Name: Omniverse
Author: serionist

Omniverse MCP

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

Grade A Local · stdio API key 41 tools v0.2.2 MIT

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97/100

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runs on your machine

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What it does

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

Quickstart

# 1 — add it to Claude Code
claude mcp add --scope user omniverse-mcp '--' uvx omniverse-mcp

# 2 — ask your agent for something these tools do
#   capture_viewport, set_camera, look_at_prim and 38 more

Omniverse costs nothing on mcprush: there is no plan to choose here, no cap to set and nothing mcprush can bill you for.

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Installation

Where are you running it?

Every route below installs the same thing and ends at the same approval screen. This one runs on your machine: your client starts Omniverse as a process under your own user, with your files and your network, so the tool surface below is what it can do to your computer rather than to a server somewhere else. Its scan result is on the Security tab — read the surface before you approve it.

Claude Codedeclared by this listing

This is a public server: you run it yourself and this marketplace is not in the path. You need uv (docs.astral.sh/uv): uvx comes with it. Claude Code registers it in one command; --scope user makes it available in every project. The '--' is in quotes so that PowerShell passes it on.

claude mcp add --scope user omniverse-mcp '--' uvx omniverse-mcp

Reconnect, or start a new session, and the tools appear in the model’s tool list.

Free on mcprush, and it runs from its publisher’s own package: this marketplace is not in the path, so there is no key of ours to hold and no card to add.

What it asks of you

Nothing is required, but it can take PYTHONPATH (Set it empty, so a Python path that Isaac Sim's environment sets stays out of the server's Python), OMNIVERSE_MCP_HOST (The host of the Kit app running the ovmcp.bridge extension), OMNIVERSE_MCP_PORT (The bridge's port in the Kit app), OMNIVERSE_MCP_OUTPUT_DIR (The folder for images and long answers (default: ./mcp_output)), OMNIVERSE_MCP_TOKEN (The bridge's token, for Kit on another machine; on the same machine the server reads it from Kit) if you want to set them.

What it writes

One config entry your client uses to start the process locally. A local server runs with your file system and your network, which is why it is priced without metering.

What you approve

41 tools, with what each one reads, writes and reaches shown before you agree — the same list on every route above. Read the tool surface.

Tool surface

What the model actually sees. Descriptions are diffed on every release — see version history.

Only tools that write or reach the network

Read from its source code. A server that builds its tool list when it starts can list more tools than this.

Capture the viewport and save 3 files for scene understanding:

Parameter	Type	Required	Notes
width		no	—
height		no	—
camera_path	string	no	The camera prim to capture from; the active one when empty
include_image	boolean	no	Also return the image inline, besides the file (uses more context)

Set the viewport camera position and optionally aim it at a target point.

Parameter	Type	Required	Notes
position	array	yes	[x, y, z] camera position in world space
target	array	no	[x, y, z] point to look at

Point the viewport camera at a prim from a given angle.

Parameter	Type	Required	Notes
prim_path		yes	—
distance	number	no	Camera distance; worked out from the prim's size when omitted
azimuth	number	no	Horizontal angle in degrees: 0 front, 90 right, 180 back
elevation	number	no	Vertical angle in degrees above the horizontal

Orbit-capture: take screenshots from 14 systematic angles around a prim (cube-based).

Parameter	Type	Required	Notes
prim_path		yes	—
angles	array	no	Angle names, all 14 when omitted. Face centres: "front", "back", "right", "left", "top", "bottom". Cube corners: "top_front_right", "top_front_left", "top_back_right", "top_back_left", "bottom_front_r
width		no	—
height		no	—
zoom_offset	number	no	Adjusts the fitted distance: negative closer, positive further (-0.3 is 30% closer)
isolate	boolean	no	Hide everything else while capturing, then restore it
include_segmentation	boolean	no	Also capture instance segmentation at each angle

Query or control viewport lighting mode.

Parameter	Type	Required	Notes
action	string	no	"get" the mode, "set" one, or the legacy "set_camera_light"
mode	string	no	For "set": "off", "camera", "stage", or a light rig "get" lists, e.g. "Default"
enabled	boolean	no	For "set_camera_light": turn the camera light on or off

Execute Python inside the running Kit app (Isaac Sim, USD Composer, ...).

Parameter	Type	Required	Notes
code	string	yes	Python to run inside the Kit app; assign to result to return data

List, enable, or disable the Kit app's extensions.

