GitHub - newton-physics/newton: An open-source, GPU-accelerated physics simulation engine built upon NVIDIA Warp, specifically targeting roboticists and simulation researchers.

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 git@github.com: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:

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

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

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 cloth_twist

MPM Examples

Sensor Examples

Selection Examples

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

Example Options

The examples support the following command-line arguments:

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.