# newton **Repository Path**: zhihonglin/newton ## Basic Information - **Project Name**: newton - **Description**: No description available - **Primary Language**: Unknown - **License**: Apache-2.0 - **Default Branch**: main - **Homepage**: None - **GVP Project**: No ## Statistics - **Stars**: 0 - **Forks**: 0 - **Created**: 2026-03-01 - **Last Updated**: 2026-03-01 ## Categories & Tags **Categories**: Uncategorized **Tags**: None ## README [![License](https://img.shields.io/badge/License-Apache_2.0-blue.svg)](https://opensource.org/licenses/Apache-2.0) ![GitHub commit activity](https://img.shields.io/github/commit-activity/m/newton-physics/newton/main) [![codecov](https://codecov.io/gh/newton-physics/newton/graph/badge.svg?token=V6ZXNPAWVG)](https://codecov.io/gh/newton-physics/newton) [![Push - AWS GPU](https://github.com/newton-physics/newton/actions/workflows/push_aws_gpu.yml/badge.svg)](https://github.com/newton-physics/newton/actions/workflows/push_aws_gpu.yml) **This project is in active beta development.** This means the API is unstable, features may be added or removed, and breaking changes are likely to occur frequently and without notice as the design is refined. # 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. It is permissively licensed under the [Apache-2.0 license](https://github.com/newton-physics/newton/blob/main/LICENSE.md). Newton was initiated by [Disney Research](https://www.disneyresearch.com/), [Google DeepMind](https://deepmind.google/), and [NVIDIA](https://www.nvidia.com/). ## Quickstart During the alpha development phase, we recommend using the [uv](https://docs.astral.sh/uv/) Python package and project manager. You may find uv installation instructions in the [Newton Installation Guide](https://newton-physics.github.io/newton/latest/guide/installation.html#method-1-using-uv-recommended). Once uv is installed, running Newton examples is straightforward: ```bash # Clone the repository git clone git@github.com:newton-physics/newton.git cd newton # set up the uv environment for running Newton examples uv sync --extra examples # run an example uv run -m newton.examples basic_pendulum ``` See the [installation guide](https://newton-physics.github.io/newton/latest/guide/installation.html) for detailed instructions that include steps for setting up a Python environment for use with Newton. ## Examples Before running the examples below, set up the uv environment with: ```bash uv sync --extra examples ```

Basic Examples

`uv run -m newton.examples basic_pendulum`	`uv run -m newton.examples basic_urdf`	`uv run -m newton.examples basic_viewer`

`uv run -m newton.examples basic_shapes`	`uv run -m newton.examples basic_joints`
Robot Examples

`uv run -m newton.examples robot_cartpole`	`uv run -m newton.examples robot_humanoid`	`uv run -m newton.examples robot_g1`

`uv run -m newton.examples robot_h1`	`uv run -m newton.examples robot_anymal_d`	`uv run --extra torch-cu12 -m newton.examples robot_anymal_c_walk`

`uv run --extra torch-cu12 -m newton.examples robot_policy`	`uv run -m newton.examples robot_ur10`	`uv run -m newton.examples robot_panda_hydro`
Cable Examples

`uv run -m newton.examples cable_bend`	`uv run -m newton.examples cable_twist`	`uv run -m newton.examples cable_bundle_hysteresis`

`uv run -m newton.examples cable_pile`	`uv run -m newton.examples cable_y_junction`
Cloth Examples

`uv run -m newton.examples cloth_bending`	`uv run -m newton.examples cloth_hanging`	`uv run -m newton.examples cloth_style3d`

`uv run -m newton.examples cloth_h1`	`uv run -m newton.examples cloth_twist`	`uv run -m newton.examples cloth_rollers`

`uv run -m newton.examples cloth_poker_cards`
Inverse Kinematics Examples

`uv run -m newton.examples ik_franka`	`uv run -m newton.examples ik_h1`	`uv run -m newton.examples ik_benchmark`

`uv run -m newton.examples ik_custom`	`uv run -m newton.examples cloth_franka`	`uv run -m newton.examples ik_cube_stacking`
MPM Examples

`uv run -m newton.examples mpm_granular`	`uv run --extra torch-cu12 -m newton.examples mpm_anymal`	`uv run -m newton.examples mpm_twoway_coupling`
Sensor Examples

`uv run -m newton.examples sensor_contact`	`uv run -m newton.examples sensor_tiled_camera`	`uv run -m newton.examples sensor_imu`
Selection Examples

`uv run -m newton.examples selection_cartpole`	`uv run -m newton.examples selection_materials`	`uv run -m newton.examples selection_articulations`
DiffSim Examples

`uv run -m newton.examples diffsim_ball`	`uv run -m newton.examples diffsim_cloth`	`uv run -m newton.examples diffsim_drone`

`uv run -m newton.examples diffsim_spring_cage`	`uv run -m newton.examples diffsim_soft_body`	`uv run -m newton.examples diffsim_bear`
Multi-Physics Examples

`uv run -m newton.examples softbody_gift`	`uv run -m newton.examples softbody_dropping_to_cloth`
Softbody Examples

`uv run -m newton.examples softbody_hanging`

### 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 ```bash # List available examples uv run -m newton.examples # Run with the USD viewer and save to my_output.usd uv run -m newton.examples basic_viewer --viewer usd --output-path my_output.usd # Run on a selected device uv run -m newton.examples basic_urdf --device cuda:0 # Combine options uv run -m newton.examples basic_viewer --viewer gl --num-frames 500 --device cpu ``` ## Contributing and Development See the [contribution guidelines](https://github.com/newton-physics/newton-governance/blob/main/CONTRIBUTING.md) and the [development guide](https://newton-physics.github.io/newton/latest/guide/development.html) for instructions on how to contribute to Newton. ## Support and Community Discussion For questions, please consult the [Newton documentation](https://newton-physics.github.io/newton/latest/guide/overview.html) first before creating [a discussion in the main repository](https://github.com/newton-physics/newton/discussions). ## Code of Conduct By participating in this community, you agree to abide by the Linux Foundation [Code of Conduct](https://lfprojects.org/policies/code-of-conduct/). ## Project Governance, Legal, and Members Please see the [newton-governance repository](https://github.com/newton-physics/newton-governance) for more information about project governance.

Basic Examples

Robot Examples

Cable Examples

Cloth Examples

Inverse Kinematics Examples

MPM Examples

Sensor Examples

Selection Examples

DiffSim Examples

Multi-Physics Examples

Softbody Examples