Parameter	Type	Required	Notes
action	string	no	What to do
extension_id	string	no	The extension to enable or disable
search	string	no	For "list": only extensions whose name contains this
enabled_only	boolean	no	For "list": only enabled extensions

Get recent entries of the Kit app's log, read from its log file since the bridge extension started.

Parameter	Type	Required	Notes
count	integer	no	How many of the latest entries; the buffer keeps 2000
min_level	string	no	The lowest severity to return; every level when empty
channel	string	no	Only channels containing this, e.g. "omni.physx"
search	string	no	Only messages containing this, in any case

Start recording simulation frames to disk.

Parameter	Type	Required	Notes
fps	integer	no	Frames a second: 5 captures one every 0.2 s
width	integer	no	Ignored for now: frames come at the active viewport's size (#25)
height	integer	no	Ignored for now: frames come at the active viewport's size (#25)
camera_path	string	no	Ignored for now: frames come from the active viewport's camera (#25)
track_prims	array	no	Prims whose state to record, descendants included, e.g. ["/World/G1"]
property_filter	array	no	Only properties whose names contain one of these, e.g. ["joint", "pos", "vel"]

Stop the active recording session.

Takes no parameters.

Get a specific frame from a recording session. Saves as PNG file.

Parameter	Type	Required	Notes
frame_index	integer	no	The frame's number, from 0
session_dir	string	no	The session's folder; the last recording when empty

Add a robot: one of Isaac Sim's asset library by name, or a robot's own USD file.

Parameter	Type	Required	Notes
robot_type	string	yes	A robot's name (franka, g1, spot, ...) or a USD file's path
prim_path	string	no	Where to put it; made up from the name when empty
position		no	—
rotation		no	—

Get robot joint info: names, types, limits, DOF count. Pure USD, no sim needed.

Parameter	Type	Required	Notes
prim_path		yes	—

Get joint positions and velocities while the simulation plays or is paused; an error while it is stopped.

Parameter	Type	Required	Notes
prim_path		yes	—

Set joint drive position targets. Works without articulation initialisation.

Parameter	Type	Required	Notes
prim_path		yes	—
targets	object/array	no	{joint_name: value} or [v0, v1, ...] in joint order: degrees for revolute joints, metres for prismatic ones

Get the USD scene hierarchy as grep-friendly prim-block text.

Parameter	Type	Required	Notes
root	string	no	Prim path to start from
max_depth	integer	no	How many levels below root; 0 for root alone

Dump the full scene graph to a text file in prim-block format.

Parameter	Type	Required	Notes
root	string	no	Prim path to start from
max_depth	integer	no	How many levels below root; 0 for root alone
include_properties	boolean	no	Include every USD property of each prim
filter_types	array	no	Only prims of these types, e.g. ["Mesh", "Xform"]
property_filter	array	no	Only properties whose names contain one of these, e.g. ["joint"]

Get all properties of a specific prim in prim-block text format.

Parameter	Type	Required	Notes
prim_path		yes	—

Get the bounding box of a prim (center, dimensions, min/max corners, diagonal).

Parameter	Type	Required	Notes
prim_path		yes	—

Set position/rotation/scale of a prim.

Parameter	Required	Notes
prim_path	yes	—
position	no	—
rotation	no	—
scale	no	—

Create a new prim in the scene.

Parameter	Type	Required	Notes
prim_path	string	yes	Where to create it, e.g. "/World/MyCube"
prim_type	string	no	USD type name, e.g. Cube, Sphere, Xform, DistantLight
usd_path	string	no	A USD file to load as a reference instead
position		no	—
rotation		no	—
scale		no	—
enable_physics	boolean	no	Add the RigidBody and Collision APIs

Delete a prim and all its children.

Parameter	Type	Required	Notes
prim_path		yes	—

Apply a PBR material (OmniPBR) to a prim with color and surface properties.

Parameter	Type	Required	Notes
prim_path		yes	—
color	array	yes	[r, g, b] diffuse colour: 0-1 floats (e.g. [1, 0, 0] for red) or 0-255 ints
opacity	number	no	0 transparent to 1 opaque
roughness	number	no	0 glossy (mirror) to 1 rough (matte)
metallic	number	no	0 plastic (dielectric) to 1 metal
material_path	string	no	The material prim's path; made under /World/Looks/ when empty

Deep-copy a prim (and all children) to a new path. Supports batch cloning.

Parameter	Type	Required	Notes
source_path	string	yes	The prim to clone, e.g. "/World/MyCube"
target_path	string	yes	Where the copy goes, e.g. "/World/MyCube_Copy"
count	integer	no	How many copies; paths get _001, _002, ...
offset	array	no	[x, y, z] each copy moves from the one before

Show or hide a prim (and its descendants).

