# newton | Newton Physics | Knowledge Base | Instagit

An open-source, GPU-accelerated physics simulation engine built upon NVIDIA Warp, specifically targeting roboticists and simulation researchers.

GitHub Stars: 3k

Repository: https://github.com/newton-physics/newton

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## Articles

### [Extending Newton with Custom Kernels and User-Defined Forces](/newton-physics/newton/extending-newton-with-custom-kernels-and-user-defined-forces)

Extend Newton physics engine with custom Warp kernels and user-defined forces. Manipulate simulation state directly for custom force laws and constraints without core library changes.

- Tags: how-to-guide
- Published: 2026-03-19

### [Loading OpenUSD Scenes and Performing Format Conversions in Newton: A Complete Guide](/newton-physics/newton/loading-openusd-scenes-and-performing-format-conversions-in-newton)

Learn to load OpenUSD scenes and convert physics data in Newton. The ModelBuilder.add_usd function simplifies imports, converting attributes and metadata for Warp simulation.

- Tags: how-to-guide
- Published: 2026-03-19

### [Troubleshooting Simulation Stability and Constraint Violations in Newton](/newton-physics/newton/troubleshooting-simulation-stability-and-constraint-violations-in-newton)

Fix Newton physics simulation instability and constraint violations by tuning angular damping, friction smoothing, and substeps parameters for common solver backends and integration methods.

- Tags: how-to-guide
- Published: 2026-03-19

### [Integrating Newton with Reinforcement Learning for Robot Policies: A Complete Technical Guide](/newton-physics/newton/integrating-newton-with-reinforcement-learning-for-robot-policies)

Master integrating Newton with reinforcement learning for robot policies. This guide shows how to load TorchScript policies for GPU-accelerated simulation and model building with the newton-physics library.

- Tags: how-to-guide
- Published: 2026-03-19

### [Working with Heightfield Terrain Collisions in Newton Simulations](/newton-physics/newton/working-with-heightfield-terrain-collisions-in-newton-simulations)

Master heightfield terrain collisions in Newton simulations. Learn how the Heightfield class uses GPU-accelerated SDF sampling for accurate contact detection with dynamic bodies.

- Tags: how-to-guide
- Published: 2026-03-19

### [Understanding Newton Joint Types: D6, Ball, Prismatic, Revolute, Fixed, and Cable](/newton-physics/newton/understanding-newton-joint-types-d6-ball-prismatic-revolute-fixed-cable)

Explore Newton joint types like D6, Ball, Prismatic, Revolute, Fixed, and Cable. Master mechanical connections in the Newton physics engine and optimize your simulations.

- Tags: documentation
- Published: 2026-03-19

### [Setting Up the Newton Viewer with GL, USD, or ReRun Backends: A Complete Guide](/newton-physics/newton/setting-up-newton-viewer-with-gl-usd-or-rerun-backends)

Learn to set up the Newton viewer with GL, USD, or ReRun backends. This guide covers importing classes, attaching models, and using frame functions for your simulation loop.

- Tags: how-to-guide
- Published: 2026-03-19

### [Soft Body Simulation and Multi-Physics Coupling in Newton: A Technical Guide](/newton-physics/newton/soft-body-simulation-and-multi-physics-coupling-in-newton)

Explore GPU-accelerated soft body simulation and multi-physics coupling in Newton. Learn how its unified architecture shares data between XPBD and MPM solvers for efficient performance.

- Tags: technical-guide
- Published: 2026-03-19

### [Newton Migration Guide: Transitioning from Deprecated warp.sim to Newton Physics](/newton-physics/newton/newton-migration-guide-transitioning-from-deprecated-warp-sim)

Transition from deprecated warp.sim to Newton Physics with our comprehensive migration guide. Learn API reorganization, solver integration, and ground plane creation for a seamless upgrade.

- Tags: migration-guide
- Published: 2026-03-19

### [Implementing Custom Shape Collision Detection with SDF Functions in Newton](/newton-physics/newton/implementing-custom-shape-collision-detection-with-sdf-functions-in-newton)

Learn to implement custom shape collision detection in Newton using SDF functions. Discover GPU-accelerated collision detection with sparse-texture SDFs and CUDA textures.

- Tags: how-to-guide
- Published: 2026-03-19

### [Newton GPU vs CPU Simulation: A Complete Performance Optimization Guide](/newton-physics/newton/performance-optimization-newton-gpu-vs-cpu-simulation-comparison)

Optimize Newton physics simulations. Discover how Newton GPU 2-5x faster than CPU using CUDA and 3D texture SDF collision detection. Maintain code compatibility.

- Tags: performance
- Published: 2026-03-19

### [How to Use Newton's Sensor APIs for IMU, Contact Forces, and Raycasts](/newton-physics/newton/utilizing-newtons-sensor-apis-for-imu-contact-forces-and-raycasts)

Learn to use Newton's sensor APIs for IMU, contact forces, and raycasts. Access high-performance measurements and depth images with Warp-accelerated kernels.

