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If you are successfully getting grasps back from Grasp Adjust, then you'll need to pass those to a grasp executor. I'm a little fuzzy on how the grasp pipeline works downstream from the planners; object_manipulator has a node that will execute object pickup actions. A usage example is the pickup_client in pr2_interactive_manipulation/src/interactive_manipulation_backend.cpp

If you are working in Python, though, I think Kaijen might have some other handy interfaces for executing grasps. I don't really remember where those are though.