Hello @Ankita_Kushwaha,
First of all, here is our help desk page for animations, please have a look, as this explains some details.
In this example I create an animation where the door of the shelf first translates and then rotates. With this you should be able to create an animation for each of your doors. Depending on the direction you door and where the origin of the object is, you would also need to change the pivot and the invert the rotation. You can find the api documentation on the properties here.
Let me know if you have any further questions!
Cheers, Michael