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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. Additional and third-party license texts are available in newton/licenses.

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.

Quickstart

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

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 run the examples from a source checkout with uv, use uv run --extra examples -m newton.examples instead of the python -m newton.examples 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	python -m newton.examples basic_dzhanibekov	python -m newton.examples basic_conveyor_forces
python -m newton.examples basic_mimic_joint
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
python -m newton.examples robot_omniwheel	python -m newton.examples robot_asroballet
Controller Examples
python -m newton.examples controller_joint_impedance_heterogeneous	python -m newton.examples controller_operational_space_hybrid_force_motion	python -m newton.examples controller_differential_ik
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	python -m newton.examples cable_cross_slide_table	python -m newton.examples cable_plectoneme
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_granular --from-usd	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	python -m newton.examples mpm_viscous
python -m newton.examples mpm_beam_twist	python -m newton.examples mpm_snow_ball	python -m newton.examples mpm_water_dam_break
Sensor Examples
python -m newton.examples sensor_contact	python -m newton.examples sensor_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	python -m newton.examples rigid_soft_contact
python -m newton.examples franka_cable_ik_pick_place	python -m newton.examples mujoco_franka_vbd_cable_admm_solver	python -m newton.examples vbd_dat_rigid_soft
Contacts Examples
python -m newton.examples nut_bolt_hydro	python -m newton.examples nut_bolt_sdf	python -m newton.examples brick_stacking
python -m newton.examples pyramid	python -m newton.examples contacts_rj45_plug	python -m newton.examples newton_cradle
python -m newton.examples balance_bird	python -m newton.examples domino_spiral
Softbody Examples
python -m newton.examples softbody_hanging	python -m newton.examples softbody_franka
Kamino Examples
python -m newton.examples kamino_basic_dr_testmech	python -m newton.examples kamino_basic_fourbar	python -m newton.examples kamino_basic_heterogeneous
python -m newton.examples kamino_robot_anymal_d	python -m newton.examples kamino_robot_dr_legs

Example Options

All examples share a common set of command-line options. The most commonly used ones are:

| Argument | Description | Default | | --------------- | ------------------------------------------------------------------------ | ---------------------------- | | --viewer | Viewer to use: gl, usd, rtx, rerun, viser, or null. | gl | | --device | Compute device to use, e.g., cpu, cuda:0. | None (default Warp device) | | --num-frames | Total number of frames to simulate. | 100 | | --output-path | Path to the output USD file (used by the usd viewer). | output.usd |

For the complete, always-current list of options — plus any arguments a specific example adds — run:

python -m newton.examples <example_name> --help

Example Usage

# List available examples
python -m newton.examples --list
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 CONTRIBUTING.md for ways to contribute and the pull-request process. The governance contribution guidelines cover legal requirements, project roles, and approval authority. Use the development guide for environment setup and development workflows. Code and public API changes must follow the source code guidelines; reviewers may use the suggested review guidelines.

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.