newton

# 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

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