====== Opening Single Door Inward and Walking Through ======

In this tutorial the Darwin walk through a door that opens inwards

{{youtube>HIblGtYQAr4?large}}\\ 

If you executed the previous tutorials you can jump to step 3.
You can follow the previous tutorials [[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\Door_In

===== 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.