Merge pull request #58 from kevinzakka/warn

Switch to debug for logging joint limit violation to reduce stdout spam.

CHANGELOG.md

@@ -8,6 +8,7 @@ All notable changes to this project will be documented in this file.
 
 ### Added
 
+- `Configuration.check_limits` now logs joint limit violations to `debug` rather than `warn` when `safety_break=False`.
 - Added a new humanoid example using the Apollo robot.
 - Added `utils.get_subtree_body_ids` to get all bodies belonging to the subtree starting at a given body.
   - Example usage of this function can be found in the [ALOHA example script](examples/arm_aloha.py) where it is used to selectively apply gravity compensation torques to the left and right arm bodies.

mink/configuration.py

@@ -104,7 +104,7 @@ def check_limits(self, tol: float = 1e-6, safety_break: bool = True) -> None:
                         model=self.model,
                     )
                 else:
-                    logging.warning(
+                    logging.debug(
                         f"Value {qval:.2f} at index {jnt} is outside of its limits: "
                         f"[{qmin:.2f}, {qmax:.2f}]"
                     )