From faf62d9ef7a7680a992b197dc24c55a30446809c Mon Sep 17 00:00:00 2001
From: Filippo Luca Ferretti <filippoluca.ferretti@outlook.com>
Date: Wed, 18 Dec 2024 11:05:37 +0100
Subject: [PATCH] Add environment variable to disable runtime exceptions

---
 src/jaxsim/exceptions.py | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/src/jaxsim/exceptions.py b/src/jaxsim/exceptions.py
index 58e3fc1a0..5b10f696b 100644
--- a/src/jaxsim/exceptions.py
+++ b/src/jaxsim/exceptions.py
@@ -1,3 +1,5 @@
+import os
+
 import jax
 
 
@@ -18,7 +20,9 @@ def raise_if(
     """
 
     # Disable host callback if running on TPU.
-    if jax.devices()[0].platform == "tpu":
+    if jax.devices()[0].platform == "tpu" or os.environ.get(
+        "JAXSIM_DISABLE_EXCEPTIONS", 0
+    ):
         return
 
     # Check early that the format string is well-formed.