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Isaac Sim MCP Extension and MCP Server

@omni-mcp

代码仓库

基本信息

分类

开发工具

许可证

MIT

传输方式

stdio

作者

omni-mcp

关于 Isaac Sim MCP Extension and MCP Server

Isaac Simulation MCP Extension and Server

Isaac Sim MCP Extension and MCP Server 配置

使用下面的配置,将此服务器添加到你的 MCP 客户端。

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

Isaac Sim MCP Extension and MCP Server 工具

工具列表暂未提供

当前收录暂时没有可展示的工具列表，不代表服务没有工具。请查阅项目文档了解支持的能力。

工具是从 README 中自动提取的。维护者可以在 ## Tools 标题下列出工具,即可填充这部分内容。

概览

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

常见问题

1

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.

2

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.

3

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.

4

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.

5

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.

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