Gazebo - elevator doors don't stay put

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Hi, I'm trying to model an elevator with doors that move out and in, like normal elevators.

I'm not an expert on collisions, isKinematic, and isGravity but the interaction of these seems to put a torque on the doors, and they rotate about their CoM. As it stands, the doors have collision geometries, the walls of the elevator do not, the doors are slightly elevated from the ground. The doors do not have gravity or kinematic enabled.

I have a script running that actually animates the opening and closing, and that worked, but a few changes to my gazebo world, and it hit the same problem again !

I'm quickly losing my patience with Gazebo (just me?) but would be highly appreciative of any help.

Edit: I'm remaking the entire world and am not seeing any drift, with gravity and kinematic both false. And now they are staying in place.

I'm running into a new problem where I need to put a robot on the elevator floor. The floor has a collision box, not gravity and no kinematics. I'd like to be able to control by adding a force up or down. However, when the robot gets on top of it, that force effects the floor ... is there a good way to fix this problem?

Edit #2: I now realize that I can make the floor stay in place by changing kinematic to true. However, now I can't apply forces to the floor to move it in an animated way. I know I can just update the raw position, but this seems like a convoluted approach. What's the best practice way to do this?

Thanks