diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4f7a049..ec00769 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,22 +1,45 @@
-cmake_minimum_required(VERSION 3.0.2)
-project(floorplan-dsl-environments)
+cmake_minimum_required(VERSION 3.8)
+project(floorplan_models)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
 # add_compile_options(-std=c++11)
 
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED gazebo_ros)
+## Find colcon macros and libraries
+## if COMPONENTS list like find_package(COLCON REQUIRED COMPONENTS xyz)
+## is used, also find other colcon packages
+#find_package(COLCON REQUIRED COMPONENTS
+#  gz_cmake_vendor
+#  gz-cmake3
+#  gz_physics_vendor
+#  gz-physics
+#  gz_utils_vendor
+#  gz-utils
+#  gz_plugin_vendor
+#  gz-plugin
+#  Eigen3
+#  gz_math_vendor
+#  gz-math
+#  gz_common_vendor
+#  gz-common
+#  # gz_msgs_vendor
+#  # gz-msgs
+#  gz_sim_vendor
+#  gz-sim
+#)
+
+# Find Gazebo
+find_package(ament_cmake REQUIRED)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
 
 
+
+
 ## Uncomment this if the package has a setup.py. This macro ensures
 ## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
+## See http://ros.org/doc/api/colcon/html/user_guide/setup_dot_py.html
+# colcon_python_setup()
 
 ################################################
 ## Declare ROS messages, services and actions ##
@@ -34,9 +57,9 @@ find_package(catkin REQUIRED gazebo_ros)
 ##     * add a exec_depend tag for "message_runtime"
 ## * In this file (CMakeLists.txt):
 ##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
+##     find_package(COLCON REQUIRED COMPONENTS ...)
 ##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
+##     colcon_package(COLCON_DEPENDS ...)
 ##   * uncomment the add_*_files sections below as needed
 ##     and list every .msg/.srv/.action file to be processed
 ##   * uncomment the generate_messages entry below
@@ -79,7 +102,7 @@ find_package(catkin REQUIRED gazebo_ros)
 ##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
 ## * In this file (CMakeLists.txt):
 ##   * add "dynamic_reconfigure" to
-##     find_package(catkin REQUIRED COMPONENTS ...)
+##     find_package(COLCON REQUIRED COMPONENTS ...)
 ##   * uncomment the "generate_dynamic_reconfigure_options" section below
 ##     and list every .cfg file to be processed
 
@@ -90,20 +113,20 @@ find_package(catkin REQUIRED gazebo_ros)
 # )
 
 ###################################
-## catkin specific configuration ##
+## colcon specific configuration ##
 ###################################
-## The catkin_package macro generates cmake config files for your package
+## The colcon_package macro generates cmake config files for your package
 ## Declare things to be passed to dependent projects
 ## INCLUDE_DIRS: uncomment this if your package contains header files
 ## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## colcon_DEPENDS: colcon_packages dependent projects also need
 ## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES floorplan-dsl-environments
- CATKIN_DEPENDS gazebo_ros
-#  DEPENDS system_lib
-)
+#colcon_package(
+##  INCLUDE_DIRS include
+##  LIBRARIES floorplan_gazebo_plugins
+##  COLCON_DEPENDS gazebo_ros
+##  DEPENDS system_lib
+#)
 
 ###########
 ## Build ##
@@ -111,25 +134,27 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-include_directories(
-# include
-# ${catkin_INCLUDE_DIRS}
-)
+#include_directories(
+## include
+#  ${COLCON_INCLUDE_DIRS}
+#)
+
+
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/floorplan-dsl-environments.cpp
+#   src/${PROJECT_NAME}/floorplan_gazebo_plugins.cpp
 # )
 
 ## Add cmake target dependencies of the library
 ## as an example, code may need to be generated before libraries
 ## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${COLCON_EXPORTED_TARGETS})
 
 ## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
+## With colcon_make all packages are built within a single CMake context
 ## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/floorplan-dsl-environments_node.cpp)
+# add_executable(${PROJECT_NAME}_node src/floorplan_gazebo_plugins_node.cpp)
 
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
@@ -139,44 +164,44 @@ include_directories(
 
 ## Add cmake target dependencies of the executable
 ## same as for the library above
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${COLCON_EXPORTED_TARGETS})
 
