Isaac Sim MCP

Natural-language control of NVIDIA Isaac Sim — spawn robots, build scenes, and run simulations via MCP.

Unverified

stdio (local)

API key

Stale

Python

View repo 176

Add to your client

Copy the config for your MCP client and paste it into its config file.

Install / run

git clone https://github.com/omni-mcp/isaac-sim-mcp

Paste into ~/Library/Application Support/Claude/claude_desktop_config.json

{
  "mcpServers": {
    "isaac-sim-mcp": {
      "command": "uv",
      "args": [
        "run",
        "/home/ubuntu/Documents/isaac-sim-mcp/isaac_mcp/server.py"
      ]
    }
  }
}

Step-by-step guides: Add to Claude Desktop · Add to Cursor · Add to Windsurf

Before you start

NVIDIA Isaac Sim 4.2.0 or higher
Python 3.9+
Cursor AI editor for MCP integration
uv/uvx installed (https://github.com/astral-sh/uv)
mcp[cli] installed in the base env (uv pip install "mcp[cli]")
Optional API keys: BEAVER3D_MODEL + ARK_API_KEY for Beaver3D 3D generation, NVIDIA_API_KEY for NVIDIA services

About Isaac Sim MCP

An MCP server and companion Isaac Sim extension that turn conversational AI input into precise simulation control of NVIDIA Isaac Sim. The extension runs inside Isaac Sim (listening on localhost:8766) and the MCP server connects an MCP client like Cursor to it, enabling natural-language robot positioning, scene/lighting creation, obstacle navigation, and 3D content generation.

Tools & capabilities (5)

get_scene_info

Pings the Isaac Sim Extension Server to verify connection status and retrieve basic scene information. Always use this first to ensure the connection is active.

create_physics_scene

Creates a physics scene with configurable parameters: objects (list of objects with type and position), floor (whether to create a ground plane, default true), gravity (vector for direction and magnitude, default [0, -0.981, 0]), and scene_name (default "physics_scene").

create_robot

Creates a robot in the scene at a specified position. robot_type options: franka, jetbot, carter, g1, go1; position is [x, y, z] coordinates.

omni_kit_command

Executes an Omni Kit command. Parameters: command (e.g. "CreatePrim") and prim_type (e.g. "Sphere").

execute_script

Executes arbitrary Python code in Isaac Sim. Parameter: code (the Python code to execute).

When to use it

Spawn and arrange multiple robots (e.g. a 3x3 grid of Frankas, or g1/Go1 robots at specific coordinates) using natural language
Build and light scenes, add obstacles, and have a robot walk a path while navigating them
Generate 3D objects from images via the Beaver3D model and place them across a grid
Search USD assets (e.g. a rusty desk) and place them in the stage at a given position and scale
Run arbitrary Python or Omniverse Kit commands for complex, custom simulations

Security notes

The server exposes an execute_script tool that runs arbitrary Python code inside Isaac Sim, and an omni_kit_command tool that executes arbitrary Omniverse Kit commands — only use with trusted prompts. The Isaac Sim extension listens unauthenticated on localhost:8766. Beaver3D (ARK_API_KEY) and NVIDIA (NVIDIA_API_KEY) API keys are passed as environment variables; keep them out of source control.

Isaac Sim MCP FAQ

How does the MCP server connect to Isaac Sim?

You enable the isaac.sim.mcp_extension extension inside Isaac Sim, which starts a server listening on localhost:8766. The MCP server (isaac_mcp/server.py) then bridges your MCP client (Cursor) to that extension.

Which MCP client does the README document?

Cursor. You add a global MCP server in Cursor preferences pointing the command to `uv run /home/ubuntu/Documents/isaac-sim-mcp/isaac_mcp/server.py`. The README also notes switching to Agent mode and using Sonnet 3.7 for better coding.

Do I need API keys?

Core simulation works without them, but 3D generation requires BEAVER3D_MODEL and ARK_API_KEY (Beaver3D), and some features use NVIDIA_API_KEY (obtained from NVIDIA NGC).

How can I debug the MCP server?

Run the MCP inspector with `uv run mcp dev ~/Documents/isaac-sim-mcp/isaac_mcp/server.py` and open http://localhost:5173.

#isaac-sim #nvidia #robotics #simulation #omniverse #cursor #embodied-ai #3d

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