Palatial Isaac Sim Plugin

The Palatial Isaac Sim Plugin brings Palatial’s asset-generation workflow into NVIDIA Isaac Sim. You can create an asset from reference images, text, or CAD, import an existing Palatial asset, and continue working with the result in the current Isaac Sim Stage.

Compatibility

Version 0.1.1 supports Isaac Sim 6.0.1 on Windows 11 x86_64 and Ubuntu 22.04 x86_64. Both use the same plugin ZIP. Other Linux distributions, ARM computers, and other Isaac Sim versions have not been verified.

What you can do

• Generate an asset from one image.
• Generate an asset from two to four named multiview images.
• Generate an asset from a text prompt.
• Generate an asset from a CAD or 3D model file, with an optional reference image and optional PDF datasheet.
• Import an existing Palatial asset from its dashboard URL.
• Bring the completed asset directly into the current Isaac Sim Stage.
• Load the geometry, materials, joints, and physical properties included in the exported USD. Check the result in your Stage before using it in a simulation.
• Review the inputs and settings before submitting a paid generation. Review does not submit the request; Generate asset does.
• Queue several generations and keep working while up to five run at once. See The generation queue.
• See your workspace balance and the tokens each generation has used, without leaving Isaac Sim.

Install the plugin

1. Download the plugin ZIP from the Palatial website. The same ZIP works on Windows and Linux.
2. Do not extract the ZIP or use GitHub’s source-code ZIP as an extension package.
3. Open Isaac Sim 6.0.1.
4. Open Window → Extensions.
5. Open the Extensions menu and select Import Extension.
6. Select the plugin ZIP.
7. Search for palatial.isaac.plugin or Palatial, then enable the extension if it is not enabled automatically. Clear any existing search filter, such as “featured”, if Palatial does not appear.
8. Open Window → Palatial. If the panel does not appear automatically, use the Window menu.

Update from an earlier version

1. Close the Palatial window and disable the installed Palatial extension.
2. Fully exit Isaac Sim, then start it again. Disabling an extension does not always unload it, so importing a new version into the same session can keep running parts of the old one.
3. Import the new ZIP as above and enable it.
4. In Window → Extensions, confirm that only one copy of palatial.isaac.plugin is enabled.

Your saved API key carries over. Before updating, let any generations in progress finish, or note their asset IDs so you can find them in the dashboard afterwards.

Set up your Palatial connection

The plugin needs a Palatial workspace API key to submit generations and retrieve completed assets.

1. Open the Setup section in the Palatial panel. It starts expanded.
2. Select Open API page to open the dashboard, then create or copy an API key in your workspace settings.
3. Paste it into API Key and select Save.
4. The row shows API Key: Saved. Use Change API Key to replace it, then Save or Cancel.

The plugin keeps the key in your operating system’s secure store, so you do not need to paste it each time you open Isaac Sim:

• Windows uses Windows Credential Manager.
• Linux uses your desktop session’s keyring. Run Isaac Sim inside the desktop session you log in to, and unlock the keyring if asked. If the keyring is not available, the row shows API Key: secure store unavailable and the plugin will not save the key anywhere else.

The key is never written to the plugin’s logs, queue file, or ZIP.

Your API key is workspace-scoped. Use a key from the workspace where you want the generated asset to appear. Never paste an API key into a chat message, screenshot, public issue, or source file.

Generate an asset from images

1. Expand Create new asset and choose Images under Input type.
2. Fill in Asset name and Prompt. The name must be 4–50 characters; describe the object, its size, materials, and moving parts in the prompt.
3. Choose Single image for one reference, or Multiview for two to four images of the same object.
4. For a single image, select Add in the Image slot. For multiview, add images to the Front, Left, Back, and Right slots, or use Assign up to 4 views and check the mapping. Picking a new set replaces the previous mapping. Use PNG, JPG, JPEG, or WebP files; the same file cannot occupy multiple slots.
5. Set Object behavior, Mesh density, and Collision quality under Settings. Expand Advanced for texture, mesh quality, and decimation controls.
6. Select Review. Check the files and settings, then select Generate asset to submit. Use Go back to make changes first.
7. The task joins the generation queue. Keep a Stage open. When processing finishes, the plugin downloads the export and references it into that Stage.

