Hi,
 
I'm building an environment with some furniture using plugin models. When I run gazebo with any of my plugin models they seem to kind of "vibrate". This happens even with very simple models, consisting of single box geoms. Lowering the simulation timestep reduces the vibrations but it seems odd that only plugin models vibrate when the models already in Gazebo do not.
 
Secondly I'd like to ask about stuff like cabinets with openable doors. I've tried doing a cabinet but for some reason I had to do the door as a seperate model and attach to the main part of the cabinet in the worldfile, otherwise the door could go through the rest of the cabinet. Are models not obstructed by themselves?
 
Is there any example code for stuff like furniture somewhere?
 
-Jan