Which integrations are available for this server?

Provides tools to control NVIDIA Isaac Sim and Isaac Lab through natural language, including scene inspection, prim CRUD, physics simulation, robot spawning, and code execution.

How do I use nvidia-isaac-mcp?

1. Click on "Deploy Server". 2. Wait a few minutes for the server to deploy. Once ready, it will show a "Started" state. 3. In the chat, type @ followed by the MCP server name and your instructions, e.g., "@nvidia-isaac-mcp Spawn a Franka robot" That's it! The server will respond to your query, and you can continue using it as needed. Here is a step-by-step guide with screenshots.

NVIDIA Isaac MCP

MCP (Model Context Protocol) server for NVIDIA Isaac Sim & Isaac Lab — enables AI tools like Windsurf, Claude Desktop, and Claude Code to control Isaac Sim through natural language.

Architecture

AI Client (Windsurf/Claude)  ←— MCP (stdio) —→  nvidia-isaac-mcp (this package)
                                                       │
                                                  TCP Socket :9876
                                                       │
                                                  isaacsim.mcp.server
                                                  (Extension inside Isaac Sim)

Two components:

Isaac Sim Extension (exts/isaacsim.mcp.server/) — runs inside Isaac Sim, listens on TCP port 9876
MCP Server (src/nvidia_isaac_mcp/) — external Python process that AI tools connect to

Related MCP server: MuJoCo MCP Server

Prerequisites

NVIDIA Isaac Sim 5.x
Python 3.10+
uv (recommended)

Setup

1. Start Isaac Sim with the extension

cd <your-isaac-sim-install>
bash isaac-sim.sh \
    --ext-folder <path-to-nvidia-isaac-mcp>/exts \
    --enable isaacsim.mcp.server

The extension will start listening on 127.0.0.1:9876.

2. Run the MCP server

cd <path-to-nvidia-isaac-mcp>
uv run nvidia-isaac-mcp

3. Configure your AI tool

Windsurf / Claude Desktop — add to MCP settings:

{
    "mcpServers": {
        "isaac-sim": {
            "command": "uv",
            "args": ["run", "--directory", "<path-to-nvidia-isaac-mcp>", "nvidia-isaac-mcp"]
        }
    }
}

Available Tools

Core

Tool	Description
`ping`	Check connectivity to Isaac Sim and return server version

Scene Inspection

Tool	Description
`get_stage_info`	Overview of the current USD stage (prims, up-axis, etc.)
`get_prim_info`	Detailed info about a specific prim (attributes, transform, children)

Prim CRUD

Tool	Description
`create_prim`	Create a USD prim (Cube, Sphere, Cylinder, Cone, Plane, Capsule, Xform)
`modify_prim`	Modify a prim's transform or visibility
`delete_prim`	Remove a prim from the stage

Code Execution

Tool	Description
`execute_code`	Run arbitrary Python code inside Isaac Sim's runtime

Physics & Simulation

Tool	Description
`create_physics_scene`	Create a PhysicsScene prim to enable simulation
`add_rigid_body`	Add rigid body physics to an existing prim
`add_ground_plane`	Add a physics-enabled ground plane
`simulation_control`	Play, pause, or stop the simulation

Robots & Assets

Tool	Description
`spawn_robot`	Spawn a built-in robot (franka, ur10, jetbot, etc.)
`list_available_robots`	List available built-in robot assets
`load_usd_asset`	Load any USD file as a reference into the stage

Testing

# Direct TCP test (no MCP server needed, just the extension)
python tests/test_e2e.py

# MCP inspector
uv run mcp dev src/nvidia_isaac_mcp/server.py

Environment Variables

Variable	Default	Description
`ISAAC_SIM_HOST`	`127.0.0.1`	Extension socket host
`ISAAC_SIM_PORT`	`9876`	Extension socket port

This server cannot be deployed

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Maintenance

ActivityInactive

ResponsivenessNo issues

Resources

GitHub Repository

Need Help?

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