[Proposal] General USD Model to Newton Mesh API

[YizeWang]

Proposal

Add a general API to convert USD models into Newton-compatible mesh assets. This would allow arbitrary USD visualization or geometry assets to be consumed by Newton without requiring each marker/model type to be handled manually.

Motivation

Most visualization markers are already supported in Newton, but full marker support requires a reusable USD model -> Newton mesh path. Until this exists, examples that depend on arbitrary USD assets should remain Kit-only.

Build Info

• Isaac Lab Version: On top of Support Multi-Back for Demo Scripts (Part 2) and Unify Code Structure #6140
• Isaac Lab Contrib Version: 0.4.4
• Isaac Lab Newton Version: 0.15.2
• Isaac Sim Version: 6.0.0-alpha.212

Additional context

This request is motivated by markers.py, where broader Newton support depends on a general USD-to-Newton mesh conversion API.

Checklist

• I have checked that there is no similar issue in the repo (required)

Acceptance Criteria

• A public API exists to convert supported USD model geometry into Newton mesh assets.
• Isaac Lab examples can use this API to support arbitrary USD-based markers in Newton.

[RandomOakForest]

Thank you for posting this. @zoctipus for vis.