For multiview input, use distinct angles of the same object with consistent lighting and scale. Front, back, left, and right views work well. Avoid mixing photos of different versions of an object.

Generate an asset from text

1. Expand Create new asset and choose Text under Input type.
2. Enter Asset name and Prompt. The name must be 4–50 characters, and the prompt is required and limited to 500 characters.
3. Select Review, then Generate asset to submit.
4. Wait for the completed result to download and import into the current Stage.

Text mode has no generation settings and uploads no image. Settings selected on the Images or CAD tab do not apply to Text mode.

Generate an asset from CAD

1. Expand Create new asset and choose CAD under Input type.
2. Fill in Asset name and Prompt.
3. Add one CAD or 3D model file and wait for the input checks to finish.
4. Optionally add a Reference image (PNG, JPG, JPEG, or WebP) and a PDF Datasheet with specifications. Neither is required, but without a reference image no textures are generated: the review shows Material policy: Disabled (no reference image). Datasheets are available only in CAD mode.
5. Choose Object behavior, Material policy, and Collision quality. Open Advanced to check source units, up axis, geometry optimization, textures, and validation.
6. Select Review and inspect the actual upload files, any file adjustments, and the effective settings. Select Generate asset to submit.
7. The task joins the generation queue. Wait for the completed result to import into the current Stage.

The current plugin accepts:

Format	File extensions
STEP	.step, .stp
OBJ	.obj
GLB	.glb
FBX	.fbx
STL	.stl
USD	.usd, .usda, .usdc

IGES, JT, USDZ, GLTF, PLY, DAE, and 3DS are not accepted by this plugin. A format supported elsewhere in Palatial is not necessarily available here.

Use a self-contained model. The plugin does not upload separate material, texture, or USD dependency files. External USD dependencies block submission. For an OBJ with material-file references, the plugin removes those references from the upload copy; it can also trim extra bytes from the end of a GLB. The review identifies these adjustments, and the original source file is unchanged.

Source units and up axis

What the plugin needs depends on the file format. Auto reads units and up axis from the file when it can. It no longer assumes meters and Z-up when the file does not say.

Format	Source units	Source up axis
USD	Taken from the file. The review shows Embedded USD stage metadata.	Taken from the file.
STEP	Not needed. The review shows Not sent for this CAD format.	Required. Choose it if Auto cannot read it.
OBJ, GLB, FBX, STL	Required. Choose it if Auto cannot read it.	Required. Choose it if Auto cannot read it.

If a required value is missing, Review stops with a message asking you to select it, and no job is created.

Keeping your model's structure and appearance

Object behavior: Keep existing keeps your model’s shape and parts instead of rebuilding them. Separate rigid parts and Articulated parts rebuild the parts. Material policy: Keep existing is available only for GLBs whose embedded textures are correctly connected to materials and geometry. It does not guarantee that every part of the original scene survives generation.

Import an existing Palatial asset

If the asset already exists in your Palatial dashboard, you can import it without generating it again.

1. Open Import existing asset.
2. Copy the asset URL from the Palatial dashboard.
3. Paste the URL, or just the asset ID, into Asset URL.
4. Click Import.
5. The plugin checks that the asset is ready, adds the import to the generation queue, then downloads the result and inserts it into the current Stage when its turn comes.

The asset must be READY, and your API key must have access to it. Use the dashboard asset page URL; shared links, project links, and direct download links are not accepted.

Importing does not start a new generation. If the plugin reports insufficient tokens, resolve that in the dashboard before importing again.

Generation settings

Settings are specific to the selected input type. The basic Settings are visible below the input; Advanced starts collapsed.

