@mikeferguson, regarding grasping, I've done some upstream works on "GPD". It's a state-of-the-art algorithm for grasp pose detection and very easy for using in ROS. I've enabled a ROS2 grasp library as MoveIt plug-in for this algorithm, now in alpha version, coming soon :slight_smile:
The GPD has been enabled with Intel OpenVINO technology for neural network computation deployment across various devices (CPU, GPU, VPU, etc.) and maximizes performance. Linkage here:
https://github.com/atenpas/gpd
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