# Newton
Newton is a GPU-accelerated physics simulation engine built upon [NVIDIA Warp](https://github.com/NVIDIA/warp), specifically targeting roboticists and simulation researchers.
Newton extends and generalizes Warp's ([deprecated](https://github.com/NVIDIA/warp/discussions/735)) `warp.sim` module, and integrates
[MuJoCo Warp](https://github.com/google-deepmind/mujoco_warp) as its primary backend. Newton emphasizes GPU-based computation, [OpenUSD](https://openusd.org/) support, differentiability, and user-defined extensibility, facilitating rapid iteration and scalable robotics simulation.
Newton is a [Linux Foundation](https://www.linuxfoundation.org/) project that is community-built and maintained. Code is licensed under [Apache-2.0](https://github.com/newton-physics/newton/blob/main/LICENSE.md). Documentation is licensed under [CC-BY-4.0](https://creativecommons.org/licenses/by/4.0/). Additional and third-party license texts are available in [`newton/licenses`](https://github.com/newton-physics/newton/tree/main/newton/licenses).
Newton was initiated by [Disney Research](https://www.disneyresearch.com/), [Google DeepMind](https://deepmind.google/), and [NVIDIA](https://www.nvidia.com/).
## 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, see the [installation guide](https://newton-physics.github.io/newton/latest/guide/installation.html). For tested configurations and Newton's versioning and deprecation policies, see the [compatibility guide](https://newton-physics.github.io/newton/latest/guide/compatibility.html).
## Quickstart
```bash
pip install "newton[examples]"
python -m newton.examples
```
To install from source with [uv](https://docs.astral.sh/uv/), see the [installation guide](https://newton-physics.github.io/newton/latest/guide/installation.html).
## Examples
Before running the examples below, install Newton with the examples extra:
```bash
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 |
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python -m newton.examples basic_pendulum
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python -m newton.examples basic_urdf
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python -m newton.examples basic_viewer
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python -m newton.examples basic_shapes
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python -m newton.examples basic_joints
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python -m newton.examples basic_conveyor
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python -m newton.examples basic_heightfield
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python -m newton.examples recording
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python -m newton.examples replay_viewer
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python -m newton.examples basic_plotting
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python -m newton.examples basic_dzhanibekov
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python -m newton.examples basic_conveyor_forces
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python -m newton.examples basic_mimic_joint
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Robot Examples |
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python -m newton.examples robot_cartpole
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python -m newton.examples robot_g1
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python -m newton.examples robot_h1
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python -m newton.examples robot_anymal_d
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python -m newton.examples robot_anymal_c_walk
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python -m newton.examples robot_policy
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python -m newton.examples robot_ur10
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python -m newton.examples robot_panda_hydro
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python -m newton.examples robot_allegro_hand
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python -m newton.examples robot_omniwheel
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python -m newton.examples robot_asroballet
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Controller Examples |
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python -m newton.examples controller_joint_impedance_heterogeneous
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python -m newton.examples controller_operational_space_hybrid_force_motion
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python -m newton.examples controller_differential_ik
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Cable Examples |
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python -m newton.examples cable_twist
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python -m newton.examples cable_y_junction
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python -m newton.examples cable_bundle_hysteresis
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