You can link the viewpoint to the avatar and manipulate the arm bone so it moves to the doorknob. Here's an example using a link with an offset so the viewpoint is behind the avatar. When the avatar stops moving he raises his arm.
Code:
import viz
viz.go()
viz.add('court.ive')
avatar = viz.add('vcc_male.cfg')
link = viz.link(avatar, viz.MainView)
link.preTrans([0,0,-2])
walk = vizact.walkTo([0,0,5])
armup = vizact.boneSpinTo('Bip01 R UpperArm', euler = [0,0,-75], speed = 45)
avatar.addAction(walk)
avatar.addAction(armup)