cursorrules

Isaac Sim MCP Rules

General Rules

• Before executing any code, always check if the scene is properly initialized by calling get_scene_info()
• When working with robots, try using create_robot() first before using execute_script()
• If execute_script() fails due to communication error, retry up to 3 times at most
• For any creation of robot, call create_physics_scene() first
• Always print the formatted code into chat to confirm before execution

Physics Rules

• If the scene is empty, create a physics scene with create_physics_scene()
• For physics simulation, avoid using simulation_context to run simulations in the main thread
• Use the World class with async methods for initializing physics and running simulations
• When needed, use my_world.play() followed by multiple step_async() calls to wait for physics to stabilize

Robot Creation Rules

• Before creating a robot, verify availability of connection with get_scene_info()
• Available robot types: "franka", "jetbot", "carter", "g1", "go1"
• Position robots using their appropriate parameters
• For custom robot configurations, use execute_script() only when create_robot() is insufficient

Physics Scene Rules

• Objects should include 'type' and 'position' at minimum
• Object format example: {"path": "/World/Cube", "type": "Cube", "size": 20, "position": [0, 100, 0]}
• Default gravity is [0, 0, -981.0] (cm/s^2)
• Set floor=True to create a default ground plane

Script Execution Rules

• Use World class instead of SimulationContext when possible
• Initialize physics before trying to control any articulations
• When controlling robots, make sure to step the physics at least once before interaction
• For robot joint control, first initialize the articulation, then get the controller