Execution Backends¶
The soromox.execution package defines the backend names and optional
tuning parameters used by supported system classes. The user-facing workflow is
described in
Execution Devices and Backends.
Use the system methods in normal applications
Most users should not call classes or functions in this package directly.
Construct GVS, PCS, or PlanarPCS with backend="auto", "jax", or
"warp", then call the public kinematics and dynamics methods. The
lower-level interfaces below primarily support typed configuration and
external integration packages.
Public configuration¶
ExecutionBackend is the accepted backend-name type. GVSBackendParams and
PCSBackendParams group family-specific launch tuning rather than adding
backend-specific keywords to each system constructor.
from soromox.execution import PCSBackendParams
from soromox.systems import PCS
robot = PCS.from_links(
links,
backend="auto",
backend_params=PCSBackendParams(warp_block_dim=256),
)
Execution backends for accelerated system operations.
This public package defines backend selection and transformation semantics used
by supported Soromox system classes. Most users only need the backend
constructor argument; :class:ExecutionBackend names its accepted values and
the family-specific backend parameter objects provide optional advanced
tuning.
Integrations that need direct Warp execution can import stable family-specific
building blocks from :mod:soromox.execution.warp. Importing this
module does not import the optional warp-lang dependency; Warp is loaded
only when an integration explicitly enters that namespace or selects a Warp
executor.
dataclass
¶
Tune execution of the optional GVS Warp kernels.
Attributes:
| Name | Type | Description |
|---|---|---|
warp_block_dim |
int
|
CUDA threads per persistent dynamics and body-state recurrence block. It must be a multiple of 32 between 32 and 1024. Models with at most 64 active coordinates default to 128 threads; larger models default to 192. |
Validate the immutable launch configuration.
Returns:
| Type | Description |
|---|---|
None
|
None. |
Raises:
| Type | Description |
|---|---|
TypeError
|
If :attr: |
ValueError
|
If :attr: |
dataclass
¶
Tune execution of the optional PlanarPCS and PCS Warp kernels.
Backend parameters are intentionally separate from the backend choice:
backend selects "auto", "jax", or "warp", whereas this
object configures the selected PCS implementation. Keeping the options in
one typed object allows future tuning parameters to be added without
expanding the system constructors with backend-specific keywords.
Attributes:
| Name | Type | Description |
|---|---|---|
warp_block_dim |
int
|
CUDA threads per persistent dynamics block. It must be
a multiple of 32 between 32 and 1024. The recommended defaults are
128 for :class: |
Validate the immutable launch configuration.
Returns:
| Type | Description |
|---|---|
None
|
None. |
Raises:
| Type | Description |
|---|---|
TypeError
|
If :attr: |
ValueError
|
If :attr: |
Child modules¶
soromox.execution.configdefines stable typed configuration.soromox.execution.warpdescribes the optional Warp-native integration surface.soromox.execution.warp.gvsexposes reusable GVS operands, kernels, and launch functions.soromox.execution.warp.pcsexposes reusable PCS operands, kernels, and launch functions.
Backend dispatch, transformation rules, lazy loading, and family executors are private implementation modules. Their names and call contracts may change without notice and are intentionally excluded from the public API reference.