jaxsim 0.5.1.dev63__tar.gz → 0.5.1.dev69__tar.gz

{jaxsim-0.5.1.dev63 → jaxsim-0.5.1.dev69}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.5.1.dev63
+Version: 0.5.1.dev69
 Summary: A differentiable physics engine and multibody dynamics library for control and robot learning.
 Author-email: Diego Ferigo <dgferigo@gmail.com>, Filippo Luca Ferretti <filippoluca.ferretti@outlook.com>
 Maintainer-email: Filippo Luca Ferretti <filippo.ferretti@iit.it>, Alessandro Croci <alessandro.croci@iit.it>

jaxsim-0.5.1.dev69/docs/guide/configuration.rst

@@ -0,0 +1,55 @@
+Configuration
+=============
+
+JaxSim utilizes environment variables for application configuration. Below is a detailed overview of the various configuration categories and their respective variables.
+
+
+Collision Dynamics
+~~~~~~~~~~~~~~~~~~
+
+Environment variables starting with ``JAXSIM_COLLISION_`` are used to configure collision dynamics. The available variables are:
+
+- ``JAXSIM_COLLISION_SPHERE_POINTS``: Specifies the number of collision points to approximate the sphere.
+  *Default:* ``50``.
+
+- ``JAXSIM_COLLISION_MESH_ENABLED``: Enables or disables mesh-based collision detection.
+  *Default:* ``False``.
+
+- ``JAXSIM_COLLISION_USE_BOTTOM_ONLY``: Limits collision detection to only the bottom half of the box or sphere.
+  *Default:* ``False``.
+
+.. note::
+  The bottom half is defined as the half of the box or sphere with the lowest z-coordinate in the collision link frame.
+
+
+Testing
+~~~~~~~
+
+For testing configurations, environment variables beginning with ``JAXSIM_TEST_`` are used. The following variables are available:
+
+- ``JAXSIM_TEST_SEED``: Defines the seed for the random number generator.
+  *Default:* ``0``.
+
+- ``JAXSIM_TEST_AD_ORDER``: Specifies the gradient order for automatic differentiation tests.
+  *Default:* ``1``.
+
+- ``JAXSIM_TEST_FD_STEP_SIZE``: Sets the step size for finite difference tests.
+  *Default:* the cube root of the machine epsilon.
+
+
+Joint Dynamics
+~~~~~~~~~~~~~~
+Joint dynamics are configured using environment variables starting with ``JAXSIM_JOINT_``. Available variables include:
+
+- ``JAXSIM_JOINT_POSITION_LIMIT_DAMPER``: Overrides the damper value for joint position limits of the SDF model.
+
+- ``JAXSIM_JOINT_POSITION_LIMIT_SPRING``: Overrides the spring value for joint position limits of the SDF model.
+
+
+Logging
+~~~~~~~
+
+The logging configuration is controlled by the following environment variable:
+
+- ``JAXSIM_LOGGING_LEVEL``: Determines the logging level.
+  *Default:* ``DEBUG`` for development, ``WARNING`` for production.

{jaxsim-0.5.1.dev63 → jaxsim-0.5.1.dev69}/docs/index.rst

@@ -70,6 +70,7 @@ Features
   :hidden:
 
   guide/install
+  guide/configuration
 
   examples
 

{jaxsim-0.5.1.dev63 → jaxsim-0.5.1.dev69}/src/jaxsim/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.5.1.dev63'
-__version_tuple__ = version_tuple = (0, 5, 1, 'dev63')
+__version__ = version = '0.5.1.dev69'
+__version_tuple__ = version_tuple = (0, 5, 1, 'dev69')

{jaxsim-0.5.1.dev63 → jaxsim-0.5.1.dev69}/src/jaxsim.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.5.1.dev63
+Version: 0.5.1.dev69
 Summary: A differentiable physics engine and multibody dynamics library for control and robot learning.
 Author-email: Diego Ferigo <dgferigo@gmail.com>, Filippo Luca Ferretti <filippoluca.ferretti@outlook.com>
 Maintainer-email: Filippo Luca Ferretti <filippo.ferretti@iit.it>, Alessandro Croci <alessandro.croci@iit.it>

{jaxsim-0.5.1.dev63 → jaxsim-0.5.1.dev69}/src/jaxsim.egg-info/SOURCES.txt

@@ -21,6 +21,7 @@ docs/conf.py
 docs/examples.rst
 docs/index.rst
 docs/make.bat
+docs/guide/configuration.rst
 docs/guide/install.rst
 docs/modules/api.rst
 docs/modules/integrators.rst