Probably at least once a week, you're going to see someone drop something, press the wrong button on the elevator, try to push on the pull door etc. My own stress always peeks when I'm in public and trip up on something minor like that. If you just shout "hey you need help?" you're probably not going to make them feel any better and doubly worse if you just avoid eye contact and walk around them. When that happens to me, it can reaaaally sour a morning.

But saying "they really need to make these doors automatic, I dropped my coffee here last week!" and helping out if they want it has the EXACT opposite effect. Suddenly, it's not embarrassing any more, and you might have a little convo commiserating about what sucks. It's just a little bit of connection to make someone's day a bit better which is definitely a win-win and good way of breaking the seal on talking to folks.