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The border of the inside door need to be made of "Door panel corner" and "Door panel edge".
You can put what you wand inside the door panel.
You also need one "Robotic door hinge".
You can try connect the hinge to a throttle to see how it act.
Here is the most basic exemple I found.
https://steamcommunity.com/sharedfiles/filedetails/?id=1893945080&searchtext=custom+door