newton-physics / newton
An open-source, GPU-accelerated physics simulation engine built upon NVIDIA Warp, specifically targeting roboticists and simulation researchers.
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Repository Overview (README excerpt)
Crawler viewNewton 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) 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. Additional and third-party license texts are available in . Newton was initiated by Disney Research, Google DeepMind, and NVIDIA. Requirements • **Python** 3.10+ • **OS:** Linux (x86-64, aarch64), Windows (x86-64), or macOS (CPU only) • **GPU:** NVIDIA GPU (Maxwell or newer), driver 545 or newer (CUDA 12). No local CUDA Toolkit installation required. macOS runs on CPU. For detailed system requirements and tested configurations, see the installation guide. Quickstart To install from source with uv, see the installation guide. Examples Before running the examples below, install Newton with the examples extra: If you installed from source with uv, substitute for 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 python -m newton.examples basic_plotting Robot Examples python -m newton.examples robot_cartpole 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_twist python -m newton.examples cable_y_junction python -m newton.examples cable_bundle_hysteresis python -m newton.examples cable_pile 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 <img width="320" src="https://raw.githubusercontent.com/newton-physics/newton/main/docs/images/examples/example_mpm_anymal.jpg" alt="MPM Anyma _...truncated for preview_