So, I run so test, and all you need is a door that is attached to some frame, that acts as a point of rotation, with physics constraint. Look at this tutorial. Then just change a few settings on the constraint. I didn’t use an angular motor, the linear limit was set to limited (not locked) and contact distance with restitution set to 1. Without it, you can bend the door down when you are not pushing straight on in. You can set it up as you like. The video shows you the basics. When you want to pull you can use collision of the handle to pull or use another physics constraint and connect the door with your hand.