There are no rigging tools of any sort, but I have done simple things using “named positions”. Like rotating and positioning objects but it can be error prone since you constantly have to make sure you select the correct objects. One nice thing is you can click on the named positions and see how your model is altered make sure you save your initial unrigged state since there’s no going back or save your current file and then save as a new one. I think it might work for you give it try.
Also you can use Grasshopper but that gets pretty complex quickly there’s a thread on a door opener that might get you going or dissuade you.
Rotation based on another geometry rotation - Grasshopper - McNeel Forum
If you have money you can purchase bongo which works inside rhino it has rigging but is fairly expensive.
RM