How to add Isaac Sim MCP to Claude Desktop
Natural-language control of NVIDIA Isaac Sim — spawn robots, build scenes, and run simulations via MCP. Paste the config into ~/Library/Application Support/Claude/claude_desktop_config.json and restart Claude Desktop.
Last updated June 14, 2026 · 176★ · stdio · apikey
Claude Desktop config for Isaac Sim MCP
git clone https://github.com/omni-mcp/isaac-sim-mcp{
"mcpServers": {
"isaac-sim-mcp": {
"command": "uv",
"args": [
"run",
"/home/ubuntu/Documents/isaac-sim-mcp/isaac_mcp/server.py"
]
}
}
}Setup steps
- 1Open Claude Desktop → Settings → Developer → Edit Config (this opens ~/Library/Application Support/Claude/claude_desktop_config.json).
- 2Paste the Isaac Sim MCP config below under the top-level "mcpServers" key.
- 3Fill in any placeholder secrets (API keys, paths) in the snippet.
- 4Save the file, then fully quit and reopen Claude Desktop.
- 5Open a chat and confirm Isaac Sim MCP's tools appear under the 🔌 tools menu.
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
What Isaac Sim MCP can do in Claude Desktop
get_scene_infoPings 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_sceneCreates 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_robotCreates 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_commandExecutes an Omni Kit command. Parameters: command (e.g. "CreatePrim") and prim_type (e.g. "Sphere").
execute_scriptExecutes arbitrary Python code in Isaac Sim. Parameter: code (the Python code to execute).
Security
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 + Claude Desktop FAQ
Where is the Claude Desktop config file?
Claude Desktop reads MCP servers from ~/Library/Application Support/Claude/claude_desktop_config.json. Paste the Isaac Sim MCP config there under the "mcpServers" key and restart the client.
Is Isaac Sim MCP safe to use with Claude Desktop?
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.
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).