diff --git a/source/isaaclab/isaaclab/sim/utils/stage.py b/source/isaaclab/isaaclab/sim/utils/stage.py
index 2dcc7d85196..c2ef73586f8 100644
--- a/source/isaaclab/isaaclab/sim/utils/stage.py
+++ b/source/isaaclab/isaaclab/sim/utils/stage.py
@@ -15,7 +15,6 @@
 import omni.kit.app
 from isaacsim.core.utils import stage as sim_stage
 from isaacsim.core.version import get_version
-from omni.metrics.assembler.core import get_metrics_assembler_interface
 from omni.usd.commands import DeletePrimsCommand
 from pxr import Sdf, Usd, UsdGeom, UsdUtils
 
@@ -404,6 +403,16 @@ def add_reference_to_stage(usd_path: str, prim_path: str, prim_type: str = "Xfor
     prim = stage.GetPrimAtPath(prim_path)
     if not prim.IsValid():
         prim = stage.DefinePrim(prim_path, prim_type)
+
+    # get isaac sim version
+    isaac_sim_version = float(".".join(get_version()[2]))
+    # Compatibility with Isaac Sim 4.5 where omni.metrics is not available
+    if isaac_sim_version < 5:
+        success_bool = prim.GetReferences().AddReference(usd_path)
+        if not success_bool:
+            raise FileNotFoundError(f"The usd file at path {usd_path} provided wasn't found")
+        return prim
+
     # logger.info("Loading Asset from path {} ".format(usd_path))
     # Handle units
     sdf_layer = Sdf.Layer.FindOrOpen(usd_path)
@@ -411,6 +420,8 @@ def add_reference_to_stage(usd_path: str, prim_path: str, prim_type: str = "Xfor
         pass
         # logger.info(f"Could not get Sdf layer for {usd_path}")
     else:
+        from omni.metrics.assembler.core import get_metrics_assembler_interface
+
         stage_id = UsdUtils.StageCache.Get().GetId(stage).ToLongInt()
         ret_val = get_metrics_assembler_interface().check_layers(
             stage.GetRootLayer().identifier, sdf_layer.identifier, stage_id