Hi @gudwnzm
It seems like your extension omni.abcd.world is trying to load the articulation when the extension manager enable it. You need to make sure that your articulation is loaded after all USD assets are ready and the simulation is running, for example, using a button…
Regarding the physics, it seems to be the current configuration is not well defined. In this scenario your door must be a child rigid-body prim joined, using a prismatic joint, to other rigid body prim inside a root articulation parent prim, for example
Inspect how are distributed and configured the prims in the .USD shared in this topic the How to turn on/off the light or object in Omniverse Creat or sim - #16 by toni.sm