MCP Servers / development / Isaac Sim MCP Server

Isaac Sim MCP Server

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Connect any MCP-compatible IDE (Cursor, VS Code, Claude Code, Windsurf, JetBrains) to a running Isaac Sim instance and control it with plain-English prompts -- create robots, build scenes, run simulations, and debug physics all from your editor.

github ↗
Install
How to run this server
[ { "cmd": "pip install (recommended)", "imports": [] } ]
server path: isaac-sim-mcp-server
Tools
What this server exposes
get_scene_info
Inspect scenes
create_physics_scene
Create physics
clear_scene
Clear scene
list_prims
Browse prims
get_prim_info
Get prim info
list_environments
List environments
load_environment
Load environment
create_object
Create primitives
delete_object
Delete primitives
transform_object
Transform primitives
clone_object
Clone primitives
create_light
Create lights
modify_light
Tune lights
create_robot
Spawn robots
list_available_robots
List available robots
refresh_robot_library
Refresh robot library
get_robot_info
Inspect joints
set_joint_positions
Set joint positions
get_joint_positions
Get joint positions
create_camera
Create cameras
capture_image
Capture images
create_lidar
Create LiDAR
get_lidar_point_cloud
Get point clouds
create_material
Create materials
apply_material
Apply materials
import_urdf
Import URDF
load_usd
Load USD
search_usd
Search USD
generate_3d
Generate 3D models
create_action_graph
Build Action Graphs
edit_action_graph
Edit Action Graphs
play_simulation
Play simulation
pause_simulation
Pause simulation
stop_simulation
Stop simulation
step_simulation
Step simulation
set_physics_params
Set physics parameters
get_isaac_logs
Get Isaac logs
get_simulation_state
Get simulation state
get_physics_state
Get physics state
get_joint_config
Get joint configuration
execute_script
Execute Python scripts
reload_script
Reload scripts
Configuration
Environment & auth
authnone
envARK_API_KEY
envNVIDIA_API_KEY
envISAAC_MCP_PORT
Resources
githubhttps://github.com/whats2000/isaacsim-mcp-server ↗
Isaac Sim MCP Server — MCP Server · libregistry