diff --git a/robot_smach_states/src/robot_smach_states/manipulation/active_grasp_detector.py b/robot_smach_states/src/robot_smach_states/manipulation/active_grasp_detector.py
index b6027f395..5806f09bc 100644
--- a/robot_smach_states/src/robot_smach_states/manipulation/active_grasp_detector.py
+++ b/robot_smach_states/src/robot_smach_states/manipulation/active_grasp_detector.py
@@ -14,7 +14,7 @@ class ActiveGraspDetector(smach.State):
     REQUIRED_ARM_PROPERTIES = {"required_gripper_types": [GripperTypes.GRASPING], }
 
     def __init__(self, robot: Robot, arm_designator: ArmDesignator, threshold_difference: float = 0.075,
-                 minimum_position: float = -0.82, max_torque: float = 0.15) -> None:
+                 minimum_position: float = -0.75, max_torque: float = 0.1) -> None:
         """
         State for detecting whether the robot is holding something using the gripper position.
 
diff --git a/robot_smach_states/src/robot_smach_states/manipulation/grab.py b/robot_smach_states/src/robot_smach_states/manipulation/grab.py
index 90b2a5434..812ce6747 100644
--- a/robot_smach_states/src/robot_smach_states/manipulation/grab.py
+++ b/robot_smach_states/src/robot_smach_states/manipulation/grab.py
@@ -14,7 +14,10 @@
 from ..utility import check_arm_requirements, ResolveArm
 from ..util.designators import check_type
 from ..navigation.navigate_to_grasp import NavigateToGrasp
+
+from ..manipulation.active_grasp_detector import ActiveGraspDetector
 from ..manipulation.grasp_point_determination import GraspPointDeterminant
+from ..human_interaction.human_interaction import Say
 from ..util.designators.arm import ArmDesignator
 from ..util.designators.core import Designator
 
@@ -339,9 +342,20 @@ def __init__(self, robot: Robot, item: Designator, arm: ArmDesignator, room: Des
                                                 'failed': 'RESET_FAILURE'})
 
             smach.StateMachine.add('GRAB', PickUp(robot, arm, item),
-                                   transitions={'succeeded': 'done',
+                                   transitions={'succeeded': 'CHECK_PICK_SUCCESSFUL',
                                                 'failed': 'RESET_FAILURE'})
 
+            smach.StateMachine.add("CHECK_PICK_SUCCESSFUL",
+                                  ActiveGraspDetector(robot, arm),
+                                  transitions={'true': "done",
+                                              'false': "SAY_MISSED_GRASP",
+                                              'failed': "RESET_FAILURE",
+                                              'cannot_determine': "SAY_MISSED_GRASP"}
+                                  )
+
+            smach.StateMachine.add("SAY_MISSED_GRASP", Say(robot, "Oops, it seems I missed it."),
+                     transitions={"spoken": "RESET_FAILURE"})
+
             smach.StateMachine.add("RESET_FAILURE", ResetOnFailure(robot, arm),
                                    transitions={'done': 'failed'})