Articulated door assets: handles, latches, closers and fixtures

Every mobile robot that moves between rooms has to get through doors. What makes doors hard is not the hinge but the hardware: a lever that must be turned before the latch frees, a closer that pushes back, a fire door's push bar.

We model the hardware explicitly. Handles and knobs turn on their own joints and drive the latch, closers are springs and dampers on the door hinge, and push bars slide. Building fixtures such as elevator panels, light switches and sockets come in regional standards.