Lack of differentiability via warp

[auriium2]

Hello! Why is differentiability via warp autodiff not currently possible? Is this related to the mjx jax and warp boundary, or is it fundamental to the warp only implementation?

[Kenny-Vilella]

During development, we disabled differentiability because the kernel compilation was taking too long.
But in theory, it should be possible.
You can give it a try and see if kernel compilation is now manageable.

BTW, there is a github issue to enable differentiabiilty (#500).