Input	Settings	Advanced
Images	Object behavior, Mesh density, Collision quality	Texture size, Texture max res, Mesh quality, Decimation, Strict target/value, Optimize textures
CAD	Object behavior, Material policy, Collision quality	Source units, Source up axis, Mesh decimation, Mesh density or Strict target/value, texture controls, Run validation
Text	No settings; only Asset name and Prompt are sent	None

• Object behavior controls whether to generate one solid object, separate rigid parts, or articulation. CAD also offers Keep existing structure.
• Collision quality controls the collision representation, including SDF. Images also offers Extra high; CAD does not.
• Texture size selects 2048, 4096, or 8192 pixels. Optimize textures and Texture max res control output texture reduction. CAD texture controls appear when generating textures.
• Decimation / Mesh decimation controls geometry reduction. Automatic mode uses Mesh density; Strict mode requires a face-count target or a ratio. Choose Disabled for Images or Off for CAD to skip reduction.
• Run validation on CAD requests server-side simulation validation. It does not certify the asset for your specific Isaac Sim scene or task.

Review and generate

Review shows a read-only summary of the asset, upload files, and effective settings. Use Go back to edit them. Only Generate asset submits the paid create request.

After you confirm, the task moves to the Generation queue and the editor is ready for your next asset right away. Selecting Review and Generate asset again starts a new, separately paid request. It is not a free regeneration.

The generation queue

The Generation queue section lists every task you have confirmed, grouped under In progress, Failure states, and Completed.

• Up to five generations run in the cloud at once. Further tasks wait their turn and show their place, for example Queue #2.
• Downloads and Stage imports happen one at a time, so a row can show Waiting to download or Waiting to import.
• The plugin changes the Stage only while the Isaac Sim timeline is stopped. If a simulation is playing or paused, the row shows Stop simulation to import and the import continues once you stop it. The plugin never stops your simulation for you.
• Each active row shows the generation route Palatial used, the attempt number, its step out of five, a progress bar, and the asset ID. When Palatial does not report a percentage, the progress is marked Estimated.
• Closing the Palatial window does not cancel cloud jobs. The queue is saved, and tracking resumes when you reopen Isaac Sim, without sending any request twice.

Action	Where	What it does
Refresh	Queue header	Reads the latest status and balance for existing tasks. It never starts, restarts, or cancels anything.
Manage	Queue header	Opens the Palatial dashboard.
View on dashboard	Active, paused, failed, or canceled rows	Opens that asset in the dashboard. A row paused for your review shows Continue on dashboard instead.
Cancel	Active rows	Asks you to confirm, then stops the generation. Steps that did not complete are not charged. Cancel disappears once the download has started, and the import then finishes.
Restart	Canceled rows	Starts the same request again as a new paid attempt. The row asks you to Confirm & spend or go Back first.
View asset	Completed rows	Selects the imported asset in the Stage and frames it in the viewport.
Remove	Paused, failed, canceled, or completed rows	Asks you to confirm, then hides the row from the queue. It does not delete the asset from your dashboard. For a paused task, the generation is canceled first.

Balance and token use

The queue header shows your Available balance and when it was last updated. Each row shows the tokens its generation has used so far, adding each stage as it completes. These figures are for tracking; they are not a quote. See How tokens are consumed for how stages are charged.

Before sending a new generation, the plugin checks the last known balance against the route’s minimum balance to start. If the balance is too low, the task stays queued with Waiting for the required starting balance, and nothing is charged.

If the balance runs out during a run, the row moves to Failure states as Paused with Insufficient tokens. The queue shows that workspace tokens are needed to continue, and new generations cannot be submitted until that clears. To continue:

1. Add tokens in the dashboard. Manage opens it.
2. Select Refresh in the queue.
3. Once Palatial confirms the balance is above zero, the same asset continues on its own. The plugin does not create a new request or charge again for stages that already completed.

When a generation does not start

If Palatial turns a request down before anything is created, the row shows Generation not started with the reason, and nothing is charged. The plugin does not retry it automatically.

Reason	What to do
Insufficient tokens	Add tokens in the dashboard, then submit again.
Asset limit reached	Your workspace has reached its active-asset limit. Archive assets you no longer need, or ask your organization admin. See Organizations vs workspaces.
Settings rejected	Review the generation settings, then submit again.
Input changed	A file changed or moved after you reviewed it. Check the files, review again, then submit.
Authentication rejected or Access denied	Replace the API key in Setup, or check that it belongs to the right workspace.
Upload too large	Choose smaller files, review again, then submit.

