To walk a certain path with walkPath you can use any sort of Position collection, such as an array.
Example of walkPath:
Position[] path = { new Position(0,0,0), new Position(1,1,1) };
getWalking().walkPath(path);
To handle doors and such yourself, you could first check before starting to walk, if you're in a certain area that you'd have to open a door in. If you'd be in such an area; handle the door(s) otherwise walk your path