Isaac Sim
๐ โ๏ธ - A MCP Server and an extension enables natural language control of NVIDIA Isaac Sim, Lab, OpenUSD and etc.
What is Isaac Sim?
Isaac Sim is a Model Context Protocol (MCP) server that allows AI assistants like Claude, Cursor, and VS Code to ๐ โ๏ธ - a mcp server and an extension enables natural language control of nvidia isaac sim, lab, openusd and etc.
๐ โ๏ธ - A MCP Server and an extension enables natural language control of NVIDIA Isaac Sim, Lab, OpenUSD and etc.
This server falls under the Developer Tools category on MCPgee, the world's largest MCP server directory with 33,000+ servers.
Features
- ๐ โ๏ธ - A MCP Server and an extension enables natural languag
Use Cases
Maintainer
Works with
Installation
Manual Installation
npx isaac-simConfiguration
Configuration Details
claude_desktop_config.json
Performance
Response Metrics
Resource Usage
How to Set Up and Use Isaac Sim
The Isaac Sim MCP server enables natural language control of NVIDIA Isaac Sim, Isaac Lab, and OpenUSD environments through an MCP-compatible AI assistant. It bridges a Python MCP server to an Isaac Sim extension running inside the simulator, so you can create physics scenes, spawn robots (Franka, Jetbot, Carter, G1, Go1), search and place 3D assets, run custom Python scripts, and query scene state โ all through conversational prompts. Robotics researchers and simulation engineers use it to dramatically speed up scene setup and experimentation workflows.
Prerequisites
- NVIDIA Isaac Sim 4.2.0 or higher installed (requires a compatible NVIDIA GPU)
- Python 3.9 or higher
- uv package manager installed (https://github.com/astral-sh/uv) โ required to run the MCP server
- An MCP-compatible AI client (Cursor is used in the official documentation; Claude Code also works)
- NVIDIA NGC API key for asset search (from ngc.nvidia.com), and optionally a Beaver3D API key
Clone the isaac-sim-mcp repository
Clone the repository into your Documents folder, which is the default path referenced in the extension configuration.
cd ~/Documents
git clone https://github.com/omni-mcp/isaac-sim-mcpSet the required environment variables
Configure your NVIDIA API key (for NGC asset search) and optionally the Beaver3D model and key for advanced asset generation.
export NVIDIA_API_KEY=your_nvidia_ngc_api_key
export BEAVER3D_MODEL=your_model_name
export ARK_API_KEY=your_beaver3d_keyEnable the MCP extension in Isaac Sim
Launch Isaac Sim with the extension folder pointing to the cloned repository and enable the MCP extension. Adjust the Isaac Sim version path if needed.
cd ~/.local/share/ov/pkg/isaac-sim-4.2.0
./isaac-sim.sh --ext-folder ~/Documents/isaac-sim-mcp/ --enable isaac.sim.mcp_extensionInstall the MCP Python dependencies
Install the mcp package using uv (the recommended package manager for this project).
uv pip install "mcp[cli]"Add the MCP server to your AI client
Configure your MCP client (Cursor or Claude Code) to launch the Isaac Sim MCP server using uv.
{
"mcpServers": {
"isaac-sim": {
"command": "uv",
"args": ["run", "/Users/you/Documents/isaac-sim-mcp/isaac_mcp/server.py"],
"env": {
"NVIDIA_API_KEY": "your_nvidia_ngc_api_key"
}
}
}
}Verify the connection
Always start by asking the AI to call get_scene_info. This verifies the MCP server can reach the running Isaac Sim instance before you issue scene commands.
Isaac Sim Examples
Client configuration (Cursor / Claude Code)
MCP configuration for the Isaac Sim server. Update the path to match where you cloned the repository.
{
"mcpServers": {
"isaac-sim": {
"command": "uv",
"args": ["run", "/Users/you/Documents/isaac-sim-mcp/isaac_mcp/server.py"],
"env": {
"NVIDIA_API_KEY": "your_nvidia_ngc_api_key",
"BEAVER3D_MODEL": "your_model_name",
"ARK_API_KEY": "your_beaver3d_key"
}
}
}
}Prompts to try
Example prompts for controlling Isaac Sim through natural language.
- "Get the current scene info and confirm the connection is working."
- "Create a physics scene with gravity and a floor plane."
- "Create a 3x3 grid of Franka robots spaced 1.5 meters apart starting at [0, 0, 0]."
- "Add a G1 humanoid robot at position [3, 9, 0]."
- "Search for a rusty desk asset and place it at [0, 5, 0]."
- "Run a Python script to reset all robot joint positions to zero."Troubleshooting Isaac Sim
MCP server cannot connect to Isaac Sim
Ensure Isaac Sim is running with the MCP extension enabled (--enable isaac.sim.mcp_extension). The extension opens a local socket that the MCP server connects to. Check that Isaac Sim has fully loaded before sending commands.
'uv' command not found when starting the server
Install uv from https://github.com/astral-sh/uv or via 'curl -LsSf https://astral.sh/uv/install.sh | sh'. Ensure the uv binary is in your PATH and restart your terminal.
Asset search returns no results or fails
Verify NVIDIA_API_KEY is set correctly and your NGC account has access to the Isaac Sim asset catalog. You can validate the key at ngc.nvidia.com before using it in the environment variable.
Frequently Asked Questions about Isaac Sim
What is Isaac Sim?
Isaac Sim is a Model Context Protocol (MCP) server that ๐ โ๏ธ - a mcp server and an extension enables natural language control of nvidia isaac sim, lab, openusd and etc. It connects AI assistants to external tools and data sources through a standardized interface.
How do I install Isaac Sim?
Follow the installation instructions on the Isaac Sim GitHub repository. Clone the repo, install dependencies, and add the server config to your AI client.
Which AI clients work with Isaac Sim?
Isaac Sim works with all major MCP-compatible AI clients including Claude Desktop, Claude Code, Cursor, VS Code (GitHub Copilot), Windsurf, and Cline.
Is Isaac Sim free to use?
Yes, Isaac Sim is open source and available under the MIT license. You can use it freely in both personal and commercial projects.
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