Function openrr_client::create_collision_avoidance_client

pub fn create_collision_avoidance_client<P: AsRef<Path>>(
    urdf_path: P,
    self_collision_check_pairs: Vec<(String, String)>,
    joint_path_planner_config: &JointPathPlannerConfig,
    client: Arc<dyn JointTrajectoryClient>,
    reference_robot: Arc<Chain<f64>>,
) -> CollisionAvoidanceClient<Arc<dyn JointTrajectoryClient>>