API Reference

This section provides a comprehensive reference for the Newton Physics Python API. All classes, functions, and modules are documented here, with links to detailed docstrings and usage examples.

Core

Core data structures and simulation objects.

Core Classes

Class	Description
Model	Simulation model structure
State	Dynamic simulation state
Control	Actuator/control inputs
ModelBuilder	Model construction API
Mesh, SDF, Axis	Geometry and math types

See Core for details.

Solvers

Physics solvers for advancing simulation. Each solver implements a common interface and can be selected based on your needs.

Solver Classes

Class	Description
SolverBase	Abstract solver interface
XPBDSolver	Position-based dynamics
VBDSolver	Vertex Block Descent solver
MuJoCoSolver	MuJoCo backend
FeatherstoneSolver	Articulated rigid bodies
SemiImplicitSolver	Semi-implicit Euler

See Solvers for details.

Importers

Load models from standard formats.

Importer Functions

Function	Description
parse_urdf	Import URDF models
parse_mjcf	Import MJCF (MuJoCo XML)
parse_usd	Import USD scenes
resolve_usd_from_url	Download/resolve USD assets

See Importers for details.

Renderers

Visualize simulations in real-time or offline.

Renderer Classes

Class	Description
SimRendererUsd	USD/Omniverse renderer
SimRendererOpenGL	Real-time OpenGL renderer

See Renderers for details.