---

name: asset-import-export description: "Use Newton URDF, MJCF, USD, schema resolver, mesh, remesh, heightfield, and asset import/export workflows safely." disable-model-invocation: true metadata: disco-role: operating license: Apache 2.0

Newton asset import and export

Use this sub-skill when a task involves loading assets into Newton, converting URDF/MJCF/USD models, diagnosing optional importer dependencies, handling mesh quality/remeshing, using schema resolvers, or preparing scene artifacts for USD/File viewers.

Route here for

• ModelBuilder.add_urdf(), add_mjcf(), and add_usd() arguments and workflow choices.
• Optional extras for importers, MuJoCo/MJCF, USD schemas, mesh processing, and remeshing.
• USD schema resolver behavior, custom attributes, deformable imports, and returned deformable maps.
• Visual-vs-collider parsing, fixed-joint collapse, self-collision flags, asset path resolvers, and mesh hull limits.
• newton.utils mesh validation, solidification, remeshing, heightfield, and texture utilities.
• Export-style artifacts through ViewerUSD or file-based viewer routes, before switching to sensor/viewer details.

Route elsewhere

• Building primitive scenes from scratch: use ../modeling-simulation/SKILL.md.
• Choosing a solver/contact path for an imported model: use ../solvers-contacts/SKILL.md after import succeeds.
• Robot controllers, IK, target arrays, and policies: use ../robotics-control/SKILL.md.
• Live viewers, example CLI, screenshots, Rerun/Viser/RTX details: use ../sensors-visualization/SKILL.md.

Read order

1. references/import-export-workflows.md for URDF/MJCF/USD decision paths and public signatures.
2. references/mesh-and-usd-reference.md for mesh utilities, USD schema resolver notes, and deformable limitations.
3. references/troubleshooting.md for optional dependency, path, mesh, and parser failures.
4. scripts/check_import_extras.py to check importer/remesh optional modules without loading assets.

Dependency rule

Base pip install newton is enough for primitive model construction and many public APIs. Asset workflows often need extras:

• newton[sim] for MuJoCo/MJCF and SolverMuJoCo support.
• newton[importers] for USD, mesh processing, URI resolution, and schema packages.
• newton[remesh] for remeshing utilities.
• newton[examples] when running built-in examples that combine importers, viewers, and policy dependencies.

Install the smallest extra that matches the requested format; do not install all extras just to inspect a simple primitive scene.

Safe diagnostic

From this sub-skill directory:

python scripts/check_import_extras.py

The script reports optional modules and the likely Newton extra that provides each one. It performs no downloads and does not open asset files.