody.create_body_info(KinBody.Link.GeomType.Box, [0.015, 0.15, 0.2], [0, 0.75, 1])
    short_info2 = OpenRAVEBody.create_body_info(KinBody.Link.GeomType.Box, [0.015, 0.15, 0.2], [0, 0.75, 1])
    bottom_info = OpenRAVEBody.create_body_info(KinBody.Link.GeomType.Box, [0.3, 0.015, 0.2], [0, 0.75, 1])
    long_info1._t = OpenRAVEBody.transform_from_obj_pose([0, (- 0.118), 0.208], [0, 0, 0.055])
    long_info2._t = OpenRAVEBody.transform_from_obj_pose([0, (- 0.118), (- 0.208)], [0, 0, (- 0.055)])
    short_info1._t = OpenRAVEBody.transform_from_obj_pose([0.309, (- 0.118), 0], [(- 0.055), 0, 0])
    short_info2._t = OpenRAVEBody.transform_from_obj_pose([(- 0.309), (- 0.118), 0], [0.055, 0, 0])
    bottom_info._t = OpenRAVEBody.transform_from_obj_pose([0, (- 0.25), 0], [0, 0, 0])
    basket = RaveCreateRobot(env, )
    basket.InitFromGeometries([long_info1, long_info2, short_info1, short_info2, bottom_info])
    return basket