Attached object collides with environment

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Hi!

I added an object into the world and attached it to the robot as described in this moveit-tutorial. As in the tutorial stated I attached the object with this piece of code:

ROS_INFO("Add an object into the world");

planning_scene_interface.addCollisionObjects(collision_objects);
sleep(5.0)
group.attachObject(co.id)

This all works fine, but while moving the robot with the attached object, collisions of this attached object and other objects in the environment are not detected. In fact, the object seems not attached while the robot is moving. It just pops up again at the target pose.

Anybody knows how a collision check can be achieved? (The attached object should be handled as part of the robot after being attached)

Thanks and regards