Open up Roblox Studio.
Create a frame for the door out of normal parts. Make sure it's not too big or not too small and anchor the parts. It's a good idea to have a model of a character so you can judge the size on that. Try not to make the frame too thin but also not too thick.
Make the hinges that hold to door together and make it open. Place a small brick preferable with the same thickness of the frame at the bottom of the frame, making sure that there is space between one side of the frame and the brick you just put down. Do the same thing symmetrically at the top of the frame - this bit is really important!
With the hinge(es) selected, go to the surface tool and select hinge. This turns the two parts into a hinge! A small axel should appear on the top of the two parts.
Create the actual door. Make a brick that fits in the frame touching the hinges but not any of the frame walls.
Anchor all the parts apart from the door and you are done! You can test your game using the play function.
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