newton 1.0.0rc2

A GPU-accelerated physics engine for robotics simulation

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 [e-mail]: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 --extra torch-cu12 -m newton.examples robot_policy	uv run -m newton.examples robot_ur10	uv run -m newton.examples robot_panda_hydro
Cable Examples
uv run -m newton.examples cable_bend	uv run -m newton.examples cable_twist	uv run -m newton.examples cable_bundle_hysteresis
uv run -m newton.examples cable_pile	uv run -m newton.examples cable_y_junction
Cloth Examples
uv run -m newton.examples cloth_bending	uv run -m newton.examples cloth_hanging	uv run -m newton.examples cloth_style3d
uv run -m newton.examples cloth_h1	uv run -m newton.examples cloth_twist	uv run -m newton.examples cloth_rollers
uv run -m newton.examples cloth_poker_cards
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 ik_custom	uv run -m newton.examples cloth_franka	uv run -m newton.examples ik_cube_stacking
MPM Examples
uv run -m newton.examples mpm_granular	uv run --extra torch-cu12 -m newton.examples mpm_anymal	uv run -m newton.examples mpm_twoway_coupling
Sensor Examples
uv run -m newton.examples sensor_contact	uv run -m newton.examples sensor_tiled_camera	uv run -m newton.examples sensor_imu
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	uv run -m newton.examples diffsim_bear
Multi-Physics Examples
uv run -m newton.examples softbody_gift	uv run -m newton.examples softbody_dropping_to_cloth
Softbody Examples
uv run -m newton.examples softbody_hanging

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.