SimLiverse MCP Server (simliverse-mcp)

The unified Model Context Protocol (MCP) server for the SimLiverse Physical AI Platform.

It provides a minimal, clean 10-tool interface to LLM Copilots:

• 5 Knowledge/RAG tools (NVIDIA NIM cloud) — look up Isaac Sim Python API documentation and code examples.
• 5 Execution/Telemetry tools (Isaac Sim TCP socket on port 8766) — execute code, play/pause physics, inspect USD scene state, and read joint telemetry.

Available Tools (10 Total)

📚 Knowledge & RAG (NVIDIA NIM)

1. get_isaac_sim_instructions: Read official Isaac Sim developer guide topics.
2. search_isaac_sim_code_examples: Find working Python code snippets for Isaac Sim 5.1.0.
3. search_isaac_sim_extensions: Discover Omniverse extensions by capability.
4. get_isaac_sim_extension_details: Inspect extension API specifications.
5. search_isaac_sim_settings: Search physics engine and rendering config keys.

🤖 Execution & Control (Isaac Sim Extension via TCP :8766)

6. execute_script: Run Python code inside the live Isaac Sim stage runtime.
7. set_simulation_state: Play, pause, stop, or step physics frames.
8. reset_scene: Clear the USD stage and reset to initial state.

👁️ Telemetry & Sensing

9. get_scene_info: Inspect stage prims, positions, asset root, and prim counts.
10. get_joint_states: Read joint positions, velocities, and limits for any robot prim.

Architecture

SimLiverse Control Plane API (mcp_bridge.py)
        │
        │ HTTP Streamable MCP (port 9905)
        ▼
simliverse-mcp container (this repo)
  ├── 5 RAG tools  → NVIDIA NIM Cloud (api.nvidia.com)
  └── 5 Exec tools → TCP socket (localhost:8766)
                         │
                         ▼
        isaac.sim.mcp_extension (Omniverse Extension)
                         │
                         ▼
               Live Isaac Sim Stage

Running Locally

pip install -e .
export NVIDIA_API_KEY="nvapi-..."
python -m isaac_mcp.server

Docker Deployment

docker build -t simliverse-mcp:latest .
docker run -d --name sl-mcp --network host -e NVIDIA_API_KEY="nvapi-..." simliverse-mcp:latest

License

MIT License (forked from whats2000/isaacsim-mcp-server & omni-mcp/isaac-sim-mcp).