Hi everyone,
I wanted to share a Long Term Support (LTS) version of the Isaac MCP server I’ve been working on. This was inspired by the setup discussed in this thread.
I started with the original omni-mcp/isaac-sim-mcp repo, but decided to fork it and make a lot of refactorings to handle more complex tasks and ensure long-term stability.
My Fork/Repo: https://github.com/whats2000/isaacsim-mcp-server
What I added/changed:
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Multiple Version Adapters: Built an adapter system to handle different versions without breaking things. Currently, it supports Isaac Sim v5.
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Feedback Loops: This is the biggest change. I refactored the communication so the LLM actually gets state updates back from the simulation. This feedback loop is essential for handling complex, multi-stage tasks instead of just firing blind commands.
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LTS Architecture: Cleaned up the codebase specifically to make it a stable, long-term support version (I planned to support v6 soon) for research and development.
To test it out, I used this setup to bring a custom robot into a custom digital twin. Because of the feedback loops and the refactored structure, I was able to get it fully working in just 6 hours with Claude Code!
Feel free to check out the repo if you are building LLM agents for Isaac Sim. PRs and feedback are welcome!