From eff915d1c98d9d5692188919d67c80ce1764b154 Mon Sep 17 00:00:00 2001
From: Lorenzo Conti <lorenzo.conti@iit.it>
Date: Fri, 15 Nov 2024 17:14:35 +0100
Subject: [PATCH] Removed unused function

---
 src/jaxsim/parsers/rod/meshes.py | 14 --------------
 1 file changed, 14 deletions(-)

diff --git a/src/jaxsim/parsers/rod/meshes.py b/src/jaxsim/parsers/rod/meshes.py
index 5e2907de0..6b2ba2fd5 100644
--- a/src/jaxsim/parsers/rod/meshes.py
+++ b/src/jaxsim/parsers/rod/meshes.py
@@ -4,20 +4,6 @@
 VALID_AXIS = {"x": 0, "y": 1, "z": 2}
 
 
-def parse_object_mapping_object(obj: trimesh.Trimesh | dict) -> trimesh.Trimesh:
-    if isinstance(obj, trimesh.Trimesh):
-        return obj
-    elif isinstance(obj, dict):
-        if obj["type"] == "box":
-            return trimesh.creation.box(extents=obj["extents"])
-        elif obj["type"] == "sphere":
-            return trimesh.creation.icosphere(subdivisions=4, radius=obj["radius"])
-        else:
-            raise ValueError(f"Invalid object type {obj['type']}")
-    else:
-        raise ValueError("Invalid object type")
-
-
 def extract_points_vertices(mesh: trimesh.Trimesh) -> np.ndarray:
     """
     Extracts the vertices of a mesh as points.