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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 · 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 · 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 · 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 · 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).

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