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Not sure if your walls are just boxes or not, but you should be able to apply material to visual of your walls

e.g.

    <visual name="visual">
      <geometry>
        <box>
          <size>5 1 0.2</size>
        </box>
      </geometry>
      <material>
        <ambient>0.2 0.2 0.2 1.0</ambient>
        <diffuse>.421 0.225 0.0 1.0</diffuse>
      </material>
    </visual>