[peterd-NV]

Summary

Add the Newton Franka rope softmimicgen workflow

Detailed description

Extend the Franka rope workflow to Newton, reusing the shared task and rope topology while adding the backend-specific physics and rendering configuration.

• Configure rigid/deformable coupling, materials, collisions, robot gravity compensation, and cameras.
• Add smooth nodal resets, rope visual skinning, and backend-aware annotation replay.
• Include a Newton source dataset, extend shared environment and generation tests to Newton, and add a complete recording → annotation → generation test.

Stack layer 3/3: Core -> PhysX -> Newton. This PR targets the PhysX branch.

Validation: Formatting, lint, syntax, and task/embodiment configuration checks passed. Simulation tests were not run for this split.

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