# omni-mcp/isaac-sim-mcp [Health: Active]

**Category:** 🎨 Art & Culture  
**Repository:** https://github.com/omni-mcp/isaac-sim-mcp  
**GitHub Stars:** 188  
**Views:** 3  
**Installs:** 0  
**Upvotes:** 0  
**Directory Page:** https://allmcps.com/mcp/omni-mcp-isaac-sim-mcp

## Description
A MCP Server and an extension enables natural language control of NVIDIA Isaac Sim, Lab, OpenUSD and etc.

## Claude Desktop Quick Installation
Heuristic fallback — verify the package name and runner against the repository README before running it. Uses `npx` (confidence: low):

```json
"mcpServers": {
  "isaac-sim-mcp": {
    "command": "npx",
    "args": ["-y","omni-mcp-isaac-sim-mcp"],
    "env": {
      "BEAVER3D_MODEL": "",
      "ARK_API_KEY": "",
      "NVIDIA_API_KEY": ""
    }
  }
}
```

**Requires environment variables:** `BEAVER3D_MODEL`, `ARK_API_KEY`, `NVIDIA_API_KEY` — the values above are empty placeholders; fill in real credentials before running (see the repository for what each one is for).

## Documentation

## What the omni-mcp/isaac-sim-mcp MCP server does

The omni-mcp/isaac-sim-mcp MCP server adds natural-language control to NVIDIA Isaac Sim. Its repository contains both an Isaac Sim extension and a Python MCP server. Together, they let an MCP client send scene and simulation operations to a running Isaac Sim instance.

Supported workflows include creating physics scenes, placing supported robots, manipulating primitives through Omni Kit commands, and running Python code inside Isaac Sim. The examples also cover arranging multiple robots, changing lighting, adding obstacles, searching for USD assets, and generating Beaver3D objects from image URLs. The README identifies NVIDIA Isaac Sim 4.2.0 or newer as a requirement.

## How it works

The extension is loaded by Isaac Sim with the `isaac.sim.mcp_extension` extension ID. After startup, it exposes a local service on `localhost:8766` by default. Separately, the Python MCP server is launched with `uv run` and configured in Cursor as an MCP server.

An agent can first call `get_scene_info` to check that the extension is reachable and obtain basic scene information. The documented workflow then uses `create_physics_scene` before adding robots. For more involved operations, the agent can submit Python through `execute_script`; the README recommends reviewing generated code in chat before allowing execution. Cursor Agent mode is used in the supplied examples.

## Setup and configuration

Use Python 3.9 or newer, NVIDIA Isaac Sim 4.2.0 or newer, and the `uv`/`uvx` tools. The README also instructs users to install `mcp[cli]` into the base environment. Clone the repository, point Isaac Sim's extension folder at the checkout, and start Isaac Sim with the extension enabled.

The MCP process can be tested with:

```bash
uv run /home/ubuntu/Documents/isaac-sim-mcp/isaac_mcp/server.py
```

The path is an example and must match the local checkout. Cursor configuration uses an MCP entry whose command runs that same server file through `uv run`. The MCP inspector can be started with `uv run mcp dev` and opens a debug page at `http://localhost:5173`.

Beaver3D and NVIDIA-related functionality requires the environment variables `BEAVER3D_MODEL`, `ARK_API_KEY`, and `NVIDIA_API_KEY`. The README describes these as setup values for Beaver3D and NVIDIA services.

## Tools and capabilities

The documented MCP tools are:

- `get_scene_info`: checks the extension connection and returns basic scene details.
- `create_physics_scene`: creates a physics scene with objects, a floor option, gravity, and a scene name.
- `create_robot`: places a `franka`, `jetbot`, `carter`, `g1`, or `go1` robot at supplied coordinates.
- `omni_kit_command`: sends an Omni Kit command with a command name and primitive type.
- `execute_script`: runs arbitrary Python code in Isaac Sim.

The extension also supports natural-language examples for robot movement, lighting changes, obstacle navigation, custom scene creation, and code-assisted simulation construction.

## Limitations and notes

The README specifically documents Cursor as the MCP integration client; compatibility with other clients is not established there. Isaac Sim must be installed and running with the extension enabled before scene operations can work. `execute_script` accepts arbitrary Python, so generated code should be inspected before execution. The standard robot creation tool is limited to the robot types listed above, while additional behavior depends on custom scripts or Omni Kit commands. External Beaver3D and NVIDIA features depend on their corresponding credentials and configuration.

_Full upstream README: https://allmcps.com/mcp/omni-mcp-isaac-sim-mcp/readme_