Add args to yourdfpy loader to optionally load visuals and collisions

Author: sea-bass

robot_descriptions/loaders/yourdfpy.py

@@ -23,13 +23,17 @@
 def load_robot_description(
     description_name: str,
     commit: Optional[str] = None,
+    load_visuals: bool = True,
+    load_collisions: bool = True,
 ) -> yourdfpy.URDF:
     """Load a robot description in yourdfpy.
 
     Args:
         description_name: Name of the robot description.
         commit: If specified, check out that commit from the cloned robot
             description repository.
+        load_visuals: If true, loads the visual meshes and scene.
+        load_collisions: If true, loads the collision meshes and scene.
 
     Returns:
         Robot model for yourdfpy.
@@ -42,4 +46,11 @@ def load_robot_description(
     if not hasattr(module, "URDF_PATH"):
         raise ValueError(f"{description_name} is not a URDF description")
 
-    return yourdfpy.URDF.load(module.URDF_PATH, mesh_dir=module.PACKAGE_PATH)
+    return yourdfpy.URDF.load(
+        module.URDF_PATH,
+        mesh_dir=module.PACKAGE_PATH,
+        build_scene_graph=load_visuals,
+        build_collision_scene_graph=load_collisions,
+        load_meshes=load_visuals,
+        load_collision_meshes=load_collisions,
+    )