Question: How do goal planning use heuristic?

[rasmussvala]

Hi, I'm following the Getting Started guide for v3 and just implemented picking up pears. However, I expected the agent to pick up 3 pears in a row before toggling to idle. I understand it has something to do with heuristic but I don't fully understand it.

In the documentation, this is all I can find about heuristics (in Classes -> AgentBehaviour and ActionProvider):

"Distance Multiplier
The primary objective of actions is to achieve goals swiftly. If the action's cost equates to its completion time, then the heuristic's distance value should be divided by the agent's movement speed. Using SetDistanceMultiplierSpeed(float speed) sets the agent's (max/average) speed, enabling the planner to more precisely ascertain the optimal action."

What happens when the action's cost does not equate to its completion time? Can I see the heuristic cost somewhere when I'm debugging?

Screenshots
Screenshot of idling goal being triggered before 3 pears have been picked up.