Isaac Sim MCP

🚀 Isaac Sim MCP Extension and Server

The NVIDIA Isaac Sim MCP extension offers a suite of professional tools accessible via natural language in Cursor AI. These tools empower you to control and manipulate NVIDIA Isaac Sim with straightforward commands.

🚀 Quick Start

The NVIDIA Isaac Sim MCP extension provides a set of professional tools that can be accessed via natural language in Cursor AI. These tools allow you to control and operate NVIDIA Isaac Sim through simple commands.

✨ Features

• get_scene_info - Check the status of the Isaac Sim extension server and obtain basic scene information.
• create_physics_scene - Create a physics scene with configuration parameters:
  • objects: A list of objects to create (each object has a type and position).
  • floor: Whether to create a ground plane (default: true).
  • gravity: A vector defining the direction and magnitude of gravity (default: [0, -0.981, 0]).
  • scene_name: The name of the scene (default: "physics_scene").
• create_robot - Create a robot in the scene:
  • robot_type: The type of robot to create (options: "franka", "jetbot", "carter", "g1", "go1").
  • position: [x, y, z] coordinates.
• omni_kit_command - Execute an Omni Kit command:
  • command: The Omni Kit command to execute (e.g., "CreatePrim").
  • prim_type: The primitive type of the command (e.g., "Sphere").
• execute_script - Execute arbitrary Python code in Isaac Sim:
  • code: The Python code to execute.

📦 Installation

Prerequisites

1. Ensure that NVIDIA Isaac Sim is installed.
2. Configure the environment variables:

   export ISABELLA=/path/to/Isabella
   

3. Start the Isaac Sim extension server.

Installation Steps

1. Download and extract the extension package.
2. Run the following command in the terminal:

   python setup.py install
   

💻 Usage Examples

Robot Party Demo

GIF: Adding more robots to the scene using natural language commands

Video Format (MP4)

• Robot Party Demo (MP4)

📚 Documentation

Development Mode

• Use get_scene_info to check the connection status.
• Add a robot after initializing the physics scene.
• Try custom scripts after creating a standard robot using create_robot.

🤝 Contribution Guidelines

Contributions are welcome! Please feel free to submit a Pull Request.

📄 License

This project is licensed under the MIT License. See the LICENSE file for details.