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Ugo,
That video is very cool! Looks like you are close to getting everything working.
As to your question, are you using the manipulation stack to compute the parts of the trajectory when the attached object comes into contact with the other object on the table? The manipulation stack sets some allowed collision operations during different parts of placing objects - for instance, I believe it allows contact between the attached object and the table when using interpolated ik to plan the final stages of the place. If you enable DEBUG output in whatever node is active during that trajectory segment you may see something like "collision but allowed touch between 'attached_object' and 'unattached_object'". That will be the clue that the node is intentionally disabling those collisions. Matei or Kaijen may also have more insight about what is being disabled and when.
--Gil
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