tiny-differentiable-simulator VS toast

I need differentiable rigid body dynamics because I want to do nonlinear MPC. One library that can do this is C++ is Tiny Differentiable Simulator https://github.com/erwincoumans/tiny-differentiable-simulator. As I understand it, this software uses a C++ auto-diff library and code generation to create CUDA kernels to compute fast derivatives in parallel. This seems pretty fast because it's C++. Another option is Brax https://github.com/google/brax. Brax uses JAX which I've never used, but from what I've seen online, JAX is popular for researchers and probably very good.

https://github.com/google-research/tiny-differentiable-simul...

Yes, Chrome about://tracing is great to visualize your custom timing data. Happy used for the last 5 years in Bullet and recent physics engines, including events across tracing multiple threads:

https://github.com/google-research/tiny-differentiable-simul...

Or our C++ and CUDA Tiny Differentiable Simulator: https://github.com/google-research/tiny-differentiable-simulator

Drake (and also tiny-differentiable-simulator that I know of) are using meshcat and it seems neat to me

This looks a lot like Toast [1], except that Toast runs your tasks in a (more) reproducible containerized environment to help eliminate the "works on my machine" problem.

[1] https://github.com/stepchowfun/toast

- A build system like Nix [1] but with a better user experience / more straightforward command-line tooling.

- A dependently typed programming language like Coq [2] (or Agda, Idris, Lean, etc.) that is sufficiently approachable to gain enough mindshare that companies start adopting it for mission-critical work.

- A version control system which scales to petabytes or more. Something that I could put large video files in without thinking twice about it. Something a large company could use for their monorepo—or even their data warehouse.

- A note-taking tool that allows me to organize notes in a graph with links between them (like a wiki), not as files and folders in a tree, which enforces the invariant that every note is transitively reachable from some "root" so I never lose a note.

- Something like Toast [3] but which is also designed for running services in production, not just local development and continuous integration. A unified way to run code in dev, test, and prod environments. A new k8s.

[1] https://nixos.org/

[2] https://coq.inria.fr/

[3] https://github.com/stepchowfun/toast (shameless plug)

I realize you are probably very busy, so feel free to say no...but could you glance at this Github listing and tell me if it is what I'm looking for...it seems correct, but I may be misunderstanding...

https://github.com/stepchowfun/toast

Thanks so much in advance...

If you're looking for an alternative way to reproduce your CI locally that isn't tied to a particular CI system (but which has a nice integration with GitHub Actions), there's also Toast: https://github.com/stepchowfun/toast

OP is using Docker + Make in a similar way to how I was a few years ago, before I started using Toast (https://github.com/stepchowfun/toast). Toast lets you define tasks like you would with Make (without all the hairy gotchas of Makefiles), but it runs them inside Docker containers for better portability/reproducibility.

toast: containerized workflow