.. Copyright (c) 2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). .. All rights reserved. .. .. SPDX-License-Identifier: BSD-3-Clause .. _newton-backend: Newton ====== Newton is a Warp-native backend that can run without Isaac Sim. Its Isaac Lab integration supports multiple solver families. Configure the backend with :class:`~isaaclab_newton.physics.NewtonCfg` and choose a solver configuration through its ``solver_cfg`` field. Task and component coverage is task-specific. Check task ``--help`` and :doc:`the environment catalog ` for current presets; the presence of a solver configuration does not imply that a task supports it. Start with :doc:`/source/how-to/prepare_asset_for_newton` before tuning a new asset or task. Solver options -------------- The links below cover Isaac Lab configuration and workflows. For solver formulations, feature support, and contact models, use Newton's `solver guide `__ and its linked solver references. The generated Isaac Lab APIs remain the source of truth for configuration fields and defaults. .. list-table:: :header-rows: 1 :widths: 45 55 * - Isaac Lab configuration - Workflow * - :class:`~isaaclab_newton.physics.MJWarpSolverCfg` - :ref:`mjwarp-solver-tuning` for the primary validated solver path * - :class:`~isaaclab_newton.physics.KaminoPADMMSolverCfg` and :class:`~isaaclab_newton.physics.KaminoDVISolverCfg` - :ref:`kamino-solver-tuning` for the beta Kamino path * - :class:`~isaaclab_newton.physics.VBDSolverCfg` - :ref:`newton-using-vbd` for cloth, soft bodies, and coupled scenes * - :class:`~isaaclab_newton.physics.MPMSolverCfg` - :ref:`newton-using-mpm` for how the integration works and :ref:`newton-tuning-mpm` for parameter studies Additional solver configurations are :class:`~isaaclab_newton.physics.XPBDSolverCfg` and :class:`~isaaclab_newton.physics.FeatherstoneSolverCfg`. Use their generated API references and the Newton solver guide when evaluating a task-specific preset. Related workflows ----------------- Use :doc:`/source/how-to/transfer_policies_between_physx_and_newton` to validate a policy across backends. Experimental specialist guides cover :ref:`deformables`, :ref:`warp-environments`, and :ref:`warp-env-migration`. Backend developers can also read :doc:`/source/developer-tools/extending_newton_solvers`. .. toctree:: :hidden: /source/concepts/using_mpm .. _newton-native-access: Native access ------------- Mental model ~~~~~~~~~~~~ The Newton backend exposes its engine-owned `Model `_, `State `_, `Control `_, and optional ``Contacts`` objects through :class:`isaaclab_newton.physics.NewtonManager`. Their Warp arrays are the live engine data, rather than values pulled into a separate per-asset view buffer. The model owns structural and static arrays and labels; a state owns evolving simulation arrays; and a control owns actuation inputs. Contacts are optional and depend on the active solver and collision path. Lifecycle prerequisite ~~~~~~~~~~~~~~~~~~~~~~ Access Newton data after the simulation context has initialized the physics backend and built its model. Treat the objects as invalid after a model rebuild and reacquire them after Isaac Lab has reinitialized the simulation. This API is intended for code that can own the necessary lifecycle and synchronization responsibilities. Reuse Isaac Lab-owned access ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Use the manager accessors to obtain the current Newton objects: .. code-block:: python from isaaclab_newton.physics import NewtonManager model = NewtonManager.get_model() state = NewtonManager.get_state_0() control = NewtonManager.get_control() contacts = NewtonManager.get_contacts() body_poses = state.body_q joint_forces = control.joint_f :meth:`isaaclab_newton.physics.NewtonManager.get_model` returns the active Newton physics model, or ``None`` before the Newton backend has built it; render-only models used by visualizers are not returned here. The write semantics in this section apply only when Newton is the active, authoritative physics backend. Isaac Lab's Newton-backed assets expose the same generic ``newton.selection.ArticulationView`` selection helper. For example, reuse an articulation's root selection instead of constructing the matching selection again: .. code-block:: python robot = scene["robot"] selection = robot.root_view joint_positions = selection.get_dof_positions(state) Newton uses this generic, label-based selection concept for Isaac Lab articulations, rigid objects, rigid-object collections, and cables. It is a selection helper over model indices, not per-asset typed storage. Create raw access ~~~~~~~~~~~~~~~~~ Code that owns a matching model can construct its own selection from a model and a label pattern: .. code-block:: python from newton.selection import ArticulationView selection = ArticulationView( model, pattern="/World/envs/env_*/Robot", ) Read/write semantics ~~~~~~~~~~~~~~~~~~~~ Selections provide typed convenience methods as well as generic string-keyed ``get_attribute()`` and ``set_attribute()`` methods. The generic methods expose engine properties that do not have dedicated selection methods. Clone a selected value before modifying it when you want the write to remain explicit: .. code-block:: python import warp as wp from newton import ModelFlags from isaaclab_newton.physics import NewtonManager rolling_friction = wp.clone( selection.get_attribute("shape_material_mu_rolling", model) ) # Modify rolling_friction with a Warp kernel before writing it back. selection.set_attribute( "shape_material_mu_rolling", model, rolling_friction, ) NewtonManager.add_model_change(ModelFlags.SHAPE_PROPERTIES) The string names a Newton model attribute rather than an Isaac Lab field. This example uses rolling friction because it has no dedicated selection method. Notify the manager with the flag appropriate to the property changed; other model writes can require a different flag. State writes that change generalized coordinates instead require forward-kinematics synchronization through ``NewtonManager.invalidate_fk()`` and ``NewtonManager.forward()``. Ownership, synchronization, and invalidation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Direct writes bypass Isaac Lab caches and shape/order validation. Some Newton solvers swap current and next state buffers, so reacquire :meth:`isaaclab_newton.physics.NewtonManager.get_state_0` when code needs the current authoritative state on a later step. A selection can survive state-buffer swaps because it describes model indices, but it must be recreated after a model rebuild. Solver-specific generalized- and maximal-coordinate conventions remain authoritative. Authoritative references ~~~~~~~~~~~~~~~~~~~~~~~~ * `Model reference `_ * `State reference `_ * `Control reference `_ * `ArticulationView selection reference `_ * `Newton articulation guide `_