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It would be 3 servers and 3 clients (one for each server, but they could be in the same node). 3 servers, because there are 3 different actions that will need 3 different clients to call them.

As for simultaneous control: That is fully supported by actionlib. However it is limited by what you actually want to do. For example object detection probably needs to run before moving the arm. Technically grasping and moving the arm are independent if you can synchronize the control, so they do what you want. These are more algorithmic/robotics limitations than actionlib's.

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