Newton: physics simulation engine built upon NVIDIA Warp

Summary

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, 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. It is permissively licensed under the Apache-2.0 license. Newton was initiated by Disney Research, Google DeepMind, and NVIDIA. Quickstart During the alpha development phase, we recommend using the uv Python package and project manager. You may find uv installation instructions in the Newton Installation Guide. Once uv is installed, running Newton examples is straightforward: # 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 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: 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 -...