get_scene_infoLABSCO SUMMARY
Step-and-observe is the tool that makes it a debugger, not just a scene builder.
Stepping the simulation and reading back prim positions, joint states and physics in one call is how you actually debug a robot behaviour, and hot-reloading a Python controller without restarting Isaac Sim keeps the iteration loop tight. The hard constraint is platform: Isaac Sim 5.1.0 on Linux, so this is not something you run on a Mac.
What it is
A server that connects an MCP client to a running Isaac Sim instance and exposes 42 tools across scene, objects, lighting, robots, sensors, materials, assets, graphs and simulation.
What you get
- Scene — get_scene_info, create_physics_scene, list_environments, load_environment and prim inspection
- Objects — create_object, delete_object, transform_object and clone_object
- Robots — create_robot and list_available_robots across 107+ auto-discovered robots, plus set_joint_positions and get_joint_positions
- Sensors — create_camera, capture_image, create_lidar and get_lidar_point_cloud
- Assets — import_urdf, load_usd, search_usd and generate_3d
- Simulation — play_simulation, pause_simulation, stop_simulation, step_simulation, get_physics_state and get_joint_config
- Step-and-observe: step the simulation and inspect prim positions, joint states and physics in one call; execute_script and reload_script hot-reload Python controllers
Requirements
NVIDIA Isaac Sim 5.1.0 and Python 3.10+, on Linux only — macOS is not supported because Isaac Sim does not run on it, and Windows is planned. Install with pip install isaacsim-mcp-server, then launch Isaac Sim with the extension, which listens on localhost:8766. The IDE connects to the server's launch script. 3D generation optionally uses BEAVER3D_MODEL, ARK_API_KEY and NVIDIA_API_KEY.
Setup effort
One command — pip install isaacsim-mcp-server
USE CASES
01
Building a scene from a description
Create a physics scene, then spawn robots and objects at the positions you name.
02
Debugging why a robot misbehaves
Step the simulation and inspect joint states and physics in the same call.
03
Bringing in a robot from a URDF
Import the URDF and confirm it against the scene.
04
Iterating on a controller
Run a Python script against the sim and hot-reload it without restarting Isaac Sim.
05
Capturing what a sensor sees
Create a camera or LiDAR and pull an image or a point cloud.
42 tools
Listed in project docs. Your client may show a different list.
create_physics_sceneclear_scenelist_primsget_prim_infolist_environmentsload_environmentcreate_objectdelete_objecttransform_objectclone_objectcreate_lightmodify_lightcreate_robotlist_available_robotsrefresh_robot_libraryget_robot_infoset_joint_positionsget_joint_positionscreate_cameracapture_imagecreate_lidarget_lidar_point_cloudcreate_materialapply_materialimport_urdfload_usdsearch_usdgenerate_3dcreate_action_graphedit_action_graphplay_simulationpause_simulationstop_simulationstep_simulationset_physics_paramsget_isaac_logsget_simulation_stateget_physics_stateget_joint_configexecute_scriptreload_scriptBEFORE YOU INSTALL
What to know first
Tools you get
42 tools named in the project's documentation.
Requires
pip on PATH
INSTALLATION
Connect your client
Server setup
TERMINAL
pip install isaacsim-mcp-serverMCP Clients
Claude Code
CLAUDE CODE · TERMINAL
claude mcp add isaac-sim <YOUR_PATH_TO_ISAACSIM_MCP_SERVER>/scripts/run_mcp_server.shVS Code
VS CODE · JSON
{
"servers": {
"isaac-sim": {
"command": "<YOUR_PATH_TO_ISAACSIM_MCP_SERVER>/scripts/run_mcp_server.sh"
}
}
}Cursor
CURSOR · JSON
{
"mcpServers": {
"isaac-sim": {
"command": "<YOUR_PATH_TO_ISAACSIM_MCP_SERVER>/scripts/run_mcp_server.sh"
}
}
}
