Isaacsim Mcp Server

What is Isaacsim Mcp Server?

Isaacsim Mcp Server provides natural language control for NVIDIA Isaac Sim through the Model Context Protocol (MCP). It connects MCP-compatible IDEs like Cursor, VS Code, and Claude Code to a running Isaac Sim instance, allowing users to create robots, build scenes, run simulations, and debug physics using plain‑English prompts. It is built for Isaac Sim 5.1.0 and Python 3.10+ on Linux (Ubuntu 22.04+).

How to use Isaacsim Mcp Server?

Install the package via pip install isaacsim-mcp-server, then launch Isaac Sim with the provided extension using ./scripts/run_isaac_sim.sh. Add the MCP server to your IDE’s configuration (e.g., VS Code, Cursor, Claude Code) pointing to scripts/run_mcp_server.sh. After setup, issue natural language prompts such as “Create a physics scene and add a Franka robot at the origin.”

Key features of Isaacsim Mcp Server

• 42 tools across 9 categories: scene, objects, lighting, robots, sensors, materials, assets, graphs, simulation.
• Over 107 robots auto‑discovered from the Isaac Sim asset library.
• Step‑and‑observe debugging: step simulation and inspect prim positions, joint states, physics in one call.
• Hot‑reload Python controllers without restarting Isaac Sim.
• Multi‑instance support: run multiple Isaac Sim sessions on different ports.

Use cases of Isaacsim Mcp Server

• Bootstrap a simulation scene with lights, camera, and physics from natural language prompts.
• Spawn and position multiple robots (Franka, UR, Unitree, etc.) in a warehouse environment.
• Load custom USD assets, search the asset library, or generate 3D models.
• Capture camera images or LiDAR point clouds for perception debugging.
• Debug simulation logic using step‑wise execution and prim observation.

FAQ from Isaacsim Mcp Server

What are the system requirements?

NVIDIA Isaac Sim 5.1.0, Python 3.10 or later, and a Linux system (Ubuntu 22.04+). Windows support is planned; macOS is not supported due to Isaac Sim limitations.

Which IDEs can I use with Isaacsim Mcp Server?

Any MCP‑compatible IDE: Cursor, VS Code, Claude Code, Windsurf, JetBrains IDEs, and Claude Desktop.

Can I run multiple Isaac Sim instances simultaneously?

Yes. Set the ISAAC_MCP_PORT environment variable to a different port for each instance (e.g., 8767) and add separate MCP server entries in your IDE configuration.

How does the server communicate with Isaac Sim?

The MCP server (process on your machine) communicates over TCP socket localhost:8766 with an Omniverse extension (isaac.sim.mcp_extension) that is loaded into Isaac Sim.

Are there any known limitations?

Only Linux is currently supported. The server is built specifically for Isaac Sim 5.1.0, though the adapter layer is designed for version isolation. No authentication is required for the local TCP socket.