# isaacsim-mcp-server MCP Server

Control NVIDIA Isaac Sim robotics simulator through MCP with 42 tools

**Publisher claimed.** No tool list reported, and Pod has not connected to this server.

## Status

Pod has not dialled isaacsim-mcp-server yet, so everything on this page is what its publisher reported rather than what we observed. Registries describe servers; they do not connect to them. Until a check runs, treat the tool list below as a claim.

## Connect

Published as `isaacsim-mcp-server` on pypi. Runs locally.

## Known issues

**16 problems reported by people outside the maintainer team.** Issues filed by the project's own owners, members and collaborators are excluded — those are release checklists and internal refactors, not things that will go wrong for you. Showing 12.

### Most discussed

### [Bug] get_lidar_point_cloud almost never fills on 5.1, while 6.0 fills on the first read

## System Info

- OS: Ubuntu (Linux 6.8.0-138-generic)
- Python: 3.10.12 (MCP server); Kit 3.11 on 5.1, 3.12 on 6.0
- Isaac Sim: 5.1.0-rc.19 and 6.0.1-rc.7 (both launchers)
- isaacsim-mcp-server: 0.6.0
- GPU: NVIDIA RTX 3090, Driver 580.173.02

## Component

Sensor Tools

## Reproduction

On Isaac Sim **5.1.0**:

```
create_physics_scene()
create_lidar(prim_path="/World/L", position=[0, 0, 1])   # while STOPPED
play_simulation()
get_lidar_point_cloud(prim_path="/World/L", max_points=5)   # retry

[Read the thread](https://github.com/whats2000/isaacsim-mcp-server/issues/31) · 2026-08-28 · open · 4 comments

### [Bug] The first-RTX-camera warning fires more than once per session and names the wrong camera

## System Info

- OS: Ubuntu (Linux 6.8.0-138-generic)
- Python: 3.10.12 (MCP server); Kit 3.11 on 5.1, 3.12 on 6.0
- Isaac Sim: 5.1.0-rc.19 and 6.0.1-rc.7 (both launchers)
- isaacsim-mcp-server: 0.6.0
- GPU: NVIDIA RTX 3090, Driver 580.173.02

## Component

Sensor Tools

## Reproduction

On Isaac Sim 6.0.1 (observed on PhysX; the warning logic is engine-independent),
within a **single** Kit session:

```
create_camera(prim_path="/World/SCam", position=[3, 3, 2], target=[0, 0, 0.5])
# -> warning

[Read the thread](https://github.com/whats2000/isaacsim-mcp-server/issues/29) · 2026-08-28 · closed · 4 comments

### [Bug] get_lidar_point_cloud returns spherical (azimuth, elevation, range) labelled as Cartesian meters on 6.0

## System Info

- OS: Ubuntu (Linux 6.8.0-138-generic)
- Python: 3.10.12 (MCP server); Kit 3.11 on 5.1, 3.12 on 6.0
- Isaac Sim: 5.1.0-rc.19 and 6.0.1-rc.7 (both launchers)
- isaacsim-mcp-server: 0.6.0
- GPU: NVIDIA RTX 3090, Driver 580.173.02

## Component

Sensor Tools

## Reproduction

On Isaac Sim 6.0.1 (reproduces on **both** the PhysX and Newton launchers):

```
create_physics_scene(gravity=[0, 0, -9.81])
create_object(object_type="cube", prim_path="/World/Wall", size=2, position=[4, 0, 1]

[Read the thread](https://github.com/whats2000/isaacsim-mcp-server/issues/22) · 2026-08-28 · closed · 4 comments

### [Bug] set_physics_params applies gravity but returns status: error when time_step is unsupported

## System Info

- OS: Ubuntu (Linux 6.8.0-138-generic)
- Python: 3.10.12 (MCP server); Kit 3.11 on 5.1, 3.12 on 6.0
- Isaac Sim: 5.1.0-rc.19 and 6.0.1-rc.7 (both launchers)
- isaacsim-mcp-server: 0.6.0
- GPU: NVIDIA RTX 3090, Driver 580.173.02

## Component

Physics Tools

## Reproduction

Reproduces on 5.1.0, 6.0.1 PhysX and 6.0.1 Newton:

```
set_physics_params(gravity=[0, 0, -3.71], time_step=0.01)
```

## Expected behavior

Either apply everything and report success, or apply nothing and rep

[Read the thread](https://github.com/whats2000/isaacsim-mcp-server/issues/28) · 2026-08-28 · closed · 3 comments

### [Bug] reload_script(module_name=...) reloads stale bytecode and reports success

## System Info

- OS: Ubuntu (Linux 6.8.0-138-generic)
- Python: 3.10.12 (MCP server); Kit 3.11 on 5.1, 3.12 on 6.0
- Isaac Sim: 5.1.0-rc.19 and 6.0.1-rc.7 (both launchers)
- isaacsim-mcp-server: 0.6.0
- GPU: NVIDIA RTX 3090, Driver 580.173.02

## Component

Simulation Tools

## Reproduction

Reproduces on 5.1.0 (Kit Python 3.11) and 6.0.1 (Kit Python 3.12):

```
# probe.py contains: VERSION = 1; print(f"[probe] VERSION={VERSION}")
reload_script(file_path="/path/probe.py", module_name="probe")
#

[Read the thread](https://github.com/whats2000/isaacsim-mcp-server/issues/27) · 2026-08-28 · closed · 3 comments

### Most recent

### [Bug] step_simulation reports success and returns sentinel values when the physics pipeline is dead

## System Info

- OS: Ubuntu (Linux 6.8.0-138-generic)
- Python: 3.10.12 (MCP server); Kit 3.11 on 5.1, 3.12 on 6.0
- Isaac Sim: 5.1.0-rc.19 and 6.0.1-rc.7 (both launchers)
- isaacsim-mcp-server: 0.6.0
- GPU: NVIDIA RTX 3090, Driver 580.173.02

