Merge pull request #313 from ami-iit/feature/document_configuration

Document environment variables usage

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.

docs/index.rst

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