Install Isaac Sim robot workbench in oterm

What you need first

• oterm, installed.
• uv, which gives the uvx command the server starts with.
• Your own value for YOUR_ISAAC_MCP_HOME.

Steps

1. Open ~/.codex/config.toml, or create it. The Codex CLI, its IDE extension and the ChatGPT desktop app share this file.
2. Add this table at the end of the file.

{
  "mcpServers": {
    "dex-isaac-mcp": {
      "command": "uvx",
      "args": ["dex-isaac-mcp==0.1.2"],
      "env": { "ISAAC_MCP_HOME": "YOUR_ISAAC_MCP_HOME" }
    }
  }
}

3. Replace YOUR_ISAAC_MCP_HOME with your own value.
4. Save the file and restart oterm.

Check it worked

Ask oterm: List the tools of dex-isaac-mcp.

If it does not start

spawn uvx ENOENT

uv is not on the PATH that oterm sees. Install it, or write the full path of uvx in the config.

The server starts, but its tools fail

A YOUR_… placeholder is still in the config, or its value is wrong.

Nothing changes after a restart

The file is not valid JSON any more. Look for a missing comma where the block was added.