I am trying to implement a door that opens and closes in Isaacsim 5.0.0 (Ubuntu 24.04, RTX Pro 4000 gpu) using a single joint/hinge and an articulation controller method, but am unable to get the door to rotate open. The revolute joint (hinge) is attached to a separate link attached to the wall of the door frame. The other side of the joint is attached to the edge of the door. I have clearly identified my articulation root prim and targeted it in the properties for the articulation nodes in my action graph. Included here are some images of the action graph and a warning that is received when mouse clicking to actuate the door. I also uploaded the .usd file (converted to .usda then .txt) for anyone that would like to reproduce. Any help would be greatly appreciated!
Hi, To simulate the door open/close with the revolute joint, you should have a complete setup. As I can see from the USDA you shared, the walls and the doorbase are not rigid body enabled, thus you cannot open/close the door. I made some changes to your USD and can open/close the door. door_room.zip (8.0 KB)
Hi Peter, thank you very much for the response. I ran the model that you included without changes, and it did not work out of the box on my installation. Specifically, the door did not open on a mouse-click (but did shift slightly). After changing the desired Position Command for the door when opened to an angle in radians rather than degrees, and disabling the collider for the DoorLeaf prim, the simulation ran great!
I will work backwards and correct my original model, but before that I would like to re-enable the collision on the DoorLeaf for other interactions in this usd. Do you have any recommendations for doing this using the model that you updated?
Note: A warning was observed in the console upon initially clicking on the DoorAssembly prim under the Stage tab: [Warning] [omni.physxui.plugin] Cannot sync Solid Collision Mesh to Fabric, falling back to USD (slower) – not sure if this is relevant or not
I don’t think the warning is related. To re-enable collision on the DoorLeaf, probably it’s too close to the ground and there’re collisions when trying to open it. Try to resize the doorLeaf and make sure it has no collisions with other objects in your environment.
That was the problem. I resized the door and the scene runs as expected. Thank you so much for helping me through this issue! Great first experience on the forum.
