You can load the .USD as a new stage or add it as a reference to the current stage, for example
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Open the .USD as a new stage
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open_stage: omni.usd module — kit-sdk 103.1 documentation - standalone python example:
standalone_examples/api/omni.isaac.kit/load_stage.py
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Add USD reference to the opened stage
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add_reference_to_stage: Core [omni.isaac.core] — isaac_sim 2022.1.1-release.1 documentation - standalone python example:
standalone_examples/api/omni.isaac.core/simulate_robot.py
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