def validate(self, validation_fn=None) -> bool:
        """Validate URDF model.

        Args:
            validation_fn (function, optional): A function f(list[yourdfpy.URDFError]) -> bool. None uses the strict handler (any error leads to False). Defaults to None.

        Returns:
            bool: Whether the model is valid.
        """
        self._errors = []
        self._validate_robot(self.robot)

        if validation_fn is None:
            validation_fn = validation_handler_strict

        return validation_fn(self._errors)
Validate URDF model.

        Args:
            validation_fn (function, optional): A function f(list[yourdfpy.URDFError]) -> bool. None uses the strict handler (any error leads to False). Defaults to None.

        Returns:
            bool: Whether the model is valid.
        
deploy/teleop/robot_control/dex_retargeting/yourdfpy.py