isaacsim-mcp

MCP server that lets MCP Client execute Python code inside a running NVIDIA Isaac Sim instance and read its console output.

It uses the Isaac Sim VS Code Edition extension's code executor API to send code to Isaac Sim and read the log file directly for console output. This allows you to run arbitrary Python code in Isaac Sim and get its results back in your MCP Client.

Prerequisites

• NVIDIA Isaac Sim with the Isaac Sim VS Code Edition extension enabled (isaacsim.code_editor.vscode)
• The extension's code executor must be running and reachable on 127.0.0.1:8226 (default)

Installation

pip install isaacsim-mcp

Or for an editable local install:

git clone https://github.com/mochan-b/isaacsim-mcp
cd isaacsim-mcp
pip install -e .

In Isaac Sim, enable the isaacsim.code_editor.vscode extension.

Add to your MCP client.

For example, assuming your virtual environment is located at .venv, in Codex:

codex mcp add isaacsim-mcp -- .venv/bin/isaac-mcp-server

and Claude

claude mcp add isaacsim-mcp -- .venv/bin/isaac-m

Tools exposed to MCP Client

Timeouts

execute_isaac_code has a timeout parameter (default 10 s). For long-running operations such as loading a USD stage or running a simulation loop, pass a larger value:

execute_isaac_code(code="...", timeout=60)

The MCP server is launched by the MCP client.

Standalone CLI

Both helper modules can be used directly without Claude:

# Send code to Isaac Sim
python -m isaac_send --code "import omni; print(omni.__version__)"
python -m isaac_send --file my_script.py
python -m isaac_send --timeout 30 --file long_running.py

# Read Isaac Sim log
python -m isaac_console                          # last 50 warnings/errors
python -m isaac_console -n 100 -e               # last 100 errors only
python -m isaac_console --since 2026-03-01T12:00:00Z

Usage

License

MIT