 ## Specify libraries to link a library or executable target against
 # target_link_libraries(${PROJECT_NAME}_node
-#   ${catkin_LIBRARIES}
+#   ${COLCON_LIBRARIES}
 # )
 
 #############
 ## Install ##
 #############
 
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+# all install targets should use colcon DESTINATION variables
+# See http://ros.org/doc/api/colcon/html/adv_user_guide/variables.html
 
 ## Mark executable scripts (Python etc.) for installation
 ## in contrast to setup.py, you can choose the destination
-catkin_install_python(PROGRAMS
-  scripts/simple_exsce_recorder
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
+# colcon_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${COLCON_PACKAGE_BIN_DESTINATION}
+# )
 
 ## Mark executables for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+## See http://docs.ros.org/melodic/api/colcon/html/howto/format1/building_executables.html
 # install(TARGETS ${PROJECT_NAME}_node
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+#   RUNTIME DESTINATION ${COLCON_PACKAGE_BIN_DESTINATION}
 # )
 
 ## Mark libraries for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+## See http://docs.ros.org/melodic/api/colcon/html/howto/format1/building_libraries.html
 # install(TARGETS ${PROJECT_NAME}
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+#   ARCHIVE DESTINATION ${COLCON_PACKAGE_LIB_DESTINATION}
+  # LIBRARY DESTINATION ${COLCON_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${COLCON_GLOBAL_BIN_DESTINATION}
 # )
 
 ## Mark cpp header files for installation
 # install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   DESTINATION ${COLCON_PACKAGE_INCLUDE_DESTINATION}
 #   FILES_MATCHING PATTERN "*.h"
 #   PATTERN ".svn" EXCLUDE
 # )
@@ -185,7 +210,7 @@ catkin_install_python(PROGRAMS
 # install(FILES
 #   # myfile1
 #   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+#   DESTINATION ${COLCON_PACKAGE_SHARE_DESTINATION}
 # )
 
 #############
@@ -193,10 +218,10 @@ catkin_install_python(PROGRAMS
 #############
 
 ## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_floorplan-dsl-environments.cpp)
+# colcon_add_gtest(${PROJECT_NAME}-test test/test_floorplan_gazebo_plugins.cpp)
 # if(TARGET ${PROJECT_NAME}-test)
 #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
 # endif()
 
 ## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
+# colcon_add_nosetests(test)
diff --git a/frontiers_brsu_building_c/models/objects/adversarial-plugin-states.json b/frontiers_brsu_building_c/models/objects/adversarial-plugin-states.json
new file mode 100644
index 0000000..08e6b2b
--- /dev/null
+++ b/frontiers_brsu_building_c/models/objects/adversarial-plugin-states.json
@@ -0,0 +1,48 @@
+{
+    "@context": [
+        {
+            "pl": "https://secorolab.github.io/metamodels/plugin#",
+	    "door": "https://secorolab.github.io/models/door#"
+        },
+        "https://secorolab.github.io/metamodels/floor-plan/object.json",
+        "https://secorolab.github.io/metamodels/floor-plan/plugin.json"
+    ],
+    "@graph": [
+        {
+            "@id": "pl:door-opened-to-closed-adversarial-plugin",
+            "@type": "PluginConfiguration",
+            "plugin-type": "adversarial",
+            "transition": "door:transition-from-door-fully-opened-to-door-fully-closed"
+        },
+        {
+            "@id": "pl:door-closed-to-opened-adversarial-plugin",
+            "@type": "PluginConfiguration",
+            "plugin-type": "adversarial",
+            "transition": "door:transition-from-door-fully-closed-to-door-fully-opened"
+        },
+        {
+            "@id": "pl:door-closed-to-partially-adversarial-plugin",
+            "@type": "PluginConfiguration",
+            "plugin-type": "adversarial",
+            "transition": "door:transition-from-door-fully-closed-to-door-partially-opened"
+        },
+        {
+            "@id": "pl:door-partially-to-closed-adversarial-plugin",
+            "@type": "PluginConfiguration",
+            "plugin-type": "adversarial",
+            "transition": "door:transition-from-door-partially-opened-to-door-fully-closed"
+        },
+        {
+            "@id": "pl:door-partially-to-opened-adversarial-plugin",
+            "@type": "PluginConfiguration",
+            "plugin-type": "adversarial",
+            "transition": "door:transition-from-door-partially-opened-to-door-fully-opened"
+        },
+        {
+            "@id": "pl:door-opened-to-partially-adversarial-plugin",
+            "@type": "PluginConfiguration",
+            "plugin-type": "adversarial",
+            "transition": "door:transition-from-door-fully-opened-to-door-partially-opened"
+        }
+    ]
+}   
diff --git a/frontiers_brsu_building_c/models/objects/dynamic-plugin-states.json b/frontiers_brsu_building_c/models/objects/dynamic-plugin-states.json
new file mode 100644
index 0000000..262eb4f
--- /dev/null
+++ b/frontiers_brsu_building_c/models/objects/dynamic-plugin-states.json
@@ -0,0 +1,17 @@
+{
+    "@context": [
+        {
+            "pl": "https://secorolab.github.io/metamodels/plugin#",
+	    "door": "https://secorolab.github.io/models/door#"
+        },
+        "https://secorolab.github.io/metamodels/floor-plan/object.json",
+        "https://secorolab.github.io/metamodels/floor-plan/plugin.json"
+    ],
+    "@graph": [
+        {
+            "@id": "pl:door-dynamic-plugin",
+            "@type": "PluginConfiguration",
+            "plugin-type": "dynamic"
+        }
+    ]
+}   
diff --git a/frontiers_brsu_building_c/models/objects/initial-state-plugin-states.json b/frontiers_brsu_building_c/models/objects/initial-state-plugin-states.json
new file mode 100644
index 0000000..f1a202f
--- /dev/null
+++ b/frontiers_brsu_building_c/models/objects/initial-state-plugin-states.json
@@ -0,0 +1,30 @@
+{
+    "@context": [
+        {
+            "pl": "https://secorolab.github.io/metamodels/plugin#",
+	    "door": "https://secorolab.github.io/models/door#"
+        },
+        "https://secorolab.github.io/metamodels/floor-plan/object.json",
+        "https://secorolab.github.io/metamodels/floor-plan/plugin.json"
+    ],
+    "@graph": [
+        {
+            "@id": "pl:door-fully-opened-init-plugin",
+            "@type": "PluginConfiguration",
+            "plugin-type": "initial",
+            "state": "door:door-fully-opened"
+        },
+        {
+            "@id": "pl:door-partially-opened-init-plugin",
+            "@type": "PluginConfiguration",
+            "plugin-type": "initial",
+            "state": "door:door-partially-opened"
+        },
+        {
+            "@id": "pl:door-fully-closed-init-plugin",
+            "@type": "PluginConfiguration",
+            "plugin-type": "initial",
+            "state": "door:door-fully-opened"
+        }
+    ]
