Palatial V0.2: Articulated Assets at Scale
A refrigerator that doesn't open is a prop. A refrigerator with working doors and drawers, each with the right axis, travel limit, and resistance, is training data.
Today we're announcing Palatial V0.2. It is the only automated pipeline for generating articulated, simulation-ready assets at scale, and we're rolling it out to early-access users over the coming weeks.
Robotic manipulation depends on opening, pulling, pressing, and turning. Most 3D content is rigid because articulation is still one of the hardest properties to author. A joint needs a hierarchy, axis, origin, limit range, and drive. One wrong value can make an asset fight the simulator. Teams still rig most articulated objects by hand, often spending an engineer-afternoon on each one.
Two ways to build the joints
V0.2 takes an image or text description and chooses one of two articulation routes for the object.
The feed-forward route predicts the kinematic structure and emits a jointed asset in one pass. It is fast and covers the mechanisms robots meet every day: doors, drawers, lids, hinges, and sliders.
The agentic route takes the object apart. The mesh is segmented into parts, a vision-language model groups them into functional components, and an agent reasons about what moves and how. It explicitly authors the joint type, axis, origin, and limits. We use this route for unusual mechanisms, multi-joint appliances, and objects that aren't represented in a training set.
Each route gives every moving part its own collision geometry through convex decomposition. A drawer can slide inside its cabinet instead of clipping through the frame during motion.
Proof for each asset
Every articulated asset is exercised in Isaac Sim before it ships. We sweep each joint through its full range, check collision behavior while it moves, and include a validation video plus a report.
Articulated assets use a separate validation profile from single rigid bodies. A stable drop and a working hinge prove different things. If a hinge binds or a door swings through its frame, the pipeline catches it before you do.
Three weeks after early access
We opened early access three weeks ago, and more than 150 companies have signed up. The pattern in what they generate is clear. Rigid props are table stakes for manipulation teams. What they need next is cabinets, drawers, appliances, the everyday world with its joints intact.
Nobody can hand-rig an entire simulated warehouse. Robotics teams need more than a hundred sample objects. They need their operating world, with the articulation intact.
Automating articulation turns an asset pack into a supply chain. V0.2 starts rolling out today.