public RobotDescription loadRobotDescriptionFromSDF(GeneralizedSDFRobotModel generalizedSDFRobotModel, JointNameMap jointNameMap,
ContactPointDefinitionHolder contactPointHolder, boolean useCollisionMeshes)
{
this.resourceDirectories = generalizedSDFRobotModel.getResourceDirectories();
RobotDescription robotDescription = loadModelFromSDF(generalizedSDFRobotModel, jointNameMap, useCollisionMeshes);
if (jointNameMap != null && !Precision.equals(jointNameMap.getModelScale(), 1.0, 1))
{
System.out.println("Scaling " + jointNameMap.getModelName() + " with factor " + jointNameMap.getModelScale() + ", mass scale power "
+ jointNameMap.getMassScalePower());
robotDescription.scale(jointNameMap.getModelScale(), jointNameMap.getMassScalePower(),
Arrays.asList(jointNameMap.getHighInertiaForStableSimulationJoints()));
}
if (contactPointHolder != null)
addGroundContactPoints(contactPointHolder);
return robotDescription;
}