+}   
diff --git a/frontiers_brsu_building_c/models/objects/object-door-instance-1.json b/frontiers_brsu_building_c/models/objects/object-door-instance-1.json
index 9fc3c0d..47b4ccc 100644
--- a/frontiers_brsu_building_c/models/objects/object-door-instance-1.json
+++ b/frontiers_brsu_building_c/models/objects/object-door-instance-1.json
@@ -9,6 +9,7 @@
         "https://comp-rob2b.github.io/metamodels/geometry/structural-entities.json",
         "https://comp-rob2b.github.io/metamodels/geometry/coordinates.json",
         "https://secorolab.github.io/metamodels/floor-plan/object.json",
+        "https://secorolab.github.io/metamodels/floor-plan/plugin.json",
         "https://secorolab.github.io/metamodels/geometry/polytope.json",
         "https://secorolab.github.io/metamodels/floor-plan/state.json",
         "https://comp-rob2b.github.io/metamodels/qudt.json",
@@ -54,7 +55,19 @@
             "frame": "geom:frame-location-door-1",
             "of-object": "door:door",
             "world": "floorplan:frontiers_brsu_building_c",
-            "start-state": "door:door-partially-opened"
+            "plugins": [
+                {
+		    "@id": "pl:door-opened-to-closed-adversarial-plugin",
+		    "distance": "0.9"
+	        },
+                {
+                    "@id": "pl:door-dynamic-plugin",
+                    "uri": "testURI"
+                },
+                {
+                    "@id": "pl:door-partially-opened-init-plugin"
+                }
+            ]
         },
         {
             "@id": "world-frame-tag",
@@ -62,4 +75,4 @@
             "frame": "geom:world-frame"
         }
     ]
-}
\ No newline at end of file
+}
diff --git a/frontiers_brsu_building_c/models/objects/object-door-states.json b/frontiers_brsu_building_c/models/objects/object-door-states.json
new file mode 100644
index 0000000..a66a1b7
--- /dev/null
+++ b/frontiers_brsu_building_c/models/objects/object-door-states.json
@@ -0,0 +1,123 @@
+{
+    "@context": [
+        {
+            "door": "https://secorolab.github.io/models/door#"
+        },
+        "https://comp-rob2b.github.io/metamodels/geometry/spatial-relations.json",
+        "https://comp-rob2b.github.io/metamodels/geometry/structural-entities.json",
+        "https://comp-rob2b.github.io/metamodels/geometry/coordinates.json",
+        "https://comp-rob2b.github.io/metamodels/kinematic-chain/structural-entities.json",
+        "https://secorolab.github.io/metamodels/floor-plan/object.json",
+        "https://secorolab.github.io/metamodels/geometry/polytope.json",
+        "https://secorolab.github.io/metamodels/floor-plan/state.json",
+        "https://comp-rob2b.github.io/metamodels/qudt.json",
+        "https://secorolab.github.io/metamodels/geometry/coordinate-extension.json"
+    ],
+    "@graph": [
+        {
+            "@id": "door:door-fully-opened",
+            "@type": "State"
+        },
+        {
+            "@id": "door:joint-pose-door-fully-opened",
+            "@type": [ "JointReference", "JointPosition", "RevoluteJointPosition", "RevoluteJointPositionCoordinate", "JointLowerLimit" ],
+            "of-joint": "door:joint-door-hinge",
+            "quantity-kind": "Angle",
+            "unit": "RAD",
+            "value": 1.6
+        },
+        {
+            "@id": "door:joint-state-door-fully-opened",
+            "@type": "JointState",
+            "joint": "door:joint-door-hinge",
+            "pose": "door:joint-pose-door-fully-opened",
+            "state": "door:door-fully-opened"
+        },
+        {
+            "@id": "door:door-partially-opened",
+            "@type": "State"
+        },
+        {
+            "@id": "door:joint-pose-door-partially-opened",
+            "@type": [ "JointReference", "JointPosition", "RevoluteJointPosition", "RevoluteJointPositionCoordinate", "JointLowerLimit" ],
+            "of-joint": "door:joint-door-hinge",
+            "quantity-kind": "Angle",
+            "unit": "RAD",
+            "value": 0.7
+        },
+        {
+            "@id": "door:joint-state-door-partially-opened",
+            "@type": "JointState",
+            "joint": "door:joint-door-hinge",
+            "pose": "door:joint-pose-door-partially-opened",
+            "state": "door:door-partially-opened"
+        },
+        {
+            "@id": "door:door-fully-closed",
+            "@type": "State"
+        },
+        {
+            "@id": "door:joint-pose-door-fully-closed",
