isaac-sim-mcp

The MCP Server and its extension leverage the Model Context Protocol (MCP) framework to enable natural language control of NVIDIA Isaac Sim, transforming conversational AI inputs into precise simulation manipulation. This expansion bridges the MCP ecosystem with embodied intelligence applications.

• Natural language control of Isaac Sim
• Dynamic robot positioning and movement
• Custom lighting and scene creation
• Advanced robot simulations with obstacle navigation
• Interactive code preview before execution

• NVIDIA Isaac Sim 4.2.0 or higher
• Python 3.9+
• Cursor AI editor for MCP integration

• Install uv/uvx: https://github.com/astral-sh/uv
• Install mcp[cli] to base env: [uv pip install "mcp[cli]"](https://pypi.org/project/mcp/)

cd ~/Documents
git clone https://github.com/omni-mcp/isaac-sim-mcp

Isaac Sim extension folder should point to your project folder:

• Extension location: ~/Documents/isaac-sim-mcp
• Extension ID: isaac.sim.mcp_extension

# Enable extension in Isaac Simulation
# cd to your Isaac Sim installation directory
# You can change assets root to local with --/persistent/isaac/asset_root/default="<your asset location>"
# By default it is an AWS bucket, e.g. --/persistent/isaac/asset_root/default="/share/Assets/Isaac/4.2"
# Setup API KEY for Beaver3d and NVIDIA
export BEAVER3D_MODEL=<your beaver3d model name>
export export ARK_API_KEY=<Your Bearver3D API Key>
export NVIDIA_API_KEY="<your nvidia api key  and apply it from https://ngc.nvidia.com/signout>"

cd ~/.local/share/ov/pkg/isaac-sim-4.2.0
./isaac-sim.sh --ext-folder /home/ubuntu/Documents/isaac-sim-mcp/ --enable isaac.sim.mcp_extension 

Verify the extension starts successfully. The output should look like:

[7.160s] [ext: isaac.sim.mcp_extension-0.1.0] startup
trigger