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Hi Ugo,

Like Gil said, the manipulation pipeline will indeed disregard collisions between the object you are placing (identified as the "collision_object_name" in your PlaceGoal) and the support you are placing on (identified by the "collision_support_surface_name" in your PlaceGoal). This has to happen, otherwise any place operation would by definition bring your object in collision with whatever you are placing it on.

However, collision checking between the object and the support surface is disabled only in the last stage of the operation (interpolated IK), so that you don't hit the table with the object while moving around, but only when you're actually placing it.

I can not tell from the video what the support surface is in your case. If you're passing the "other object" as the "collision_support_surface_name" then the grasping pipeline will indeed put one object on top of the other. If you pass the table as the "collision_support_surface_name" then a place goal that brings your object in collision with the "other object" should be rejected.

Matei