+            "@type": [ "JointReference", "JointPosition", "RevoluteJointPosition", "RevoluteJointPositionCoordinate", "JointLowerLimit" ],
+            "of-joint": "door:joint-door-hinge",
+            "quantity-kind": "Angle",
+            "unit": "RAD",
+            "value": 0.0
+        },
+        {
+            "@id": "door:joint-state-door-fully-closed",
+            "@type": "JointState",
+            "joint": "door:joint-door-hinge",
+            "pose": "door:joint-pose-door-fully-closed",
+            "state": "door:door-fully-closed"
+        },
+        {
+            "@id": "door:transition-from-door-fully-closed-to-door-fully-opened",
+            "@type": "Transition",
+            "start-state": "door:door-fully-closed",
+            "end-state": "door:door-fully-opened"
+        },
+        {
+            "@id": "door:transition-from-door-fully-opened-to-door-fully-closed",
+            "@type": "Transition",
+            "start-state": "door:door-fully-opened",
+            "end-state": "door:door-fully-closed"
+        },
+        {
+            "@id": "door:transition-from-door-fully-closed-to-door-partially-opened",
+            "@type": "Transition",
+            "start-state": "door:door-fully-closed",
+            "end-state": "door:door-partially-opened"
+        },
+        {
+            "@id": "door:transition-from-door-partially-opened-to-door-fully-closed",
+            "@type": "Transition",
+            "start-state": "door:door-partially-opened",
+            "end-state": "door:door-fully-closed"
+        },
+        {
+            "@id": "door:transition-from-door-partially-opened-to-door-fully-opened",
+            "@type": "Transition",
+            "start-state": "door:door-partially-opened",
+            "end-state": "door:door-fully-opened"
+        },
+        {
+            "@id": "door:transition-from-door-fully-opened-to-door-partially-opened",
+            "@type": "Transition",
+            "start-state": "door:door-fully-opened",
+            "end-state": "door:door-partially-opened"
+        },
+        {
+            "@id": "door:transition-table-door-object",
+            "@type": "TransitionTable",
+            "transitions": [
+                "door:transition-from-door-fully-closed-to-door-fully-opened",
+                "door:transition-from-door-fully-opened-to-door-fully-closed",
+                "door:transition-from-door-fully-closed-to-door-partially-opened",
+                "door:transition-from-door-partially-opened-to-door-fully-closed",
+                "door:transition-from-door-partially-opened-to-door-fully-opened",
+                "door:transition-from-door-fully-opened-to-door-partially-opened"
+            ]
+        }
+    ]
+}   
diff --git a/frontiers_brsu_building_c/models/objects/object-door.json b/frontiers_brsu_building_c/models/objects/object-door.json
new file mode 100644
index 0000000..ad4f941
--- /dev/null
+++ b/frontiers_brsu_building_c/models/objects/object-door.json
@@ -0,0 +1,369 @@
+{
+    "@context": [
+        {
+            "door": "https://secorolab.github.io/models/door#"
+        },
+        "https://comp-rob2b.github.io/metamodels/geometry/structural-entities.json",
+        "https://comp-rob2b.github.io/metamodels/geometry/spatial-relations.json",
+        "https://comp-rob2b.github.io/metamodels/geometry/coordinates.json",
+        "https://secorolab.github.io/metamodels/geometry/polytope.json",
+        "https://comp-rob2b.github.io/metamodels/kinematic-chain/structural-entities.json",
+        "https://comp-rob2b.github.io/metamodels/kinematic-chain/state.json",
+        "https://comp-rob2b.github.io/metamodels/qudt.json",
+        "https://comp-rob2b.github.io/metamodels/newtonian-rigid-body-dynamics.json",
+        "https://secorolab.github.io/metamodels/floor-plan/object.json",
+        "https://secorolab.github.io/metamodels/simulation/gazebo.json",
+        "https://secorolab.github.io/metamodels/geometry/coordinate-extension.json"
+    ],
+    "@graph": [ 
+        {
+            "@id": "door:point-door-holder-origin",
+            "@type": [ "3D", "Euclidean", "Point" ]
+        },
+        {
+            "@id": "door:point-joint-door-hinge-origin",
+            "@type": [ "3D", "Euclidean", "Point" ]
+        },
+        {
+            "@id": "door:point-door-body-origin",
+            "@type": [ "3D", "Euclidean", "Point" ]
+        },
+        {
+            "@id": "door:point-object-door-origin",
+            "@type": [ "3D", "Euclidean", "Point" ]
