Use AllowedCollisionMatrix to disable collision between assembled object and its neighbors

Refer to [moveit! pick action server](https://github.com/ros-planning/moveit/blob/4bc43c56ca2a5293f3ef8d55796ec586cfde5f69/moveit_ros/manipulation/pick_place/src/pick.cpp#L145-L157).

And [moveit! place action server](https://github.com/ros-planning/moveit/blob/4bc43c56ca2a5293f3ef8d55796ec586cfde5f69/moveit_ros/manipulation/pick_place/src/place.cpp#L267-L270).