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The <dampingFactor>0.01</dampingFactor> is a pseudo-damping term applied by ODE, (different from the viscous damping in <dynamics damping="0.0" friction="0.0" /> which is applied by the gazebo_ros_controller_manager.cpp plugin). Can you try setting both of them to zero and see if that helps? Also, make sure the door is not touching the floor.

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