Isaac Sim MCP Extension and MCP Server

Name: Isaac Sim MCP Extension and MCP Server
Author: omni-mcp

@omni-mcp

Repository

About Isaac Sim MCP Extension and MCP Server

Isaac Simulation MCP Extension and Server

Basic information

Config

Add this server to your MCP-compatible client using the configuration below.

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

Tools

No tools detected

We auto-extract tools from the README. The maintainer can list them under a ## Tools heading to populate this section.

Overview

What is Isaac Sim MCP Extension and MCP Server?

The MCP Server and its extension leverage the Model Context Protocol (MCP) to enable natural language control of NVIDIA Isaac Sim, turning conversational AI inputs into precise simulation manipulation. It bridges the MCP ecosystem with embodied intelligence applications.

How to use Isaac Sim MCP Extension and MCP Server?

Install the extension in NVIDIA Isaac Sim 4.2.0+ by cloning the repository and enabling it via the Isaac Sim launcher. Run the MCP server using uv run server.py, then configure it as a global MCP server in Cursor AI editor. Use natural language prompts in Agent mode to control simulations.

Key features of Isaac Sim MCP Extension and MCP Server

Natural language control of Isaac Sim
Dynamic robot positioning and movement
Custom lighting and scene creation
Advanced robot simulations with obstacle navigation
Interactive code preview before execution

Use cases of Isaac Sim MCP Extension and MCP Server

Create a robot party by adding multiple robots and lighting via prompts
Set up a factory scene with rows of robots and obstacles
Vibe-code a walking robot simulation from scratch
Generate 3D objects from images using Beaver3D model
Search USD assets and place them at specified locations

FAQ from Isaac Sim MCP Extension and MCP Server

What are the requirements to use this server?

NVIDIA Isaac Sim 4.2.0 or higher, Python 3.9+, Cursor AI editor, and uv/uvx must be installed. An API key for Beaver3D and NVIDIA is also needed for certain features.

How do I know the extension started correctly?

After launching Isaac Sim with the extension enabled, the output should show: Server thread startedIsaac Sim MCP server started on localhost:8766. Always run get_scene_info first to verify the connection.

What tools are available via natural language?

Tools include get_scene_info, create_physics_scene, create_robot (for franka, jetbot, carter, g1, go1), omni_kit_command, and execute_script. Each accepts specific parameters for configuring simulations.

Can I test the server in development mode?

Yes. Run uv run mcp dev server.py to start the MCP inspector, then visit http://localhost:5173 for a debug interface.

What is the best practice for writing prompts?

Switch Cursor to Agent mode and use Sonnet 3.7. Always check the connection with get_scene_info before issuing commands, initialize a physics scene before adding robots, and preview code in chat before executing it.