Isaac Sim MCP Extension and MCP Server
@omni-mcp
About Isaac Sim MCP Extension and MCP Server
Isaac Simulation MCP Extension and Server
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
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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.
Frequently asked questions
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.
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