def show(self, collision_geometry=False, callback=None):
        """Open a simpler viewer displaying the URDF model.

        Args:
            collision_geometry (bool, optional): Whether to display the <collision> or <visual> elements. Defaults to False.
        """
        if collision_geometry:
            if self._scene_collision is None:
                raise ValueError(
                    "No collision scene available. Use build_collision_scene_graph=True and load_collision_meshes=True during loading."
                )
            else:
                self._scene_collision.show(callback=callback)
        else:
            if self._scene is None:
                raise ValueError("No scene available. Use build_scene_graph=True and load_meshes=True during loading.")
            elif len(self._scene.bounds_corners) < 1:
                raise ValueError(
                    "Scene is empty, maybe meshes failed to load? Use build_scene_graph=True and load_meshes=True during loading."
                )
            else:
                self._scene.show(callback=callback)
Open a simpler viewer displaying the URDF model.

        Args:
            collision_geometry (bool, optional): Whether to display the <collision> or <visual> elements. Defaults to False.
        
deploy/teleop/robot_control/dex_retargeting/yourdfpy.py