+        },
+        {
+            "@id": "door:point-door-body-center-origin",
+            "@type": [ "3D", "Euclidean", "Point" ]
+        },
+        {
+            "@id": "door:frame-object-door",
+            "@type": "Frame",
+            "origin": "door:point-object-door-origin"
+        },
+        {
+            "@id": "door:frame-door-body-center",
+            "@type": "Frame",
+            "origin": "door:point-door-body-center-origin"
+        },
+        {
+            "@id": "door:vector-joint-door-hinge-joint-x",
+            "@type": [ "3D", "Euclidean", "Vector", "BoundVector", "UnitLength" ],
+            "start": "door:point-door-hinge-origin"
+        },
+        {
+            "@id": "door:vector-joint-door-hinge-joint-y",
+            "@type": [ "3D", "Euclidean", "Vector", "BoundVector", "UnitLength" ],
+            "start": "door:point-door-hinge-origin"
+        },
+        {
+            "@id": "door:vector-joint-door-hinge-joint-z",
+            "@type": [ "3D", "Euclidean", "Vector", "BoundVector", "UnitLength" ],
+            "start": "door:point-door-hinge-origin"
+        },
+        {
+            "@id": "door:vector-door-body-origin-x",
+            "@type": [ "3D", "Euclidean", "Vector", "BoundVector", "UnitLength" ],
+            "start": "door:point-door-body-origin"
+        },
+        {
+            "@id": "door:vector-door-body-origin-y",
+            "@type": [ "3D", "Euclidean", "Vector", "BoundVector", "UnitLength" ],
+            "start": "door:point-door-body-origin"
+        },
+        {
+            "@id": "door:vector-door-body-origin-z",
+            "@type": [ "3D", "Euclidean", "Vector", "BoundVector", "UnitLength" ],
+            "start": "door:point-door-body-origin"
+        },
+        {
+            "@id": "door:frame-door-holder-origin",
+            "@type": [ "3D", "Euclidean", "Frame", "Orthonormal", "RigidBody", "RightHanded" ],
+            "origin": "door:point-door-holder-origin"
+        },
+        {
+            "@id": "door:frame-joint-door-hinge",
+            "@type": ["3D", "Euclidean", "Frame", "Orthonormal", "RigidBody", "RightHanded", "OriginVectorsXYZ"],
+            "origin": "door:point-joint-door-hinge-origin",
+            "vector-x": "door:vector-joint-door-hinge-joint-x",
+            "vector-y": "door:vector-joint-door-hinge-joint-y",
+            "vector-z": "door:vector-joint-door-hinge-joint-z"
+        },
+        {
+            "@id": "door:frame-door-body-hinge",
+            "@type": ["3D", "Euclidean", "Frame", "Orthonormal", "RigidBody", "RightHanded", "OriginVectorsXYZ"],
+            "origin": "door:point-door-body-origin",
+            "vector-x": "door:vector-door-body-origin-x",
+            "vector-y": "door:vector-door-body-origin-y",
+            "vector-z": "door:vector-door-body-origin-z"
+        },
+        {
+            "@id": "door:door-hinge",
+            "@type": [ "SimplicialComplex", "RigidBody" ],
+            "simplices": [
+                "door:frame-door-holder-origin",
+                "door:frame-joint-door-hinge",
+                "door:point-joint-door-hinge-origin",
+                "door:vector-joint-door-hinge-joint-x",
+                "door:vector-joint-door-hinge-joint-y",
+                "door:vector-joint-door-hinge-joint-z"
+            ]
+        },
+        {
+            "@id": "door-body",
+            "@type": [ "SimplicialComplex", "RigidBody" ],
+            "simplices": [
+                "door:frame-door-body-hinge",
+                "door:point-door-body-origin",
+                "door:vector-door-body-origin-x",
+                "door:vector-door-body-origin-y",
+                "door:vector-door-body-origin-z"
+            ]
+        },
+        {
+            "@id": "door:pose-frame-door-holder-wrt-frame-object-door",
+            "@type": "Pose",
+            "of": "door:frame-door-holder-origin",
+            "with-respect-to": "door:frame-object-door"
+        },
+        {
+            "@id": "door:pose-frame-joint-door-hinge-wrt-frame-door-holder-origin",
+            "@type": "Pose",
+            "of": "door:frame-joint-door-hinge",
+            "with-respect-to": "door:frame-door-holder-origin",
+            "quantity-kind": [ "Angle", "Length" ]
+        },
+        {
+            "@id": "door:pose-frame-door-body-origin-wrt-frame-joint-door-hinge",
+            "@type": "Pose",
+            "of": "door:frame-door-body-hinge",
+            "with-respect-to": "door:frame-joint-door-hinge",
