This is not implemented on the robot, but with the ROS functionalities that’s something you can really achieve.
You’ll have to use the planning scene functionalities of the Moveit library to do that.
First, note that the planning scene and 3D stuff are disabled on the Raspberry Pi environment (due to 1. lack of compatibility with some libraries for arm systems and 2. for performance).
You can start to work on that with the simulation mode on a x86 computer. Then, what you can do is to run the hardware control stuff on the Raspberry Pi, and the Moveit functionalities on another computer (it’s easy to do with ROS, you can simply run different nodes on different machines).
If you happen to start such a project, feel free to keep us updated on the forum, and if you feel like it, post your results on github!