How to merge two USD files into a single USD file

Omniverse Isaac Sim
1

Isaac Sim Version

4.5.0

Operating System
Windows 11

GPU Information

  • Model: geforce 3060
  • Driver Version: 581

Topic Description

How to merge two USD files into a single USD file

Detailed Description

Hello,

I currently have two USD files (nova_carter_base_only.usd and franka_instanceable.usd) loaded in Omniverse, placed under /World/carter_franka as follows:

carter_franka (defaultPrim)
├─ nova_carter_base_only
└─ franka_instanceable

What I want is to merge these two USD files into a single USD file so that I can load them later as one unified robot asset.

My questions are:

  1. What is the simplest way to combine two USDs into one in Omniverse Create/Code?

  2. Should I use the Layer Save Flattened feature, or is there a separate procedure like Merge to New Layer?

  3. When merging, is there a way to preserve all physics simulation properties (Articulations, Joints, etc.) from each USD?

Thank you.

Screenshots or Videos

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2

A simple way to combine two USD files is to use the “Layer Save Flattened” feature. It will merge all layers and sublayers into a single file, which should also preserve properties like physics simulations and joints.

To confirm if this method is right for your specific use case, could you provide more details about the outcome you’re looking for, or let me know if you have tried this approach and encountered any issues?

3

You can also just use File > Save As Flattened as well.