+            "quantity-kind": [ "Angle", "Length" ]
+        },
+        {
+            "@id": "door:offset-frame-joint-door-hinge",
+            "@type": "Position",
+            "of": "door:point-door-body-origin",
+            "with-respect-to": "door:point-joint-door-hinge-origin",
+            "quantity-kind": "Length"
+        },
+        {
+            "@id": "door:pose-frame-door-body-center-wrt-frame-door-body-origin",
+            "@type": "Pose",
+            "of": "door:frame-door-body-center",
+            "with-respect-to": "door:frame-door-body-hinge",
+            "quantity-kind": [ "Angle", "Length" ]
+        },
+        {
+            "@id": "door:coord-pose-frame-door-holder-wrt-frame-object-door",
+            "@type": [
+                "PoseReference",
+                "PoseCoordinate",
+                "VectorXYZ"
+            ],
+            "unit": ["M", "RAD"],
+            "of-pose": "door:pose-frame-door-holder-wrt-frame-object-door",
+            "as-seen-by": "door:frame-object-door",
+            "x": 0,
+            "y": 0,
+            "z": 0.995,
+            "theta": 0
+        },
+        {
+            "@id": "door:coord-pose-frame-joint-door-hinge-wrt-frame-door-holder-origin",
+            "@type": [
+                "PoseReference",
+                "PoseCoordinate",
+                "VectorXYZ"
+            ],
+            "unit": ["M", "RAD"],
+            "of-pose": "door:pose-frame-joint-door-hinge-wrt-frame-door-holder-origin",
+            "as-seen-by": "door:frame-door-holder-origin",
+            "x": -0.025,
+            "y": 0.025,
+            "z": 0,
+            "theta": 0
+        },
+        {
+            "@id": "door:coord-pose-frame-door-body-origin-wrt-frame-joint-door-hinge",
+            "@type": [
+                "PoseReference",
+                "PoseCoordinate",
+                "VectorXYZ"
+            ],
+            "unit": ["M", "RAD"],
+            "of-pose": "door:pose-frame-door-body-origin-wrt-frame-joint-door-hinge",
+            "as-seen-by": "door:frame-joint-door-hinge",
+            "x": 0,
+            "y": 0,
+            "z": 0,
+            "theta": 0
+        },
+        {
+            "@id": "door:coord-pose-frame-door-body-center-wrt-frame-door-body-origin",
+            "@type": [
+                "PoseReference",
+                "PoseCoordinate",
+                "VectorXYZ"
+            ],
+            "unit": ["M", "RAD"],
+            "of-pose": "door:pose-frame-door-body-center-wrt-frame-door-body-origin",
+            "as-seen-by": "door:frame-door-body-hinge",
+            "x": 0.025,
+            "y": 0.465,
+            "z": 0.005,
+            "theta": 0
+        },
+        {
+            "@id": "door:common-axis-door-hinge",
+            "@type": "LineCollinearity",
+            "lines": ["door:vector-joint-door-hinge-joint-z", "door:vector-door-body-origin-z"]
+        },
+        {
+            "@id": "door:joint-door-hinge",
+            "@type": [ "Joint", "RevoluteJoint", "RevoluteJointWithPolarity"],
+            "between-attachments": ["door:door-hinge", "door:door-body"],
+            "common-axis": "door:common-axis-door-hinge",
+            "origin-offset": "door:offset-frame-joint-door-hinge",
+            "positive-direction": "door:vector-door-body-origin-z",
+            "handedness": "RightHanded"
+        },
+        {
+            "@id": "door:joint-door-hinge-tree",
+            "@type": "JointWithTree",
+            "joint-without-tree": "door:joint-door-hinge",
+            "parent": "door:door-hinge",
+            "children": ["door:door-body"]
+        },
+        {
+            "@id": "door:kinematic-chain-door",
+            "@type": "KinematicChain",
+            "joints": ["door:joint-door-hinge"]
+        },
+        {
+            "@id": "door:zero-configuration-joint-door-hinge",
+            "@type": [ "JointZeroConfiguration", "JointZeroConfigurationWithCoincidence" ],
+            "of-joint": "door:joint-door-hinge",
+            "coincidence-of": [ "door:vector-joint-door-hinge-joint-x", "door:vector-door-body-origin-x"]
+        },
+        {
+            "@id": "door:joint-lower-limit-door-hinge",
+            "@type": [ "JointReference", "JointPosition", "RevoluteJointPosition", "RevoluteJointPositionCoordinate", "JointLowerLimit" ],
+            "of-joint": "door:joint-door-hinge",
+            "quantity-kind": "Angle",
+            "unit": "RAD",
