If the robot picks up a ghost object and stages it (for e.g. if grasp verification times out), then the unstage action will fail (since grasp verification is performed during unstage). In this case, the planner will replan. We should test what the new plan will look like, and whether we should remove the object from the KB.
Describe the bug
If the robot picks up a ghost object and stages it (for e.g. if grasp verification times out), then the unstage action will fail (since grasp verification is performed during unstage). In this case, the planner will replan. We should test what the new plan will look like, and whether we should remove the object from the KB.