In this tutorial the Darwin walk through a door that opens inwards
If you executed the previous tutorials you can jump to step 3. You can follow the previous tutorials here
Clone from the Git repository :
git clone https://github.com/Bharadwaj-Ramesh/Darwin_OP.git
Copy the contents to the gazebo Models directory
cp -r Darwin_OP ~/.gazebo/models/
Go into the directory where everything is copied into
Create a build directory and compile the plugins in the build directory.
mkdir build cd build cmake .. make
Add the plugins to Gazebo plugin path.
Move the world file to the build directory.
cd .. cp darwin_door.world build cd build
Open the world file that we just copied using Gazebo in pause state.
gazebo -u darwin_door.world
Run the simulation and you will see that the Darwin-OP open the door and walk its way through.