public RobotDescription loadRobotDescriptionFromSDF(String modelName, InputStream inputStream, List<String> resourceDirectories, SDFDescriptionMutator mutator, JointNameMap jointNameMap, ContactPointDefinitionHolder contactPointHolder, boolean useCollisionMeshes) { GeneralizedSDFRobotModel generalizedSDFRobotModel = loadSDFFile(modelName, inputStream, resourceDirectories, mutator); return loadRobotDescriptionFromSDF(generalizedSDFRobotModel, jointNameMap, contactPointHolder, useCollisionMeshes); }