I am setting up a proof of concept for a customer where I am picking up 6 containers each full weighing 340g each using a vacuum gripper. I would like to be able to sense if one of the lids pops off thus leaving the full container behind using a force torques sensor. I have tried using get_sensor_fz() to store the weight then comparing it to what I have proven a full load would be. This seems a bit unreliable. Does anyone have a better recommendation for this process?