Import usd from Local Disk via Python and URDF->USD

Hi,
How do I import a USD file from my local disk in the ISAAC Sim via Python? It is like a rigid plane. I tried applying different APIs like GeometryPrimView, XFormPrim but it does not show up during visualization. How do I import it from my local disk?
Also, when I save the imported URDF to USD, apply ArticulationView, it throws an error saying no matching articulations (Any additional steps I need to look at?)