Sorry if this is poorly worded, I'm extremely new to SolidWorks. (College Freshman taking Intro to Solidworks)

When you make an assembly (in this case the mechanical claw exercise in the Student Workbook), is there any way to make the assembly stop when it encounters a solid object (I.e. the claw reaches the bottom of the center post) so that it no longer passes through the center post as if it was not there at all?