Hello @Vidhi_Jain,
You can bump the guarded contact thresholds up based on the necessary forces to open/close the drawer using the Adjusting Contact Behavior tutorial. Here we learn to override the guarded contact thresholds in stretch_params with temporary thresholds passed directly to the move_to() command.
Although not recommended, if you want to completely disable guarded contact for a particular joint, you can use the robot.arm.motor.disable_guarded_mode() method (or similar for a different joint) to override safety thresholds locally in a particular script, instead of disabling it globally in stretch params.
Additionally, the knowledge base post ‘Practical guide to guarded contacts’ by @aedsinger is a helpful resource to understand how the guarded contact model works.
Please let me know if you have any questions.
Best,
Chintan Desai