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Simulator integration

MuJoCo (reference)

import mujoco
m = mujoco.MjModel.from_xml_path("assets/doors/db0002_swing_single/door.xml")   # or door_simple.xml / door_minimal.xml

  • scene.xml includes door.xml and sets statistics for the viewer.

  • Meshes resolve via meshdir="../../hardware"; keep the folder structure or edit <compiler meshdir>.

  • Merge with a robot using mujoco.MjSpec (see doorbench/benchmark/env.py::DoorEnv._build).

  • MJX: use door_simple.xml / door_minimal.xml (primitives only, no tendon limits in minimal).

  • Import / physics test over the generated dataset (one door per family + 20 seeded random doors; all tiers, scene.xml, door.urdf, 500 free steps, QA hold / actuate / relatch / closer, DoorEnv episode, clearance gate):

    pytest -q tests/test_mujoco_import.py            # ~5 s; DOORBENCH_ASSETS=<dir> to test another dataset directory
python scripts/demo_mujoco.py --ids db0002_swing_single --out /tmp/demo    # video of a programmatic hand opening it

Isaac Sim / Isaac Lab (USD)

  • door.usda (full fidelity): default prim /<door_id> with Env (static colliders + sites) and Articulation (UsdPhysics.ArticulationRootAPI, fixed base link joined to the world, one tree). Rigid bodies carry explicit mass properties; collision shapes are boxes/capsules/spheres + convex-hull meshes referenced from assets/hardware/*.usdc; revolute/prismatic joints have limits, force drives carrying closer / latch / return springs (stiffness, damping, targetPosition), armature and Coulomb friction as physxJointAxis:angular|linear:staticFrictionEffort (N·m / N, PhysX ≥ 5.6; the legacy load-dependent physxJoint:jointFriction coefficient is authored 0). MJCF position servos of spring-less joints (automatic sliders) are the PhysX drive itself (doorbench:servo_in_drive); see docs/ISAAC_LAB.md for the full MuJoCo → PhysX parameter mapping.
  • door_rl.usda (canonical): the same 8 links / 7 joints for every door (door_slide, door_hinge, operator_hinge, operator_slide, latch_slide, leaf2_slide, leaf2_hinge; unused slots locked) so Isaac Lab's MultiUsdFileCfg can put a different door in every environment; doorbench:rl on the root describes the live slots, thresholds, grip points and sites.
  • Couplings are PhysxMimicJointAPI on the driven joint only when both axes are rotational (hook ← handle, dog ← wheel): PhysX articulation mimic joints support rotational axes only and drop the rest silently. Thumbturn → deadbolt, wheel → bolts, cremone and riser ← hinge instead carry doorbench:coupling_* on the driven joint prim (gearing, offset, the driven DOF's effective inertia, its passive law and gravity bias) plus doorbench:coupling_reflected_armature on the driver, so a consumer applies them bilaterally — driven joint tracked, reaction c₁·τ_driven on the driver. Everything is also in doorbench:couplings (JSON).
  • Environment-released locks (mag lock, delayed egress, electric bolt, interlock) are breakable UsdPhysics.FixedJoints base → leaf with physics:excludeFromArticulation, breakForce = breakTorque = holding_force_N and physics:jointEnabled (listed in doorbench:env_release); clear jointEnabled to release (doorbench_isaaclab.mdp.release_env_lock / DoorEnv._lock_logic). The one-sided latch coupling and the closer asymmetry stay environment logic (doorbench_isaaclab.mdp.DoorMechanismAction).
  • Self-collision is on (physxArticulation:enabledSelfCollisions), with PhysxFilteredPairsAPI for every pair MuJoCo suppresses (same weld body, weld parent/child, <contact><exclude>), so latches that hold one moving link against another (swing pairs, lift pins, drop bolts) behave as in MuJoCo.
  • Ready-made Isaac Lab tasks, training / evaluation / hero-shot scripts and a one-command GPU-box setup: docs/ISAAC_LAB.md, isaaclab/README.md. Static validation of every USD: python scripts/isaaclab/validate_usd_static.py (1000/1000 pass); Isaac Sim import validation: bash isaaclab/cloud/validate.sh (GPU).

URDF (Genesis, PyBullet, Gazebo, Drake …)

  • door.urdf: root link world_env (frame + walls), leaf joints (revolute/prismatic) with <dynamics damping friction> and <limit>. Joint zero is the spec's initial state (doorbench:zero_offset).
  • Springs (doorbench:spring), closers (doorbench:closer), ratchets, welds and loop closures are extension elements — apply them with your simulator's joint-spring API.
  • <mimic> couplings are bilateral; the latch bolt follows the operator.

Genesis

import genesis as gs
scene = gs.Scene()
door = scene.add_entity(gs.morphs.URDF(file="assets/doors/db0002_swing_single/door.urdf", fixed=True))

Photoreal rendering

blender/render_door.py (Blender 4.x/5.x, headless) rebuilds a door from model.json with Poly Haven CC0 PBR textures referenced by spec.leaf.finish.texture / material ids, glass & mirror shaders, and an HDRI, and renders the catalogue "hero" images.