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Newton Tools

GitHub code

URDF-to-USD and MJCF-to-USD converter tools from Newton Physics.

To enable Newton Tools, set the NEWTON_TOOLS argument to YES in the compose.yaml file of your desired workspace (e.g., template_ws/docker/compose.yaml). After making these changes, rebuild the Docker image.

Last tested on commit 1e1cd11 by @j3soon.

Usage

The module installs these converters via pip during Docker image build:

  • urdf-usd-converter 
     urdf_usd_converter /path/to/robot.xml /path/to/usd_robot
 # or
 urdf_usd_converter /path/to/robot.xml /path/to/usd_robot --package robot_package=/path/to/assets
  • mujoco-usd-converter 
    mujoco_usd_converter /path/to/robot.xml /path/to/usd_robot

Click the links above to see their usage guide, or use --help flag to see usage instructions after installation.

Please note that both of these tools are in alpha stage and features are still limited. You should use the built-in importer in Isaac Sim/Lab for most cases.