Add environment variable to disable runtime exceptions and update documentation #320
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Since from an analysis of the flamegraph, it looks like the exceptions could slow down the speed of the library, I thought it would be nice to manually disable them for better performance. This PR adds a new environment variable,
JAXSIM_DISABLE_EXCEPTIONS, to disable runtime exceptions from thejaxsim.exceptionsmodule, updates the documentation to reflect this change and improve formatting for clarity.📚 Documentation preview 📚: https://jaxsim--320.org.readthedocs.build//320/