How to Set convexify Per Link When Loading URDF Files?

[hooked-on-mas]

First of all, thank you for creating such a wonderful and powerful tool! It has been incredibly useful for my projects.

I have a question regarding the convexify parameter when loading URDF files. Currently, it seems that the convexify option applies to the entire entity. However, in some cases, it would be useful to have more granular control and set convexify=True or False for specific links within the URDF.

Is there a way to enable this kind of per-link convexify setting when loading a URDF file? If not, would you consider adding support for this feature in a future update?