How to use the pytransform3d.urdf.UrdfTransformManager function in pytransform3d

def __init__(self):
        super(UrdfTransformManager, self).__init__()
        self._joints = {}
        self.collision_objects = []
        self.visuals = []

"""


tm = UrdfTransformManager()
tm.load_urdf(URDF)
ax = tm.plot_frames_in("collision", s=0.1)
tm.plot_collision_objects("collision", ax)
ax.set_zlim((-0.5, 1.5))
plt.show()

"""

tm = UrdfTransformManager()
tm.load_urdf(COMPI_URDF)
joint_names = ["joint%d" % i for i in range(1, 7)]
joint_angles = [0, 0.5, 0.5, 0, 0.5, 0]
for name, angle in zip(joint_names, joint_angles):
    tm.set_joint(name, angle)
ax = tm.plot_frames_in("compi", whitelist=["link%d" % d for d in range(1, 7)],
                       s=0.05, show_name=True)
ax = tm.plot_connections_in("compi", ax=ax)
ax.set_xlim((-0.2, 0.8))
ax.set_ylim((-0.5, 0.5))
ax.set_zlim((-0.2, 0.8))
plt.show()