feat(newton): skeleton NewtonSimulation(SimEngine) + config + factory registration#99
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… registration Add Newton GPU simulation backend stub implementing the SimEngine ABC. All methods raise NotImplementedError — actual implementations will follow in subsequent PRs (world lifecycle, step/action/obs, objects, diffsim). Changes: - strands_robots/simulation/newton/ — NewtonSimulation, NewtonConfig - tests/simulation/newton/ — 81 tests (config, factory, lazy import, simulation) - pyproject.toml — [newton] extra (warp-lang + newton-sim), excluded from [all] since newton-sim is not yet on PyPI - mypy overrides — added warp.* and newton.* to ignore list - Fixed method signatures to match SimEngine ABC (list_robots, robot_joint_names, get_observation, run_policy) after PR strands-labs#85 updated the base class
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TL;DR
Add Newton GPU simulation backend skeleton —
NewtonSimulation(SimEngine)with config, factory registration, and 81 tests. All methods raiseNotImplementedError; actual Newton API implementations follow in PRs 2–6.What changed
strands_robots/simulation/newton/__init__.pystrands_robots/simulation/newton/config.pyNewtonConfigdataclass (14 GPU-sim params)strands_robots/simulation/newton/simulation.pyNewtonSimulation(SimEngine)— full ABC impltests/simulation/newton/pyproject.toml[newton]extra, mypy overridesDesign decisions
warpandnewtonare only imported at instantiation time, not at module importSimulationFactory.create("newton")auto-discovers the backendNewtonConfigexposes all GPU-sim knobs (num_envs, device, solver, physics_dt, etc.)[all]—newton-simis not yet on PyPI; CI installs[all]without breakageMethod signatures aligned with SimEngine ABC (post-PR #85)
list_robots() -> list[str]robot_joint_names(robot_name) -> list[str]get_observation(robot_name, *, skip_images=False) -> dictrun_policy(robot_name, policy_provider, ..., policy_object, n_steps, max_steps, max_onframe_failures) -> dictTesting
238f25e)Part 1 of 7 in the Newton simulation backend series (#96)