feat(isaac): procedural USD builders (SO-100, Panda, G1) (3/5 of #31 split)

pyproject.toml

@@ -41,13 +41,32 @@ dev = [
     "black",
     "isort",
     "flake8",
+    "pytest>=7.0",
+]
+# Isaac Sim is NOT installable from PyPI -- it's an Omniverse Kit app.
+# The user must install it separately:
+#   - via NVIDIA Omniverse Launcher (Isaac Sim 2024.x), OR
+#   - via Isaac Lab: git clone IsaacLab && ./isaaclab.sh -i, OR
+#   - via Docker: nvcr.io/nvidia/isaac-sim:4.5.0
+# We declare lightweight deps that Isaac ships and that ARE pip-installable:
+isaac = [
+    "usd-core>=24.5,<26.0",
+    "warp-lang>=1.13.0",
+    "pytest>=7.0",
 ]
 # NOTE: the lightweight `sim` extra (libero / robosuite / mujoco / gymnasium)
 # was removed in 0.2.0 — that backend now lives in `strands-robots` and is
 # installed via `pip install 'strands-robots[sim-mujoco]'`. Heavy GPU-only
 # backends (Isaac Sim, Newton) will land here behind `[isaac]` / `[newton]`
 # extras in upcoming releases. See examples/MIGRATION.md and
 # https://github.com/strands-labs/robots-sim/issues/8.
+all = [
+    "strands-robots-sim[isaac]",
+]
+
+[project.entry-points."strands_robots.backends"]
+isaac = "strands_robots_sim.isaac.simulation:IsaacSimulation"
+isaac_sim = "strands_robots_sim.isaac.simulation:IsaacSimulation"
 
 [project.urls]
 Homepage = "https://github.com/strands-labs/robots-sim"
@@ -68,12 +87,16 @@ dependencies = [
     "black",
     "isort",
     "flake8",
+    "pytest>=7.0",
 ]
 
 [tool.hatch.envs.default.scripts]
-# No tests until backend code lands in R7 (Isaac) / R11 (Newton). For now
-# `hatch run test` is an import smoke that exercises the no-op stub.
-test = "python -c \"import strands_robots_sim; print('strands-robots-sim', strands_robots_sim.__version__, 'OK')\""
+# `hatch run test` runs the Isaac PR-1 entry-point + lazy-import test
+# slice (10 tests; pyproject parsing + importlib.metadata discovery +
+# PEP 562 lazy `__getattr__` contract). PR-4 of the #31 split adds the
+# simulation-module tests under the same directory; the glob picks
+# them up automatically.
+test = "pytest strands_robots_sim/isaac/tests/ -v"
 # Lint extends to `examples/` so the runnable example files (which copy-
 # paste into PR docstrings + the README matrix) catch the same drift the
 # package source does. Keeps each new R8/R12/R23 backend example honest.
@@ -96,3 +119,8 @@ include = '\.pyi?$'
 profile = "black"
 line_length = 120
 multi_line_output = 3
+
+[tool.pytest.ini_options]
+markers = [
+    "gpu: tests requiring NVIDIA GPU + Isaac Sim (gated on STRANDS_GPU_TEST=1)",
+]

strands_robots_sim/isaac/__init__.py

@@ -0,0 +1,43 @@
+"""strands_robots_sim.isaac -- GPU-native Isaac Sim simulation backend.
+
+This subpackage provides :class:`IsaacSimulation`, a ``SimEngine`` backend
+built on **NVIDIA Isaac Sim / Omniverse** for photorealistic rendering,
+synthetic data generation, and GPU-batched sensor simulation.
+
+Usage::
+
+    from strands_robots_sim.isaac import IsaacSimulation, IsaacConfig
+    config = IsaacConfig(num_envs=1, headless=True)
+    sim = IsaacSimulation(config)
+    ok, msg = IsaacSimulation.is_available()
+
+Requires NVIDIA Isaac Sim 2024.x+ (not pip-installable).
+Install via Omniverse Launcher or ``nvcr.io/nvidia/isaac-sim:4.5.0``.
+"""
+
+from __future__ import annotations
+
+__all__ = ["IsaacSimulation", "IsaacConfig"]
+
+
+def _lazy_isaac_simulation():
+    """Lazy import to avoid pulling omni/Isaac at module-import time."""
+    from strands_robots_sim.isaac.simulation import IsaacSimulation
+
+    return IsaacSimulation
+
+
+def _lazy_isaac_config():
+    """Lazy import to avoid pulling dataclass internals at import time."""
+    from strands_robots_sim.isaac.config import IsaacConfig
+
+    return IsaacConfig
+
+
+def __getattr__(name: str):
+    """PEP 562 lazy attribute access."""
+    if name == "IsaacSimulation":
+        return _lazy_isaac_simulation()
+    if name == "IsaacConfig":
+        return _lazy_isaac_config()
+    raise AttributeError(f"module {__name__!r} has no attribute {name!r}")