Function openrr_client::create_self_collision_checker

pub fn create_self_collision_checker<P: AsRef<Path>>(
    urdf_path: P, 
    self_collision_check_pairs: &[String], 
    joint_names: Vec<String>, 
    config: &SelfCollisionCheckerConfig, 
    full_chain: Arc<Chain<f64>>
) -> SelfCollisionChecker