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Hi guzza,

If i remember well, for the pick action, the motion to the pre-grasp is planified with collision detection. But the last trajectory segment, from pre-grasp to grasp position, is made without collision detection.

I would suggest you to adopt the same approach: go to a pre-push position with a collision aware method and then switch to a non-collision-aware movement.

For how to do this last operation you can take a look at this tutorial.

Hope this helps,