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Isaac Sim robot workbench

io.github.Milokucia/dex-isaac-mcp ยท v0.1.2

Drive a live Isaac Sim session: any robot, poses, gain tuning, range tests, Isaac Lab training.

Source code Set it up

Connect Runs on your machine

Terminal
claude mcp add dex-isaac-mcp -e ISAAC_MCP_HOME=<ISAAC_MCP_HOME> -e ISAAC_MCP_ROBOT=<ISAAC_MCP_ROBOT> -- uvx dex-isaac-mcp==0.1.2
claude_desktop_config.json
{
  "mcpServers": {
    "dex-isaac-mcp": {
      "command": "uvx",
      "args": [
        "dex-isaac-mcp==0.1.2"
      ],
      "env": {
        "ISAAC_MCP_HOME": "<ISAAC_MCP_HOME>",
        "ISAAC_MCP_ROBOT": "<ISAAC_MCP_ROBOT>"
      }
    }
  }
}
~/.cursor/mcp.json
{
  "mcpServers": {
    "dex-isaac-mcp": {
      "command": "uvx",
      "args": [
        "dex-isaac-mcp==0.1.2"
      ],
      "env": {
        "ISAAC_MCP_HOME": "<ISAAC_MCP_HOME>",
        "ISAAC_MCP_ROBOT": "<ISAAC_MCP_ROBOT>"
      }
    }
  }
}
.vscode/mcp.json
{
  "servers": {
    "dex-isaac-mcp": {
      "type": "stdio",
      "command": "uvx",
      "args": [
        "dex-isaac-mcp==0.1.2"
      ],
      "env": {
        "ISAAC_MCP_HOME": "<ISAAC_MCP_HOME>",
        "ISAAC_MCP_ROBOT": "<ISAAC_MCP_ROBOT>"
      }
    }
  }
}

Replace the values in angle brackets with your own. Keys stay on your machine; we never see them.

Tools

This server runs locally, so its tools are listed by your MCP client once it starts.

Environment variables

NameDescription
ISAAC_MCP_HOME
Required		Path to a clone of github.com/Milokucia/dex-isaac-mcp; the Isaac Sim daemon runs from its docker/ directory
ISAAC_MCP_ROBOT
Optional		Robot config JSON that sim_up loads by default (container path)

Details

Package[email protected] (PYPI, stdio)
First published3 Oct 2026
Last updated3 Oct 2026
Registry nameio.github.Milokucia/dex-isaac-mcp

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