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Adjust new lines in configuration docs
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flferretti committed Dec 18, 2024
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16 changes: 8 additions & 8 deletions docs/guide/configuration.rst
Original file line number Diff line number Diff line change
Expand Up @@ -10,13 +10,13 @@ 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``.
|*Default:* ``50``.
- ``JAXSIM_COLLISION_MESH_ENABLED``: Enables or disables mesh-based collision detection.
*Default:* ``False``.
|*Default:* ``False``.
- ``JAXSIM_COLLISION_USE_BOTTOM_ONLY``: Limits collision detection to only the bottom half of the box or sphere.
*Default:* ``False``.
|*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.
Expand All @@ -28,13 +28,13 @@ 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``.
|*Default:* ``0``.
- ``JAXSIM_TEST_AD_ORDER``: Specifies the gradient order for automatic differentiation tests.
*Default:* ``1``.
|*Default:* ``1``.
- ``JAXSIM_TEST_FD_STEP_SIZE``: Sets the step size for finite difference tests.
*Default:* the cube root of the machine epsilon.
|*Default:* the cube root of the machine epsilon.

Joint Dynamics
Expand All @@ -52,10 +52,10 @@ 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.
|*Default:* ``DEBUG`` for development, ``WARNING`` for production.
- ``JAXSIM_DISABLE_EXCEPTIONS``: Disables the runtime checks and exceptions.
*Default:* ``False``.
|*Default:* ``False``.
.. note::
Runtime exceptions are disabled by default on TPU.

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