+            "value": 0.0
+        },
+        {
+            "@id": "door:joint-upper-limit-door-hinge",
+            "@type": [ "JointReference", "JointPosition", "RevoluteJointPosition", "RevoluteJointPositionCoordinate",  "JointUpperLimit" ],
+            "of-joint": "door:joint-door-hinge",
+            "quantity-kind": "Angle",
+            "unit": "RAD",
+            "value": 2.0
+        },
+        {
+            "@id": "door:polytope-door-body",
+            "@type": ["Polytope", "3DPolytope", "CuboidWithSize"],
+            "unit": "M",
+            "x-size": 0.05,
+            "y-size": 0.93,
+            "z-size": 1.98
+        },
+        {
+            "@id": "door:polytope-door-hinge",
+            "@type": ["Polytope", "3DPolytope", "CuboidWithSize"],
+            "unit": "M",
+            "x-size": 0.05,
+            "y-size": 0.05,
+            "z-size": 1.99
+        },
+        {
+            "@id": "door:inertia-door-body",
+            "@type":  [ "RigidBodyInertia", "Mass", "RotationalInertia", "PrincipalMomentsOfInertiaXYZ" ],
+            "of-body": "door:door-body",
+            "reference-point": "door:point-door-body-origin",
+            "as-seen-by": "door:frame-door-body-hinge",
+            "quantity-kind": [ "MomentOfInertia", "Mass" ],
+            "unit": [ "KiloGM-M2", "KiloGM" ],
+            "xx": 0.4069,
+            "yy": 0.3322,
+            "zz": 0.0751,
+            "mass": 1.0
+        },
+        {
+            "@id": "door:inertia-door-hinge",
+            "@type":  [ "RigidBodyInertia", "Mass", "RotationalInertia", "PrincipalMomentsOfInertiaXYZ" ],
+            "of-body": "door:door-hinge",
+            "reference-point": "door:point-door-holder-origin",
+            "as-seen-by": "door:frame-door-holder-origin",
+            "quantity-kind": [ "MomentOfInertia", "Mass" ],
+            "unit": [ "KiloGM-M2", "KiloGM" ],
+            "xx": 33.220,
+            "yy": 33.220,
+            "zz": 0.0415,
+            "mass": 100.0
+        },
+        {
+            "@id": "door:link-visual-door-body",
+            "link": "door:door-body",
+            "@type": ["LinkWithPolytope", "LinkVisualRepresentation"],
+            "polytope": "door:polytope-door-body"
+        },
+        {
+            "@id": "door:link-physics-door-body",
+            "@type": ["LinkWithPolytope", "LinkPhysicsRepresentation"],
+            "link": "door:door-body",
+            "polytope": "door:polytope-door-body"
+        },
+        {
+            "@id": "door:link-visual-door-hinge",
+            "@type": ["LinkWithPolytope", "LinkVisualRepresentation"],
+            "link": "door:door-hinge",
+            "polytope": "door:polytope-door-hinge"
+        },
+        {
+            "@id": "door:link-physics-door-hinge",
+            "@type": ["LinkWithPolytope", "LinkPhysicsRepresentation"],
+            "link": "door:door-hinge",
+            "polytope": "door:polytope-door-hinge"
+        },
+        {
+            "@id": "door:object-link-door-body",
+            "@type": "ObjectLink",
+            "link": "door:door-body",
+            "link-frame": "door:frame-door-body-center"
+        },
+        {
+            "@id": "door:object-link-door-hinge",
+            "@type": "ObjectLink",
+            "link": "door:door-hinge",
+            "link-frame": "door:frame-door-holder-origin"
+        },
+        {
+            "@id": "door:gazebo-link-door-body-representation",
+            "@type": "GazeboLinkRepresentation",
+            "visual": "door:link-visual-door-body",
+            "collision": "door:link-physics-door-body",
+            "inertia": "door:inertia-door-body",
+            "material": "DarkYellow",
+            "gz-link": "door:object-link-door-body"
+        },
+        {
+            "@id": "door:gazebo-link-door-hinge-representation",
+            "@type": "GazeboLinkRepresentation",
+            "visual": "door:link-visual-door-hinge",
+            "collision": "door:link-physics-door-hinge",
+            "inertia": "door:inertia-door-hinge",
+            "material": "Yellow",
+            "gz-link": "door:object-link-door-hinge"
+        },
+        {
+            "@id": "door:door",
+            "@type": ["Object", "ObjectWithKinematicChain"],
+            "kinematic-chain": "door:kinematic-chain-door",
+            "object-frame": "door:frame-object-door",
+            "object-links": ["door:object-link-door-body", "door:object-link-door-hinge"]
+        }
+    ]
+}