Parameter	Type	Required	Notes
prim_path		yes	—
visible	boolean	no	True to show, False to hide

Save the current scene to a USD file.

Parameter	Type	Required	Notes
file_path	string	no	The USD file to write; empty overwrites the stage's own file

Create a fresh empty scene with a /World root prim and Y-up axis.

Takes no parameters.

Control simulation: play, pause, stop, or step.

Parameter	Type	Required	Notes
action	string	yes	What to do

Get simulation state: playing/paused/stopped, time, FPS, prim count, up axis, and the versions of the Kit extension and this server, with what to run when they differ.

Takes no parameters.

Set physics material properties on a prim.

Parameter	Type	Required	Notes
prim_path		yes	—
mass	number	no	Mass in kg (applies MassAPI); 0 unsets it, so density decides
density	number	no	Density in kg/m^3 (applies MassAPI); 0 unsets it; a mass set wins over it
friction	number	no	Static and dynamic friction coefficient
restitution	number	no	Bounciness: 0 no bounce, 1 full bounce

Push a rigid body through PhysX, so its mass counts. The simulation must be playing or paused. Refused for a disabled or kinematic body, and for an articulation's link, such as a robot's, which PhysX's push doesn't reach yet (#58).

Parameter	Type	Required	Notes
prim_path	string	yes	The rigid body's prim path
force	array	yes	[fx, fy, fz]: an impulse in N s, or a force in N for one physics step
position	array	no	World-space point to push at; the body's centre of mass when omitted
impulse	boolean	no	True for an impulse in N s, False for a force in N for one physics step. For a sustained push, give an impulse of force times seconds

Cast a ray into the scene and return what it hits. Useful for spatial queries.

Parameter	Type	Required	Notes
origin	array	yes	[x, y, z] start point
direction	array	yes	[dx, dy, dz] direction; it is normalised
max_distance	number	no	The longest the ray goes

Draw debug lines in the viewport, 2 pixels wide, for duration seconds: a line, a polyline, a sphere as three crossing lines, or a small cross per point.

Parameter	Type	Required	Notes
shape	string	yes	What to draw: "lines" joins the points in order
color	array	no	[r, g, b] colour in 0-1; red when omitted
duration	number	no	How long it shows, in seconds from the call, whether the simulation plays or not
start	array	no	For "line": its start [x, y, z]
end	array	no	For "line": its end [x, y, z]
center	array	no	For "sphere": its centre [x, y, z]
radius	number	no	For "sphere": its radius
points	array	no	For "points" and "lines": a list of [x, y, z]
size	number	no	For "points": how far each point's cross reaches, in stage units

Get face/vertex/triangle counts for a mesh prim or subtree.

Parameter	Type	Required	Notes
prim_path	string	yes	The prim to measure, its descendant meshes included

Get scene tree with face counts per mesh and subtree totals.

Parameter	Type	Required	Notes
root	string	no	Prim path to start from
max_depth	integer	no	How many levels below root; 0 for root alone

Flatten a USD file: resolve all references, payloads, sublayers into one file.

Parameter	Type	Required	Notes
output_path	string	yes	The flattened USD file to write
input_path	string	no	The USD file to flatten; the open stage when empty

Export a prim subtree as a standalone USD file.

Parameter	Type	Required	Notes
prim_path	string	yes	The root of the subtree to export
output_path	string	yes	The file to write: .usd, .usda or .usdc (the default)

Switch variant selection on a prim with proper viewport refresh.

Parameter	Type	Required	Notes
prim_path	string	yes	The prim with the variant set
variant_set	string	yes	The variant set's name, e.g. "model"
variant_name	string	yes	The variant to select, e.g. "shell"

Create variant set boilerplate on a prim.

Parameter	Type	Required	Notes
prim_path	string	yes	The prim to add the variant set to
variant_set_name	string	yes	The new variant set's name, e.g. "model"
variant_names	array	yes	The variants to create, e.g. ["focused", "shell"]
default_variant	string	no	The variant selected at first; the first when empty

Compare two prims or two variants: mesh counts, bounds, materials.

Parameter	Type	Required	Notes
prim_path_a	string	no	Two prims: the first
prim_path_b	string	no	Two prims: the second
prim_path	string	no	Two variants: the prim that has them
variant_set	string	no	Two variants: their variant set
variant_a	string	no	Two variants: the first
variant_b	string	no	Two variants: the second

Bulk-update material reference paths in a subtree.

