Function openrr_client::create_collision_avoidance_clients

pub fn create_collision_avoidance_clients<P: AsRef<Path>>(
    urdf_path: P,
    self_collision_check_pairs: &[String],
    configs: &[CollisionAvoidanceClientConfig],
    name_to_joint_trajectory_client: &HashMap<String, Arc<dyn JointTrajectoryClient>>,
    full_chain: Arc<Chain<f64>>,
) -> HashMap<String, Arc<CollisionAvoidanceClient<Arc<dyn JointTrajectoryClient>>>>