Newton Physics Simulation Engine An open-source, GPU-accelerated physics simulation engine built on NVIDIA Warp, targeting roboticists and simulation researchers. --- Overview Based on: NVIDIA Warp, extends the deprecated warp.sim module. Primary Backend: MuJoCo Warp. Features: GPU-based computation. OpenUSD support. Differentiability. User-defined extensibility. Rapid iteration and scalable robotics simulation. License: Apache-2.0 (permissive). Community: Linux Foundation project, community-built and maintained. Initiators: Disney Research, Google DeepMind, NVIDIA. --- Quickstart Recommended to use the Python package and project manager uv during alpha development. Installation instructions: Newton Installation Guide. Example to clone, setup, and run a basic example: For detailed Python environment setup see the installation guide. --- Examples Basic Examples | Example | Command | Preview Image | |-------------------------------|---------------------------------|-------------------------------------------| | Basic Pendulum | uv run -m newton.examples basicpendulum | | | Basic URDF | uv run -m newton.examples basicurdf | | | Basic Viewer | uv run -m newton.examples basicviewer | | | Basic Shapes | uv run -m newton.examples basicshapes | | | Basic Joints | uv run -m newton.examples basicjoints | | Robot Examples Run robot-related examples including humanoid models, cartpole, and robotic arms: Commands similar in form to uv run -m newton.examples robotcartpole Examples include Cartpole, Humanoid, G1, Anymal D/C Walk, Policy, UR10 Cloth Examples Simulate cloth physics: clothbending, clothhanging, clothstyle3d Inverse Kinematics Examples Demonstrations of inverse kinematics setups: Examples include Franka robot, H1 robot, benchmark tests. MPM (Material Point Method) Examples Granular and Anymal simulations with commands like mpmgranular. Selection Examples Manage selections related to cartpole, materials, articulations. DiffSim Examples Differentiable simulations such as ball, cloth, drones, spring cage, soft bodies. --- Example Options Command line arguments supported by examples: | Argument | Description | Default | |----------------|----------------------------------------------------------|--------------------------| | --viewer | Viewer type: gl (OpenGL), usd (USD file), rerun, null (no viewer). | gl | | --device | Compute device e.g., cpu, cuda:0 | None (Warp default) | | --num-frames | Number of frames to simulate (especially for USD output) | 100 | | --output-path| Output path for USD