@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 
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: