From ba90650f72aec7c31e2c3fac05140498b4099bbc Mon Sep 17 00:00:00 2001
From: zevbo <zevminskyprimus@gmail.com>
Date: Thu, 31 Aug 2023 10:46:01 -0400
Subject: [PATCH 1/2] fixing check urdf

---
 urdf_compose/__init__.py | 10 +++++++++-
 urdf_compose/urdf_obj.py | 24 ++++++++++++++++++++++++
 2 files changed, 33 insertions(+), 1 deletion(-)

diff --git a/urdf_compose/__init__.py b/urdf_compose/__init__.py
index 0c9426a..28cbec0 100644
--- a/urdf_compose/__init__.py
+++ b/urdf_compose/__init__.py
@@ -14,7 +14,13 @@
     URDFConn,
 )
 from urdf_compose.urdf_compose_error import URDFComposeError
-from urdf_compose.urdf_obj import CheckURDFFailure, ExplicitURDFObj, URDFObj
+from urdf_compose.urdf_obj import (
+    CheckURDFFailure,
+    ExplicitURDFObj,
+    URDFObj,
+    globally_disable_check_urdf,
+    globally_enable_check_urdf,
+)
 
 __version__ = "0.2.1"
 
@@ -34,4 +40,6 @@
     "CheckURDFFailure",
     "write_and_check_urdf",
     "raise_if_compose_error",
+    "globally_disable_check_urdf",
+    "globally_enable_check_urdf",
 ]
diff --git a/urdf_compose/urdf_obj.py b/urdf_compose/urdf_obj.py
index 8715c06..4a988ad 100644
--- a/urdf_compose/urdf_obj.py
+++ b/urdf_compose/urdf_obj.py
@@ -47,7 +47,31 @@ class CheckURDFFailure(Exception):
     pass
 
 
+_global_check_urdf_enabled = True
+
+
+def globally_disable_check_urdf() -> None:
+    """
+    If you can't install check_urdf, you can globally disable it here
+    If you do, the "check_urdf" will always just return None
+    """
+    global _global_check_urdf_enabled
+    _global_check_urdf_enabled = False
+
+
+def globally_enable_check_urdf() -> None:
+    """
+    check_urdf will default to be enabled, but if you disable it,
+    you can re-enable it here
+    """
+    global _global_check_urdf_enabled
+    _global_check_urdf_enabled = True
+
+
 def check_urdf(urdf_path: Path) -> CheckURDFFailure | None:
+    if not _global_check_urdf_enabled:
+        return None
+
     with subprocess.Popen(
         [f'check_urdf "{urdf_path}" > /dev/null'],
         stdout=subprocess.PIPE,

From 8467eb4e48f523b6da6a5a867e51e984e7af4ca9 Mon Sep 17 00:00:00 2001
From: zevbo <zevminskyprimus@gmail.com>
Date: Thu, 31 Aug 2023 10:48:53 -0400
Subject: [PATCH 2/2] updating readme more

---
 README.md | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index 37c753b..926fa93 100644
--- a/README.md
+++ b/README.md
@@ -8,8 +8,15 @@ This package provides another solution by allowing one to dynamically compose ur
 
 ## Installation 
 
-Install with: 
-```pip install urdf-compose```
+Install urdf-compose: ```pip install urdf-compose```
+
+It is also recommended to install check-urdf.
+
+For Ubuntu: `sudo apt-get install liburdfdom-tools`
+For Mac: `brew install urdfdom`
+Other Operating Systems: https://command-not-found.com/check_urdf 
+
+If you can't install `check-urdf`, you must disable it in urdf compoe using `globally_disable_check_urdf`
 
 ## Usage