Newton: physics simulation engine built upon NVIDIA Warp

This project is in active beta development. This means the API is unstable, features may be added or removed, and breaking changes are likely to occur frequently and without notice as the design is refined. Newton Newton is a GPU-accelerated physics simulation engine built upon NVIDIA Warp, specifically targeting roboticists and simulation researchers. Newton extends and generalizes Warp's (deprecated) warp.sim module, and integrates MuJoCo Warp as its primary backend. Newton emphasizes GPU-based computation, OpenUSD support, differentiability, and user-defined extensibility, facilitating rapid iteration and scalable robotics simulation. Newton is a Linux Foundation project that is community-built and maintained. It is permissively licensed under the Apache-2.0 license. Newton was initiated by Disney Research, Google DeepMind, and NVIDIA. Quickstart During the alpha development phase, we recommend using the uv Python package and project manager. You may find uv installation instructions in the Newton Installation Guide. Once uv is installed, running Newton examples is straightforward: # Clone the repository git clone [email protected]:newton-physics/newton.git cd newton # set up the uv environment for running Newton examples uv sync --extra examples # run an example uv run -m newton.examples basic_pendulum See the installation guide for detailed instructions that include steps for setting up a Python environment for use with Newton. Examples Before running the examples below, set up the uv environment with: uv sync --extra examples Basic Examples uv run -m newton.examples basic_pendulum uv run -m newton.examples basic_urdf uv run -m newton.examples basic_viewer uv run -m newton.examples basic_shapes uv run -m newton.examples basic_joints Robot Examples uv run -m newton.examples robot_cartpole uv run -m newton.examples robot_humanoid uv run -m newton.examples robot_g1 uv run -m newton.examples robot_h1 uv run -m newton.examples robot_anymal_d uv run --extra torch-cu12 -m newton.examples robot_anymal_c_walk uv run -m newton.examples robot_policy uv run -m newton.examples robot_ur10 Cloth Examples uv run -m newton.examples cloth_bending uv run -m newton.examples cloth_hanging uv run -m newton.examples cloth_style3d Inverse Kinematics Examples uv run -m newton.examples ik_franka uv run -m newton.examples ik_h1 uv run -m newton.examples ik_benchmark uv run -m newton.examples cloth_franka uv run -m newton.examples cloth_twist MPM Examples uv run -m newton.examples mpm_granular uv run --extra torch-cu12 -m newton.examples mpm_anymal Selection Examples uv run -m newton.examples selection_cartpole uv run -m newton.examples selection_materials uv run -m newton.examples selection_articulations DiffSim Examples uv run -m newton.examples diffsim_ball uv run -m newton.examples diffsim_cloth uv run -m newton.examples diffsim_drone uv run -m newton.examples diffsim_spring_cage uv run -m newton.examples diffsim_soft_body Example Options The examples support the following command-line arguments: Argument Description Default --viewer Viewer type: gl (OpenGL window), usd (USD file output), rerun (ReRun), or null (no viewer). gl --device Compute device to use, e.g., cpu , cuda:0 , etc. None (default Warp device) --num-frames Number of frames to simulate (for USD output). 100 --output-path Output path for USD files (required if --viewer usd is used). None Some examples may add additional arguments (see their respective source files for details). Example Usage # List available examples uv run -m newton.examples # Run with the USD viewer and save to my_output.usd uv run -m newton.examples basic_viewer --viewer usd --output-path my_output.usd # Run on a selected device uv run -m newton.examples basic_urdf --device cuda:0 # Combine options uv run -m newton.examples basic_viewer --viewer gl --num-frames 500 --device cpu Contributing and Development See the contribution guidelines and the development guide for instructions on how to contribute to Newton. Support and Community Discussion For questions, please consult the Newton documentation first before creating a discussion in the main repository. Code of Conduct By participating in this community, you agree to abide by the Linux Foundation Code of Conduct. Project Governance, Legal, and Members Please see the newton-governance repository for more information about project governance.