The feature, motivation and pitch

Problem

The solver's jax.lax.while_loop implementation prevents gradient computation through the environment step during gradient based trajectory optimization. This occurs in the solver implementation when iterations > 1.

Error encountered with jax.jit compiled grad function:

ValueError: Reverse-mode differentiation does not work for lax.while_loop or lax.fori_loop with dynamic start/stop values.

Current workaround of using opt.iteration=1 leads to potentially inaccurate simulation and gradients.

Proposed Solution

Add an option to set a fixed iteration count (e.g., 4) that would be compatible with reverse-mode differentiation using either lax.scan or lax.fori_loop with static bounds.

Alternatives

No response

Additional context

No response