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 in the following link Opening single Door outward and walking through

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

cd ~/.gazebo/models/Darwin_OP/Darwin-OP\Door_In

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.

export GAZEBO_PLUGIN_PATH=`pwd`:$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.