newton 0.1.1a2

A GPU-accelerated physics engine for robotics simulation

Newton

⚠️ Prerelease Software ⚠️

This project is in active alpha 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 is a GPU-accelerated physics simulation engine built upon NVIDIA Warp, specifically targeting roboticists and simulation researchers. It extends and generalizes Warp's existing warp.sim module, integrating MuJoCo Warp as a primary backend. Newton emphasizes GPU-based computation, differentiability, and user-defined extensibility, facilitating rapid iteration and scalable robotics simulation.

Newton is maintained by Disney Research, Google DeepMind, and NVIDIA.

Development

See the development guide for instructions on how to get started.

Examples

Basic Examples

python -m newton.examples basic_pendulum	python -m newton.examples basic_urdf	python -m newton.examples basic_viewer
python -m newton.examples basic_shapes	python -m newton.examples basic_joints

Cloth Examples

python -m newton.examples cloth_bending	python -m newton.examples cloth_hanging	python -m newton.examples cloth_style3d

MPM Examples

python -m newton.examples mpm_granular

Example Options

The examples support the following common 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

# Basic usage
python -m newton.examples basic_pendulum

# With uv
uv run python -m newton.examples basic_pendulum

# With viewer options
python -m newton.examples basic_viewer --viewer usd --output-path my_output.usd

# With device selection
python -m newton.examples basic_urdf --device cuda:0

# Multiple arguments
python -m newton.examples basic_viewer --viewer gl --num-frames 500 --device cpu