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. Code is licensed under Apache-2.0. Documentation is licensed under CC-BY-4.0.

Newton was initiated by Disney Research, Google DeepMind, and NVIDIA.

Quickstart

pip install "newton[examples]"
python -m newton.examples basic_pendulum

To install from source with uv, see the installation guide.

Examples

Before running the examples below, install Newton with the examples extra:

pip install "newton[examples]"

If you installed from source with uv, substitute uv run for python in the commands below.

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	python -m newton.examples basic_conveyor
python -m newton.examples basic_heightfield	python -m newton.examples recording	python -m newton.examples replay_viewer
Robot Examples
python -m newton.examples robot_cartpole	python -m newton.examples robot_humanoid	python -m newton.examples robot_g1
python -m newton.examples robot_h1	python -m newton.examples robot_anymal_d	python -m newton.examples robot_anymal_c_walk
python -m newton.examples robot_policy	python -m newton.examples robot_ur10	python -m newton.examples robot_panda_hydro
python -m newton.examples robot_allegro_hand
Cable Examples
python -m newton.examples cable_bend	python -m newton.examples cable_twist	python -m newton.examples cable_bundle_hysteresis
python -m newton.examples cable_pile	python -m newton.examples cable_y_junction	python -m newton.examples cable_ball_joints
python -m newton.examples cable_bend_damping	python -m newton.examples cable_fixed_joints	python -m newton.examples cable_helix
Cloth Examples
python -m newton.examples cloth_bending	python -m newton.examples cloth_hanging	python -m newton.examples cloth_style3d
python -m newton.examples cloth_h1	python -m newton.examples cloth_twist	python -m newton.examples cloth_franka
python -m newton.examples cloth_rollers	python -m newton.examples cloth_poker_cards
Inverse Kinematics Examples
python -m newton.examples ik_franka	python -m newton.examples ik_h1	python -m newton.examples ik_custom
python -m newton.examples ik_cube_stacking
MPM Examples
python -m newton.examples mpm_granular	python -m newton.examples mpm_anymal	python -m newton.examples mpm_twoway_coupling
python -m newton.examples mpm_grain_rendering	python -m newton.examples mpm_multi_material
Sensor Examples
python -m newton.examples sensor_contact	python -m newton.examples sensor_tiled_camera	python -m newton.examples sensor_imu
Selection Examples
python -m newton.examples selection_cartpole	python -m newton.examples selection_materials	python -m newton.examples selection_articulations
python -m newton.examples selection_multiple
DiffSim Examples
python -m newton.examples diffsim_ball	python -m newton.examples diffsim_cloth	python -m newton.examples diffsim_drone
python -m newton.examples diffsim_spring_cage	python -m newton.examples diffsim_soft_body	python -m newton.examples diffsim_bear
Multi-Physics Examples
python -m newton.examples softbody_gift	python -m newton.examples softbody_dropping_to_cloth
Contacts Examples
python -m newton.examples nut_bolt_hydro	python -m newton.examples nut_bolt_sdf	python -m newton.examples brick_stacking
Softbody Examples
python -m newton.examples softbody_hanging	python -m newton.examples softbody_franka

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
python -m newton.examples

# Run with the USD viewer and save to my_output.usd
python -m newton.examples basic_viewer --viewer usd --output-path my_output.usd

# Run on a selected device
python -m newton.examples basic_urdf --device cuda:0

# Combine options
python -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.