Yes, you can attach entities to the bones of a skinned animation (search the forums on how to do that, there are a lot of posts), and those entities will rotate automatically. It can be tricky to get the right rotation if the bones aren’t set to move/rotate on a single axis, as I see here:
Otherwise, you can mimic the same behavior with the tween library, and try to rotate your collision entity in code, when the animation starts. To match the movement of the door. Check here on how to use the PlayCanvas tween lib: