newton-physics/newton: GPU-Accelerated Physics Engine for Robotics on NVIDIA Warp — 3.9K Stars

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Newton is a Linux Foundation GPU physics simulation engine built on NVIDIA Warp with MuJoCo Warp backend, targeting roboticists and simulation researchers. Supports differentiable simulation for policy learning, multi-physics (rigid bodies, cloth, cables, soft bodies), and robot models (H1 humanoid, ANYmal quadruped, UR10 manipulator). OpenUSD support enables simulation-to-reality workflows critical for training embodied AI agents at scale.