Combine 2 assets - need modifcation at python level or usd level?

[meghbhalerao]

I wish to combine the humanoid model, for example here https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/humanoid.py and the shadow hand model, here https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/shadow_hand.py.

What I mean by combine is that I want to add the dextrous shadow hand to the arm of the humanoid model - I was wondering if someone could give me some pointers on going about this?

Do I need to make changes to usd files or is there a way to do it "python-ically"? Would be great to know thoughts on this!

Thank you!

[StrainFlow]

I would do that in Isaac Sim and would compose a new, combined asset.