Is your feature request related to a problem? Please describe.
I want to add more robust grasping support using GPD and eventually Dex-Net as well. I would also like to add support that allows for sensor input into stages.

Describe the solution you'd like
An alternative grasp generator stage using GPD. The GPD lib outputs many candidates that can be evaluated based on cost and feasibility using the ComputeIK stage to select the best grasp.