Omniverse MCP

Omniverse MCP

Let an AI assistant work in NVIDIA Isaac Sim and other Omniverse Kit apps:

look at the scene, edit it, run physics, drive robots and record what happens.

One capture_viewport call in Isaac Sim 6.2: the frame, and every object in its own colour, with the legend and the screen boxes that tell the assistant what it sees.

Omniverse MCP connects an AI client, such as Claude Code, Cursor or VS Code, to a running Kit app. It comes in two parts, from one release:

• the server, omniverse-mcp: the MCP server your AI client starts, from PyPI;
• the bridge, ovmcp.bridge: the Kit extension inside the Kit app, listed in Kit as *Omniverse MCP Bridge*, and in Kit's community extension registry.

Claude Code users get both from one plugin, with skills for each kind of work.

AI client  --MCP, stdio-->  omniverse-mcp  --HTTP, with a token-->  ovmcp.bridge

(the server) (inside the Kit app, port 8211)

Requirements

• A Kit app of Kit 107 or later, on Windows or Linux. Tested on Isaac Sim 6.2 (Windows and Linux) and 5.1 (Linux); USD Composer and other Kit apps should work, but are untested. On Linux, Isaac Sim 5.1 runs on NVIDIA's 580 drivers; on a 595 driver its renderer crashes as it starts.
• [uv](https://docs.astral.sh/uv/getting-started/installation/), which runs the server. Install it, then open a new terminal and restart your AI client, so both find uvx:
• macOS and Linux: curl -LsSf https://astral.sh/uv/install.sh | sh
• Windows: powershell -ExecutionPolicy ByPass -c "irm https://astral.sh/uv/install.ps1 | iex"
• An MCP client that can read files: the tools write images and long answers to files and return their paths.
• Kit and the client on the same machine, or see Kit on another machine.

Install

Claude Code: the plugin

In Claude Code:

/plugin marketplace add serionist/omniverse-mcp

/plugin install omniverse-mcp@omniverse-mcp

If it asks you to, run /reload-plugins. From a terminal, the same is claude plugin marketplace add serionist/omniverse-mcp, then claude plugin install omniverse-mcp@omniverse-mcp, and the plugin loads when Claude Code next starts.

Then run /omniverse-mcp:setup. It installs the bridge of the plugin's release, tells you what to click in Kit, and checks the connection. The plugin also brings skills for scenes, geometry, simulation, scripts and bug reports, which Claude uses when a request fits (the plugin).

Other MCP clients

1. Install the bridge:

   uvx omniverse-mcp extension install

It copies ovmcp.bridge into your user data folder, then prints the folder Kit needs, under "Kit finds it once its extension search paths hold this folder". Or install the bridge in Kit itself, from Kit's community registry, and give the server its version in step 3 (From Kit's community registry).

1. Turn it on in the Kit app, once:
2. Window > Extensions, the menu (☰) at the top right, Settings.
3. Under Extension Search Paths, the green +, then paste the folder. The + adds an empty row: click it to type.
4. Search for ovmcp under THIRD PARTY, and turn Omniverse MCP Bridge on, with Autoload.

The bridge starts at once, and Kit's console shows [ext: ovmcp.bridge- ] startup. Kit saves the search path and Autoload when it exits, so quit it once with File > Exit. A headless Kit takes --ext-folder --enable ovmcp.bridge instead (headless Kit).

1. Add the server to your client's MCP config, and restart the client. In most clients' JSON:

   {

"mcpServers": { "omniverse": { "command": "uvx", "args": ["omniverse-mcp"], "env": { "PYTHONPATH": "" } } } }

Each client's file and form, VS Code's and Codex's included, are in MCP clients. The empty PYTHONPATH keeps a Python path that Isaac Sim's environment sets out of the server's Python.

Your client gets the server's short instructions with it. If it ignores them, see docs/AI_GUIDE.md, which also points at the plugin's skills as plain Markdown files.

Check that it works

With the Kit app running, ask your assistant to *"call get_sim_state"*. It answers with lines such as:

state = stopped

up_axis = Z ... extension_version = 0.5.1 server_version = 0.5.1

Something else? See Troubleshooting.

Used the extension before 0.2.0? It came from a clone of this repo, and before that it was

isaacsim.mcp.bridge. Turn the old one off and remove its search path, so Kit loads one copy. See the

changelog.

What you can ask

"What's in the scene? Capture the viewport and tell me where each object is."

"Put a table at the origin with a red, a green and a blue cube on it, and light it so the capture isn't black."

"Show me /World/Table from its four top corners, with everything else hidden."

"How many faces does /World/Robot have, and which parts have the most?"

"Add a Franka arm on the table, and list its joints and their limits."

"Drop a cube from one metre, record two seconds of it falling, and show me the last frame."

"Export /World/Table as a self-contained USD file."

"That failed. Show me Kit's warnings and errors."

The tools

Every tool, with its parameters, is in the tool reference.

inspect_prim(prim_path="/World/Workcell", angles=["top_front_right", "top_back_right", "top_back_left", "top_front_left"], isolate=True) : one call, every side, framed to fit, the rest of the scene hidden.

Updating

The server and the bridge come from one release, so update them together, then restart Kit and your client.

• The plugin: claude plugin marketplace update omniverse-mcp, then claude plugin update omniverse-mcp@omniverse-mcp, and restart Claude Code. Then run /omniverse-mcp:setup, which installs the matching bridge.
• Other clients: uvx omniverse-mcp@latest extension install fetches the newest server and installs its bridge. On Windows a running Kit holds the bridge's folder: quit it first. Unpinned, uvx can also move to a new release by itself; the server then names the command that installs the matching bridge. To stay on one release, pin it (Updating).
• The bridge from Kit's community registry: update it in Kit's Extensions window, and the server's pin with it.

Configuration

The server

omniverse-mcp [--host HOST] [--port PORT] [--output-dir DIR]    the MCP server, over stdio

omniverse-mcp extension install install the bridge of this release omniverse-mcp extension path print the folder Kit's search paths need

| OMNIVERSE_MCP_OUTPUT_DIR | --output-dir | mcp_output in the working folder | where images and long ans