Isaac Sim MCP Server
JSON →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.
Install
pip install (recommended) Tools · 42
- 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
Environment variables
ARK_API_KEYNVIDIA_API_KEYISAAC_MCP_PORT
Links
★ 24 GitHub stars