- Tags: how-to-guide
- Published: 2026-03-19

### [Implementing Inverse Kinematics (IK) for Robot Control in Newton: A Complete Guide](/newton-physics/newton/implementing-inverse-kinematics-ik-for-robot-control-in-newton)

Master robot control in Newton with our complete guide to implementing inverse kinematics IK. Leverage Newton's GPU-accelerated IK framework for efficient position and orientation problem solving.

- Tags: how-to-guide
- Published: 2026-03-19

### [Working with Articulations and Kinematic Chains in the Newton Engine](/newton-physics/newton/working-with-articulations-and-kinematic-chains-in-newton-engine)

Master articulations and kinematic chains in the Newton engine. Use ArticulationView for high-performance joint manipulation across multiple simulation worlds.

- Tags: tutorial
- Published: 2026-03-19

### [Converting Newton Simulations to USD Format for Visualization](/newton-physics/newton/converting-newton-simulations-to-usd-format-for-visualization)

Convert Newton simulations to USD format for visualization. Easily import USD stages into Newton using ModelBuilder.add_usd() and control visual shapes and sites with simple flags.

- Tags: how-to-guide
- Published: 2026-03-19

### [Simulating Cables and Ropes Using Constraints in Newton Physics: A Complete Guide](/newton-physics/newton/simulating-cables-and-ropes-using-constraints-in-newton-physics)

Learn to simulate cables and ropes in Newton Physics using distance constraints and an XPBD solver. Discover how to resolve tension and bending forces for realistic results.

- Tags: how-to-guide
- Published: 2026-03-19

### [Performing Cloth Simulation with Self-Collision Detection in Newton](/newton-physics/newton/performing-cloth-simulation-with-self-collision-detection-in-newton)

Learn how Newton performs cloth simulation with self-collision detection using BVH proximity queries and the Style3D solver for realistic fabric dynamics and inter-penetration prevention.

- Tags: tutorial
- Published: 2026-03-19

### [How to Set Up MPM Simulations for Granular Materials in Newton](/newton-physics/newton/setting-up-material-point-method-mpm-simulations-for-granular-materials-in-newton)

Learn to set up MPM simulations for granular materials in Newton. Register custom attributes, configure physics, and run stable substeps for effective collision handling.

- Tags: how-to-guide
- Published: 2026-03-19

### [Using Hydroelastic Contact Models (SDF) for Soft Contact in Newton](/newton-physics/newton/using-hydroelastic-contact-models-sdf-for-soft-contact-in-newton)

Explore Newton's hydroelastic contact models using SDF for realistic soft-body interactions. This advanced method provides smoother force gradients than traditional point contact, improving simulation fidelity.

- Tags: how-to-guide
- Published: 2026-03-19

### [Generalized vs Maximal Coordinates in Newton Solvers: What's the Difference?](/newton-physics/newton/generalized-vs-maximal-coordinates-in-newton-solvers-difference)

Understand generalized vs maximal coordinates in Newton solvers. Generalized coordinates use joint-space variables, while maximal coordinates store 6-DOF body states directly, removing forward kinematics.

- Tags: deep-dive
- Published: 2026-03-19

### [Configuring Joint Limits and PD Control for Joints in Newton: A Complete Guide](/newton-physics/newton/configuring-joint-limits-and-pd-control-for-joints-in-newton)

Learn to configure joint limits and PD control in Newton. Master limit_lower, limit_upper, limit_ke, limit_kd, and JointTargetMode for precise joint control.

- Tags: how-to-guide
- Published: 2026-03-19

### [Loading and Simulating URDF Robot Models Using the Newton Library: A Complete Guide](/newton-physics/newton/loading-and-simulating-urdf-robot-models-using-newton)

Effortlessly load and simulate URDF robot models in Newton using add urdf. Gain complete control over articulation, frames, and collision geometry for advanced physics.

- Tags: how-to-guide
- Published: 2026-03-19

### [How to Implement Differentiable Simulation with Warp Tape in Newton](/newton-physics/newton/implementing-differentiable-simulation-with-warp-tape-in-newton)

Learn how to implement differentiable simulation with Warp Tape in Newton. Run simulations within wp.Tape() for automatic gradient computation on Warp arrays.

- Tags: how-to-guide
- Published: 2026-03-19

### [Choosing Between SolverFeatherstone and SolverSemiImplicit in Newton for Robot Simulation](/newton-physics/newton/choosing-between-solverfeatherstone-and-solversemiimplicit-in-newton-for-robot-simulation)

Choose between SolverFeatherstone for high-DoF robots and SolverSemiImplicit for simpler simulations in Newton for robot simulation. Optimize your physics engine. Learn more.

- Tags: best-practices
- Published: 2026-03-19