Now how do I get the doors to open?

Hint 1 of 7:

Only the arm on the right of the screen will move, so you are going to
have to figure out a way to open the doors only with it.

Hint 2 of 7:

Well, actually, you can use the part of the left arm that is still
attached to the door.

Hint 3 of 7:

The chain will help you get the two arms to work together.

Hint 4 of 7:

But the right arm is too high for you to put on the chain.  You will have
to lower it.

Hint 5 of 7:

Enter the command to lower the right arm.  It's the one in the lower
right of the cupboard drawing.

Hint 6 of 7:

Put the chain on both the left and right arms.

Hint 7 of 7:

Well, all you have to do is pull.