Add opt-in MJX solver scan loop - #3408
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Draft follow-up for #3264 / #2259, based on the original reverse-mode autodiff fix from @ingyukoh.
The maintainer review concern on #3264 was avoiding a default solver performance change. This version keeps the scan loop opt-in through
OptionJAX.solver_scanand leaves the existingjax.lax.while_looppath as the default.Changes:
OptionJAX.solver_scan, defaulting toFalsein_put_option_while_loop_scanfor the outer solver loop only when opted inLocal validation:
python3 -m py_compile mjx/mujoco/mjx/_src/types.py mjx/mujoco/mjx/_src/io.py mjx/mujoco/mjx/_src/solver.py mjx/mujoco/mjx/_src/solver_test.pygit diff --checkCould not run the focused MJX runtime test locally because this base Python is missing
jax,jaxlib,absl-py, andmujoco.Opening as draft to avoid superseding the existing approved PR unless maintainers prefer this rebased/tested version.