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This script will pin a dynamic object in the air, while allowing it to be pushed rotationaly around the hinge. Works with any kind of object with a volume, you just need to add another volume container to the object to act as a the hinge. (NOTE: The hinge position is based on the container not the volume.)
There are no rotational restrictions. If you want to limit the rotation to an axis, such as with traffic doors, then invisible volumes will need to be created to limit the door movement. They can be placed below or above the floor as well (as part of the door object). Setting friction to 0 in object properties might help with this technique.
* I allow buyers to resell this script as part of their own products, but not as a standalone script