====== Opening Double Door Outward and Walking Through ======

In this tutorial the Darwin walks through a double door.

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If you performed the previous tutorial you can jump to the 3rd step.
You can follow the previous tutorial [[drexel_darwin_single_door_outward_sim|here]].

===== Step 1 =====

Clone from the Git repository :

  git clone https://github.com/Bharadwaj-Ramesh/Darwin_OP.git

===== Step 2 =====

Copy the contents to the gazebo Models directory

  cp -r Darwin_OP ~/.gazebo/models/

===== Step 3 =====

Go into the directory where everything is copied into

  cd ~/.gazebo/models/Darwin_OP/Darwin-OP/double_Door

===== Step 3 =====

Create a build directory and compile the plugins in the build directory.

  mkdir build
  cd build
  cmake ..
  make

===== Step 4 =====

Add the plugins to Gazebo plugin path.

  export GAZEBO_PLUGIN_PATH=`pwd`:$GAZEBO_PLUGIN_PATH

===== Step 5 =====

Move the world file to the build directory.

  cd ..
  cp  	darwin_door.world build
  cd build

===== Step 6 =====

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.