Configuration

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 and Exceptions#

The logging and exceptions configurations is controlled by the following environment variables:

  • JAXSIM_LOGGING_LEVEL: Determines the logging level.

    Default: DEBUG for development, WARNING for production.

  • JAXSIM_ENABLE_EXCEPTIONS: Enables the runtime checks and exceptions. Note that enabling exceptions might lead to device-to-host transfer of data, increasing the computational time required.

    Default: False.

Note

Runtime exceptions are disabled by default on TPU.

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