Where the imported asset goes

The plugin adds a USD reference to the current Isaac Sim Stage under /World/Palatial/. Image jobs use /World/Palatial/imagetosim/, text jobs use /World/Palatial/texttosim/, and CAD jobs use /World/Palatial/cadtosim/. The asset ID identifies the child prim, with a leading underscore when needed for a valid USD name. After an import, the plugin selects the new asset and frames it in the viewport.

The imported package can include:

• visual geometry;
• materials and textures;
• collision geometry;
• joints and articulation data; and
• physical properties authored by Palatial.

The exact hierarchy and available properties depend on the exported asset. Import does not prove that every source material, joint, physical property, or validation requirement was preserved.

Importing the same asset again adds another copy next to the first, at the next free path such as _01 or _02. The plugin reuses the files it already downloaded and never overwrites an existing prim.

Troubleshooting

The Palatial window is missing

Open Window → Palatial. If Palatial does not appear in the Window menu, return to Window → Extensions, search for palatial.isaac.plugin, and confirm that the extension is enabled.

The ZIP is rejected during import

Select the ZIP itself. Do not extract it before using Import Extension. Confirm that you are on Isaac Sim 6.0.1 on an x86_64 computer.

The old version still appears after an update

Fully exit and restart Isaac Sim, then check Window → Extensions and make sure only one copy of palatial.isaac.plugin is enabled. See Update from an earlier version.

The plugin says the API key is missing

Open Setup → Change API Key, paste a workspace API key, and save it. If the key was revoked, create a new key in workspace settings and replace the saved one.

Linux: the API key shows secure store unavailable

Start Isaac Sim from the desktop session you are logged in to, unlock your keyring, and wait a few seconds for the plugin to check again. The plugin will not fall back to saving the key in a plain file.

Linux: Isaac Sim reports Failed to create change watch ... errno=28

This usually means the computer has run out of file-watch slots, not disk space. Check free disk space first. If the disk is fine, ask your administrator to raise the Linux inotify watch limits, then restart Isaac Sim. Do not delete Isaac Sim caches to fix this message.

Import cannot find the asset

Confirm that the URL is a Palatial asset URL, that the asset has finished processing, and that the API key belongs to the workspace that owns the asset.

Generation is still processing

Generation runs on Palatial’s servers and can continue after the plugin window closes. Check the queue row or the dashboard for the current state. If a run failed or was canceled, review and correct the inputs before submitting another paid generation.

A queue row shows a status-check warning

The plugin could not reach Palatial to update that task. This does not mean the generation failed: the row keeps its last known state and tokens used, shows when it last updated, and keeps trying. If it persists, check that the saved API key is still valid for the workspace that owns the asset.

The asset is ready but download or import failed

The row shows Generation complete and Download / import failed. The generation is not charged again. Open a Stage if none is open, stop the simulation if it is running, then paste the asset ID into Import existing asset to try the import again.

Another Isaac Sim instance is managing the queue

Only one open copy of Isaac Sim can manage the queue at a time. In a second copy, the queue is read-only and you cannot submit or change tasks. Close the other copy, then restart this one.

A row asks you to review the saved task

If you replace the API key, or the plugin cannot confirm which key a saved task was created with, it pauses the affected tasks and shows Review saved task. Check in the dashboard that the asset ID belongs to the workspace you are now connected to, then select Confirm account. Confirming never repeats a request that was already sent. A task you confirmed earlier that has not been sent yet will be sent when a slot is free, and the dialog tells you when that applies.

Submission was interrupted and new generations are paused

If a request started sending but the plugin could not confirm that an asset was created, it pauses new paid submissions so you are never charged twice. The row asks you to check the dashboard:

• If the asset exists, paste its asset ID into the row and select Track asset.
• If no asset was created, select No asset created.

Contact support if you cannot tell which applies.

The model appears but parts or joints are missing

Check that the original asset was generated with Separate rigid parts or Articulated parts. Single solid object intentionally does not request separate parts or articulation. Open the asset in the Palatial viewer to inspect its hierarchy and validation results.

Related

• Your first SimReady asset
• How the pipeline works
• The viewer
• Target simulators and exports
• How tokens are consumed