USD Composer for building worlds

[ShauryaJain03]

Hi, I am using GCP VM, Ubuntu 22.04 and running the docker container installation of Isaac Sim 5.1.0. I want to simulate my robot in a hospital like environment to test social and contextual navigation, I found the pre-built hospital asset to be extremely useful and close to what I needed, however I also want to simulate a medicine warehouse connected to the hospital for testing end to end behaviours.
Is it possible to somehow import the warehouse and hospital pre built assets provided by Isaac Sim into USD Composer, modify and merge them into one big unified environment and then import into Isaac Sim ?
Is this kind of a workflow even feasible on GCP VM, as I am using SSH to connect to the VM and streaming Isaac Sim using the WebRTC client.
Thanks.

[hawkeyeking]

Yes, this is possible and is a common Omniverse workflow. You can open the Isaac Sim hospital and warehouse USDs in USD Composer (via Nucleus), compose/modify them into a single master USD stage, save that combined environment back to Nucleus, and then load that USD as your world in Isaac Sim. Running on a GCP VM with Isaac Sim in Docker is fine as long as the VM has a supported RTX GPU and you can reach your Nucleus server; you would still connect over WebRTC for Isaac Sim, and either run USD Composer on the same VM with remote desktop/streaming or on a local workstation pointed at the same Nucleus content.

[ShauryaJain03]

Thanks for the clarification @hawkeyeking , would I require an enterprise plan for the Nucleus server or can I run it with my own account? Can you please also point me to the installation guide for Nucleus and confirm whether this is the correct one for installation of USD Composer - usd composer

[hawkeyeking]

Hi, on second thought I don't believe you actually need a Nucleus to run USD Composer. You should be able to use USD Composer locally with local storage.

Yes, that's the correct repo. See also: https://docs.omniverse.nvidia.com/composer/latest/index.html

[ShauryaJain03]

Thank you!