Don't trust the planner

[sarthou]

uwds3/src/pyuwds3/reasoning/monitoring/graphic_monitor.py

Lines 109 to 114 in c5f2e2f

	def pick_callback(self, msg):
	if msg.action = RobotAction.PICK:
	self.pick_map[msg.objID]="pr2_arm"+str(msg.arm)
	else:
	if msg.objID in self.pick_map:
	del self.pick_map[self.objID]

You should also look to the pressure of the gripper to validate that the pick has been effective or not

[guilhembn]

Not only the pressure in the gripper, but more importantly, the position of the gripper (what can be picked if it is completely closed?) and its torque.