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.