Using a motor to open doors
You need two more things, apart from your motor and Arduino.

An H-bridge to interface the Arduino to the motor. This is a chip which allows you to control the direction of the current in the motor. You'll just need to select one which is rated for enough current and voltage. Probably the Dual TB6612FNG on a breakout board is the simplest solution for you.

A sensor to detect the position of the door. Probably the simplest thing is to use two microswitches, one which is pushed when the door is fully open, and the other which is pushed when the door is fully closed. Connect them to the Arduino so that it can tell the position of the door.