Isaac SimBLOCK
Isaac Simulation 5.1.0~6.0.1 MCP Extension and Server
Overview
From the repository's own README, as read at the audited commit. Badges and raw HTML are left out.
[](https://pypi.org/project/isaacsim-mcp-server/) [](https://developer.nvidia.com/isaac-sim) [](https://www.python.org/downloads/) [](https://opensource.org/licenses/MIT) [](https://archestra.ai/mcp-catalog/api/badge/quality/whats2000/isaacsim-mcp-server) [](https://glama.ai/mcp/servers/whats2000/isaacsim-mcp-server)
Natural language control for NVIDIA Isaac Sim through the Model Context Protocol (MCP).
Connect any MCP-compatible IDE (Cursor, VS Code, Claude Code, Windsurf, Antigravity, JetBrains) to a running Isaac Sim instance and control it with plain-English prompts -- create robots, build scenes, run simulations, and debug physics all from your editor.
Highlights
- 42 tools across 9 categories -- scene, objects, lighting, robots, sensors, materials, assets, simulation, graphs
- 107+ robots auto-discovered from the Isaac Sim asset library (Franka, UR, Unitree, Boston Dynamics, and more)
- Step-and-observe debugging -- step the simulation and inspect prim positions, joint states, and physics in one call
- Hot-reload -- iterate on Python controllers without restarting Isaac Sim
- Multi-instance -- run multiple Isaac Sim sessions side by side on different ports
- Built for Isaac Sim 5.1.0 - 6.0.1 (PhysX + N
1921596197a1OBSERVED · 2026-10-08Connect
Built from this server's own package name, version and transport as found in its source — not copied from anyone's documentation, so it cannot drift against a page we do not control. Replace the environment placeholders with a token scoped to the least it needs.
claude mcp add isaacsim-mcp-server -- None isaacsim-mcp-server==0.6.1
Exposed tools (42)
21 read · 17 write · 4 destructive. Blast radius: 4 tools can delete or overwrite — an agent that can be talked into calling a tool can be talked into calling this one.
| Tool | Risk | Description |
|---|---|---|
apply_material | write | Bind a material to an object. |
capture_image | read | Capture an RGB image from a camera sensor. |
clear_scene | destructive | Remove all prims from the scene. |
clone_object | read | Duplicate an existing object to a new prim path. |
create_action_graph | write | Create and wire an OmniGraph Action Graph. |
create_camera | write | Add a camera sensor to the scene. |
create_lidar | write | Add a lidar sensor to the scene. |
create_light | write | Create a light in the scene. |
create_material | write | Create a PBR or physics material. |
create_object | write | Create a primitive object (Cube, Sphere, Cylinder, Cone, Capsule, Plane). |
create_physics_scene | write | Create a physics scene, adding a ground plane only if the stage lacks one. |
create_robot | write | Create a robot in the scene from the Isaac Sim asset library. |
delete_object | destructive | Delete an object from the scene. |
edit_action_graph | write | Edit an existing OmniGraph Action Graph: set attribute values or add connections. |
execute_script | write | Escape hatch: execute arbitrary Python code in Isaac Sim. |
generate_3d | read | Generate a 3D model from text or image using Beaver3D, then load it into the scene. |
get_isaac_logs | read | Diagnostic tool: recent WARN/ERROR logs plus captured print() output. |
get_joint_config | read | Diagnostic tool: get joint drive configuration for a robot articulation. |
get_joint_positions | read | Read current joint positions from a robot. |
get_lidar_point_cloud | read | Get point cloud data from a lidar sensor. |
get_physics_state | read | Diagnostic tool: get physics state for a prim. |
get_prim_info | read | Get detailed information about a specific prim. |
get_robot_info | read | Get robot joint information including names, DOF count, joint types, and limits. |
get_scene_info | read | Ping the Isaac Sim extension server and return scene information including stage path, assets root, and prim count. |
get_simulation_state | read | Get the current simulation state: timeline status (playing/stopped/paused), |
import_urdf | write | Import a robot from a URDF file into the scene. |
list_available_robots | read | List all available robots discovered from the Isaac Sim asset server. |
list_environments | read | List all available environments discovered from the Isaac Sim asset server. |
list_prims | read | List the prims directly under root_path, optionally filtered by type. |
load_environment | read | Load a pre-built environment into the scene. Supports fuzzy matching. |
load_usd | read | Load a USD asset from a URL or file path into the scene. |
modify_light | write | Modify properties of an existing light. |
pause_simulation | read | Pause the physics simulation. |
play_simulation | write | Start the physics simulation. |
refresh_robot_library | destructive | Force re-scan the asset server for available robots. Use this if new robot assets were added. |
reload_script | read | Reload a Python controller from a file on disk. |
search_usd | read | Search the NVIDIA USD asset library by text description, then load the best match. |
set_joint_positions | write | Set target joint positions on a robot via ArticulationAction. |
set_physics_params | write | Configure physics engine parameters. |
step_simulation | read | Advance the simulation by exactly N physics frames on a FROZEN timeline. |
stop_simulation | destructive | Stop the physics simulation and reset to spawn state. |
transform_object | write | Set the transform (position, rotation, scale) of an existing object. |
Trust audit
BLOCKgrade D · trust 64/100 Do not install this without reading the findings. The audit found something that could harm you or your machine.
