Bad hack

[sarthou]

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

Line 476 in c5f2e2f

if success1 and success2 and (not (obj1.id in self.pick_map)) and (not (obj2.id in self.pick_map)):

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

Line 491 in c5f2e2f

if success1 and success2 and (not (obj1.id in self.pick_map)) and (not (obj2.id in self.pick_map)):

It seems that you only block relations computation's for picked objects rather than attaching them to the gripper to get their position or discarding them (the first solution is the best in my opinion).

With your current solution, even if you know that an object has been picked, if you don't perceive it again before a drop in a box, the object will stay here forever. Worst, if the object is dropped, you erase it from your map and in the case where it has not been seen since, it will first stay at the previous position and the facts will be published again.

[Alexandre-Bonneau]

I cleaned-up the code, those functions are still there, but not in the same place, so I add the new links

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

Line 498 in d920be0

and (not (obj1.id in self.pick_map))):

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

Line 503 in d920be0

and (not (obj2.id in self.pick_map))):

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

Line 486 in d920be0

(not (obj2.id in self.pick_map))):

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

Line 480 in d920be0

and (not (obj1.id in self.pick_map))) :