def _add_basket(self, geom):
    self.env_body = self._env.ReadKinBodyXMLFile(geom.shape)
    self.env_body.SetName(self.name)
    self._env.Add(self.env_body)
def _add_basket(self, geom):
    self.env_body = self._env.ReadKinBodyXMLFile(geom.shape)
    self.env_body.SetName(self.name)
    self._env.Add(self.env_body)