| Layer | What it checks | Result |
|---|---|---|
| L0 | Provenance & inventory | WARN |
| L1 | Static analysis of the code | FAIL |
| L2 | Instruction surface (what it tells the agent) | PASS |
| L3 | Class-specific surface | WARN |
| L4 | Behavioural (sandbox) | SKIPPED |
What the source does
- Filesystem
- declared (3 observation(s))
- Network
- declared (8 observation(s))
- Shell
- declared (7 observation(s))
- Dependencies
- pinned
- Secrets in source
- none-found
Findings (18)
exec(code, local_ns)
exec(code, local_ns)
exec(code, local_ns)
exec(code, local_ns)
franka_pick_place.usd
_module = importlib.import_module(module_name)
_module = importlib.import_module(module_name)
for mod_name, mod in list(__import__(\"sys\").modules.items()):
clear_scene, delete_object, refresh_robot_library, stop_simulation
.pre-commit-config.yaml
mod = importlib.import_module(f"isaac_sim_mcp_extension.adapters.{module}")mod = importlib.import_module(f"isaac_sim_mcp_extension.adapters.{module}")- **Releases publish to the MCP Registry** — a tagged release now stamps the tag version into `server.json` and runs `mcp-publisher` (GitHub Actions OIDC, no stored secret) after the PyPI upload. The
media/add_more_robot_into_party.gif
media/add_more_robot_into_party.mp4
media/franka_pick_place.gif
media/franka_pick_place.mp4
media/icon.png
Gates applied: no_behavioural_pass.
1921596197a1full audit observations/trust-audit/mcp-server/whats2000__isaac-sim.json · Report an issue / request a re-scanAudit history
Every audit this server has had. A grade with a past is a grade somebody is still checking.
| Date | Source | Verdict | Grade | Score | Change |
|---|---|---|---|---|---|
| 2026-10-08 | 1921596197a1 | BLOCK | D | 64 | first audit |
Questions
What is the Isaac Sim MCP server?
Isaac Simulation 5.1.0~6.0.1 MCP Extension and Server
What tools does Isaac Sim expose?
42 in total: 21 read-only, 17 that write, and 4 that can delete or overwrite (clear_scene, delete_object, refresh_robot_library, stop_simulation). Every one is listed on this page with its risk.
Is Isaac Sim safe to connect to an agent?
No — not without reading the findings first. The audit graded it D (64/100) and found 4 critical or high issues in the source. Each one is listed on this page with the file and line it is on. Separately from the audit: 4 of its tools can destroy data, so scope the token you give it to what you actually need.
What credentials does Isaac Sim need?
It reads ARK_API_KEY and NVIDIA_API_KEY from the environment. Give it a token scoped to the least it needs — an agent that can be talked into calling a tool can be talked into calling it with your credentials.
How does Isaac Sim run?
It speaks stdio, so it runs as a local process your client starts. It is published on PyPI as isaacsim-mcp-server.
How current is this page?
The grade is for one exact copy of the source (1921596197a1), read on 2026-10-08. The repository is watched and re-audited when it changes.