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 NewtonCfg and choose a solver configuration through its solver_cfg field.

Task and component coverage is task-specific. Check task --help and the environment catalog for current presets; the presence of a solver configuration does not imply that a task supports it. Start with Prepare an Asset for Newton with MJWarp 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.

Isaac Lab configuration	Workflow
MJWarpSolverCfg	Tune MJWarp for the primary validated solver path
KaminoPADMMSolverCfg and KaminoDVISolverCfg	Tune Kamino for the beta Kamino path
VBDSolverCfg	VBD Solver for cloth, soft bodies, and coupled scenes
MPMSolverCfg	Using Implicit MPM for scene construction and MPM Solver for parameter studies

Additional solver configurations are XPBDSolverCfg and FeatherstoneSolverCfg. Use their generated API references and the Newton solver guide when evaluating a task-specific preset.

Related workflows

Use Transfer Policies Between PhysX and Newton to validate a policy across backends. Experimental specialist guides cover Deformables, Warp Experimental Environments, and Warp Environment Migration Guide. Backend developers can also read Extending Newton Solvers.