Parameter	Type	Required	Notes
old_prefix	string	yes	The path prefix to find, e.g. "/OldProject/Materials"
new_prefix	string	yes	What to put in its place, e.g. "/World/Materials"
prim_path	string	no	The subtree to update; the whole stage by default

Free

$0 forever

Every tool, no call limit
No card, and mcprush charges nothing for it
Source published under MIT
Runs on your machine — nothing of it reaches our gateway
Nothing to cap, because mcprush bills nothing

Nothing here is billable: mcprush charges nothing to install Omniverse or to call it, at any volume.

ATrust score 97 / 100

Release 0.2.2 · scanned 30 Oct 2026

Two independent axes, because powerful and malicious are different questions. The grade is threat only. The capability level is blast radius, and it is never a penalty on the grade — it is priced as one subtract-only term in the score, where you can see it.

Threat score100

Client score97

Findings4 threat · 0 capability

Capabilitymoderate

Coveragesource

Verificationsource

Surface digest85ee0bd871b61c39c417a836818ac4f03644a0d0e3ce84e94040e9601646aa58

Score vectorthreat 100 → client 97

Term	Level	What it prices	Points
capability-exposure	moderate	capability blast radius (moderate) — client exposure if the model is manipulated	−3
verification-discount	source	publisher verification (provenance) — cryptographic build provenance ties the artifact to its source	−0
coverage-honesty	source	inspection depth (source) — how much of the target the scan could see	−0

score = clamp(round(threatScore − E_cap − E_ver − E_cov), 0, 100). No model, no opinion, no network call at scoring time: the same methodology version against the same bytes always produces this number, and every line above is a field of the report rather than a summary of it.

What the scan could actually read

A grade is only as meaningful as its coverage, so the scanner publishes its own depth before it publishes its result.

Tool surfaceread

Implementation sourceread

Package metadataread

Live transportnot available

Tools were statically extracted from the published source (41 recovered), not enumerated from a running server. Tool-poisoning, Unicode-smuggling, capability and toxic-flow analysis ran on this inferred surface, but a mis-parsed registration could be missed or mis-attributed, so tool-derived findings are capped below “confirmed”. To grade the real runtime surface, scan the running server: --command "npx -y <package>".

Capability — what it could do if the model were manipulated

Tags derived from each tool’s schema and the implementation, not from what the tool calls itself. moderate is the level these add up to.

Tool	Capability tags	Why the tag was assigned
capture_viewport	no tags
set_camera	no tags
look_at_prim	no tags
inspect_prim	no tags
viewport_light	no tags
execute_script	sensitive-source	sensitive-source: keyword "get_logs"
manage_extensions	no tags
get_logs	sensitive-source	sensitive-source: keyword "get_logs"
start_recording	no tags
stop_recording	no tags
get_recording_frame	no tags
create_robot	no tags
get_robot_info	no tags
get_joint_states	no tags
set_joint_targets	no tags
get_scene_tree	no tags
dump_scene	sensitive-source	sensitive-source: keyword "dump"
get_prim_properties	no tags
get_prim_bounds	no tags
set_prim_transform	no tags
create_prim	no tags
delete_prim	no tags
set_material	no tags
clone_prim	no tags
set_visibility	no tags
save_scene	no tags
new_scene	no tags
sim_control	no tags
get_sim_state	no tags
set_physics_properties	no tags
apply_force	no tags
raycast	no tags
draw_debug	no tags
get_mesh_stats	no tags
get_prim_face_count_tree	no tags
flatten_usd	no tags
export_prim_as_file	no tags
set_variant_selection	no tags
create_variant_structure	no tags
compare_prims	no tags
update_material_paths	no tags

Toxic-flow graph

The lethal trifecta, checked as a graph rather than as a checklist: untrusted input, a sensitive source and an external sink have to meet before there is a path worth worrying about.

The public result for this release does not print the flow graph, so there is nothing to show here. That is not the same as "no paths were found": what the scan did read is above, under coverage.

Supply chain and provenance

Integrityfirst-seen

Surface digest85ee0bd871b61c39

Scanned2026-10-30

This is the first scan of this surface here, so there is nothing yet to compare it against.

Every result on this tab comes from one deterministic pass over the published package — offline, rule by rule, and auditable line by line above. Same methodology version, same bytes, same score.

Omniverse MCP

What it does

Quickstart

Where are you running it?

Tool surface

What counts against your monthly calls

What the scan could actually read

Capability — what it could do if the model were manipulated

Toxic-flow graph

Supply chain and provenance

Release history

See also