## Component

Simulation Tools

## Reproduction

Not reliably reproducible — see below. Observed once on 6.0.1 PhysX after
PhysX had shut itself down:

```
step_simulation(num_steps=150, observe_joints=["/World/ArmA", "/World/ArmB"])
```

## Expected beha

[Read the thread](https://github.com/whats2000/isaacsim-mcp-server/issues/32) · 2026-08-28 · closed · 1 comment

### [Bug] Validation errors are reported as "Communication error with Isaac" and drop a healthy socket

## System Info

- OS: Ubuntu (Linux 6.8.0-138-generic)
- Python: 3.10.12 (MCP server); Kit 3.11 on 5.1, 3.12 on 6.0
- Isaac Sim: 5.1.0-rc.19 and 6.0.1-rc.7 (both launchers)
- isaacsim-mcp-server: 0.6.0
- GPU: NVIDIA RTX 3090, Driver 580.173.02

## Component

MCP Server (isaac_mcp)

## Reproduction

Any tool call that the extension rejects with a validation error — reproduces on
5.1.0, 6.0.1 PhysX and 6.0.1 Newton alike:

```
create_object(object_type="cube", prim_path="/World/X", size=0)
transfo

[Read the thread](https://github.com/whats2000/isaacsim-mcp-server/issues/24) · 2026-08-28 · closed · 2 comments

### [Bug] A rigid body created with physics_enabled is never simulated on the Newton engine

## System Info

- OS: Ubuntu (Linux 6.8.0-138-generic)
- Python: 3.10.12 (MCP server); Kit 3.11 on 5.1, 3.12 on 6.0
- Isaac Sim: 5.1.0-rc.19 and 6.0.1-rc.7 (both launchers)
- isaacsim-mcp-server: 0.6.0
- GPU: NVIDIA RTX 3090, Driver 580.173.02

## Component

Physics Tools

## Reproduction

On Isaac Sim 6.0.1 with the **Newton** launcher (`isaac-sim.newton.sh`):

```
clear_scene()
create_physics_scene(gravity=[0, 0, -9.81])
create_object(object_type="cube", prim_path="/World/Ball",
              

[Read the thread](https://github.com/whats2000/isaacsim-mcp-server/issues/23) · 2026-08-28 · closed · 1 comment

### [Bug] The first RTX camera created in an Isaac Sim 6.0 session cannot be removed

## System Info

- OS: Ubuntu (Linux 6.8.0-138-generic)
- Python: 3.10.12 (MCP server); Kit 3.11 on 5.1, 3.12 on 6.0
- Isaac Sim: 5.1.0-rc.19 and 6.0.1-rc.7 (both launchers)
- isaacsim-mcp-server: 0.6.0
- GPU: NVIDIA RTX 3090, Driver 580.173.02

## Component

Sensor Tools

## Reproduction

Against a cold-booted Isaac Sim 6.0, on **either** launcher:

```
clear_scene()
create_physics_scene()
for i in range(4):
    create_camera(prim_path=f"/World/Cam{i}", position=[i, 0, 2])
for i in range(4):
   

[Read the thread](https://github.com/whats2000/isaacsim-mcp-server/issues/20) · 2026-08-28 · open · 2 comments

### bug: remaining tool issues found during pick-and-place demo

## Remaining Issues Found During Pick-and-Place Demo

---

### 1. `reload_script` with `module_name` loads stale `.pyc` cache
`importlib.reload()` may load stale bytecode from `__pycache__` instead of the updated `.py` file. The tool should clear the corresponding `.pyc` before calling `importlib.reload()`.

**Workaround**: Manually delete `__pycache__/module_name*.pyc` before reloading.

---

### 2. No MCP tool for creating/wiring Action Graphs
Action Graphs are core to the controller workflow 

[Read the thread](https://github.com/whats2000/isaacsim-mcp-server/issues/4) · 2026-04-06 · closed · 1 comment

### bug: multiple tool issues found during pick-and-place demo

## Issues Found During Pick-and-Place Demo

### 1. `SingleArticulation` never initialized — 5 tools affected
**Tools**: `get_robot_info`, `set_joint_positions`, `get_joint_positions`, `step_simulation` (observe_joints), `get_joint_config`
**Root cause**: `SingleArticulation` needs `initialize()` which requires running physics. None had fallbacks.
**Fix**: Try `initialize()`, fall back to USD `PrimRange` traversal. Committed: `89703c8`

---

### 2. `create_object` — `physics_enabled` was a stub
*

[Read the thread](https://github.com/whats2000/isaacsim-mcp-server/issues/3) · 2026-04-06 · closed · 0 comments

### Bug: MCP tool issues found during observability testing

## Bugs Found During Observability Testing

Issues discovered while testing the new observability tools (PR from issue #1).

---

### Bug 1: `get_isaac_logs` — argument order swap in log listener (Critical)

**File:** `isaac.sim.mcp_extension/isaac_sim_mcp_extension/handlers/simulation.py` line 120

The `set_channel_enabled()` call has swapped arguments, causing the tool to error on every call:

```python
# Current (broken):
logger.set_channel_enabled("*", omni.log.SettingBehavior.OVERRIDE, True

[Read the thread](https://github.com/whats2000/isaacsim-mcp-server/issues/2) · 2026-04-02 · closed · 0 comments

[See all 16 reports Pod holds for isaacsim-mcp-server](/mcp/isaacsim-mcp-server/issues).

## Firsthand observations

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