ts - **42 tools** across 9 categories -- scene, objects, lighting, robots, sensors, materials, assets, simulation, graphs - **107+ robots** auto-discovered from the Isaac Sim asset library (Franka, UR, Unitree, Boston Dynamics, and more) - **Step-and-observe** debugging -- step the simulation and inspect prim positions, joint states, and physics in one call - **Hot-reload** -- iterate on Python controllers without restarting Isaac Sim - **Multi-instance** -- run multiple Isaac Sim sessions side by side on different ports - Built for **Isaac Sim 5.1.0** with a modular adapter layer for version isolation --- ## Installation ### Option A: pip install (recommended) ```bash pip install isaacsim-mcp-server ``` This installs the MCP server and the `isaacsim-mcp-server` CLI. You still need the Isaac Sim extension from the repo (see [Launching Isaac Sim](#2-launch-isaac-sim-with-the-extension) below). ### Option B: From source ```bash git clone https://github.com/whats2000/isaacsim-mcp-server cd isaacsim-mcp-server ./scripts/setup_python_env.sh ``` ### Requirements | Requirement | Version | |-------------|---------| | NVIDIA Isaac Sim | `5.1.0` | | Python | `3.10+` | | `uv` | latest (for source install) | | Platform | Linux (Ubuntu 22.04+) | > [!IMPORTANT] > Currently only **Linux** is supported. Windows support is planned. > macOS is not supported because NVIDIA Isaac Sim does not run on macOS. > [!NOTE] > We are welcoming contributions to support other Isaac Sim versions. > The adapter layer is designed for easy version isolation. --- ## Quick Start ### 1. Set up the environment If you installed from source: ```bash ./scripts/setup_python_env.sh ``` ### 2. Launch Isaac Sim with the extension ```bash ./scripts/run_isaac_sim.sh ``` You should see in the logs: ``` Registered 41 command handlers Isaac Sim MCP server started on localhost:8766 ```

Optional: Beaver3D / NVIDIA API keys for 3D generation

```bash export BEAVER3D_MODEL="" export ARK_API_KEY="" export NVIDIA_API_KEY="" ```

### 3. Connect your IDE Add the MCP server to your editor. Replace the path with your actual repo location.

Claude Code (CLI)

```bash claude mcp add isaac-sim /path/to/isaacsim-mcp-server/scripts/run_mcp_server.sh ``` Or edit `~/.claude.json` / `.mcp.json`: ```json { "mcpServers": { "isaac-sim": { "command": "/path/to/isaacsim-mcp-server/scripts/run_mcp_server.sh" } } } ```

VS Code

Create `.vscode/mcp.json` in your workspace: ```json { "servers": { "isaac-sim": { "command": "/path/to/isaacsim-mcp-server/scripts/run_mcp_server.sh" } } } ```

Cursor

Open **Cursor Settings > MCP**, or edit `~/.cursor/mcp.json`: ```json { "mcpServers": { "isaac-sim": { "command": "/path/to/isaacsim-mcp-server/scripts/run_mcp_server.sh" } } } ```

Claude Desktop

Edit the config file for your platform: - macOS: `~/Library/Application Support/Claude/claude_desktop_config.json` - Windows: `%APPDATA%\Claude\claude_desktop_config.json` - Linux: `~/.config/Claude/claude_desktop_config.json` ```json { "mcpServers": { "isaac-sim": { "command": "/path/to/isaacsim-mcp-server/scripts/run_mcp_server.sh" } } } ```

Windsurf

Open **Windsurf Settings > MCP** or edit `~/.codeium/windsurf/mcp_config.json`: ```json { "mcpServers": { "isaac-sim": { "command": "/path/to/isaacsim-mcp-server/scripts/run_mcp_server.sh" } } } ```

JetBrains IDEs

Go to **Settings > Tools > AI Assistant > MCP Servers** and add the server. See the [JetBrains MCP docs](https://www.jetbrains.com/help/idea/model-context-protocol.html) for details.

Isaacsim Mcp Server

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