Isaacsim Mcp Server
Bridges MCP-compatible editors to a running NVIDIA Isaac Sim 5.1.0 instance over TCP, exposing 42 tools that let you spawn robots, compose scenes, attach sensors, and step through physics with plain-English prompts. You get access to 107+ prebuilt robot assets (Franka, UR, Unitree, Boston Dynamics), Action Graph builders for scripting logic, hot-reload for Python controllers, and step-and-observe debugging that returns prim transforms and joint states in one call. Setup requires installing the PyPI package plus a bundled Omniverse extension, then pointing your IDE at the startup script. Built for roboticists who want to prototype simulation setups and debug multi-robot scenarios without leaving their editor or writing boilerplate USD assembly code.
- GitHub stars
- 70
- tools
- 43
- transport
- STDIO
- last updated
- Sep 1, 2026
Tools
43 toolsPublic tool metadata for what this MCP can expose to an agent.
get_scene_infoInspect scenes, create physics, list/load environments, browse prims
Inspect scenes, create physics, list/load environments, browse prims
No parameter schema in public metadata yet.
create_physics_scene
No parameter schema in public metadata yet.
clear_scene
No parameter schema in public metadata yet.
list_prims
No parameter schema in public metadata yet.
get_prim_info
No parameter schema in public metadata yet.
list_environments
No parameter schema in public metadata yet.
load_environment
No parameter schema in public metadata yet.
create_objectCreate, delete, transform, and clone primitives
Create, delete, transform, and clone primitives
No parameter schema in public metadata yet.
delete_object
No parameter schema in public metadata yet.
transform_object
No parameter schema in public metadata yet.
clone_object
No parameter schema in public metadata yet.
create_lightCreate and tune lights
Create and tune lights
No parameter schema in public metadata yet.
modify_light
No parameter schema in public metadata yet.
create_robotSpawn 107+ robots, inspect joints, set positions, refresh library
Spawn 107+ robots, inspect joints, set positions, refresh library
No parameter schema in public metadata yet.
list_available_robots
No parameter schema in public metadata yet.
refresh_robot_library
No parameter schema in public metadata yet.
get_robot_info
No parameter schema in public metadata yet.
set_joint_positions
No parameter schema in public metadata yet.
get_joint_positions
No parameter schema in public metadata yet.
create_cameraCreate cameras/LiDAR, capture images, get point clouds
Create cameras/LiDAR, capture images, get point clouds
No parameter schema in public metadata yet.
capture_image
No parameter schema in public metadata yet.
create_lidar
No parameter schema in public metadata yet.
get_lidar_point_cloud
No parameter schema in public metadata yet.
create_materialCreate and apply materials
Create and apply materials
No parameter schema in public metadata yet.
apply_material
No parameter schema in public metadata yet.
import_urdfImport URDF, load/search USD, generate 3D models
Import URDF, load/search USD, generate 3D models
No parameter schema in public metadata yet.
load_usd
No parameter schema in public metadata yet.
search_usd
No parameter schema in public metadata yet.
generate_3d
No parameter schema in public metadata yet.
create_action_graphBuild and edit Action Graphs (OnPlaybackTick, ScriptNode, script file attachment)
Build and edit Action Graphs (OnPlaybackTick, ScriptNode, script file attachment)
No parameter schema in public metadata yet.
edit_action_graph
No parameter schema in public metadata yet.
play_simulationPlay/pause/stop/step, execute Python, inspect physics, hot-reload
Play/pause/stop/step, execute Python, inspect physics, hot-reload
No parameter schema in public metadata yet.
pause_simulation
No parameter schema in public metadata yet.
stop_simulation
No parameter schema in public metadata yet.
step_simulation
No parameter schema in public metadata yet.
set_physics_params
No parameter schema in public metadata yet.
get_isaac_logs
No parameter schema in public metadata yet.
get_simulation_state
No parameter schema in public metadata yet.
get_physics_state
No parameter schema in public metadata yet.
get_joint_config
No parameter schema in public metadata yet.
set_drive_params
No parameter schema in public metadata yet.
execute_script
No parameter schema in public metadata yet.
reload_script
No parameter schema in public metadata yet.
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Isaac Sim MCP Server
Natural language control for NVIDIA Isaac Sim through the Model Context Protocol (MCP).
Details
- Repository
- github.com/whats2000/isaacsim-mcp-server
- Category
- Mobile Development
- Package
isaacsim-mcp-server- Transport
- STDIO
- Registry
- MCP registry, active
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