how to do a simil RE7 door system

hello everyone.

what i want to do is something similar to the resident evil 7 door system, that automatically move the hand forward to push the door to open it.

something like this VIDEO

now i'm able to detect where i'm front of the door and in witch with this

     private void CheckTheHittingDoor()
     {
         var fdw = transform.forward;
         RaycastHit hit;
         
         if(Physics.Raycast(transform.position,fdw,out hit,raycastLenght))
         {
             for (int i = 0; i < _doors.Length; i++)
             {
                 if(hit.collider.CompareTag(_doors[i]))
                 {
                     Debug.Log(_doors[i]);
                 }
             }
         }
     }

thw point is how to perform that animation to open the door... any idea?