diff --git a/pyproject.toml b/pyproject.toml
index 568690a3..47d3e32c 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -41,6 +41,8 @@ dependencies = [
     "tornado>=6.5.1",
     "transforms3d>=0.4.2",
     "waitress>=3.0.2",
+    "pandas>=2.2.0",
+    "trimesh>=4.8.2",
 ]
 
 [dependency-groups]
@@ -50,7 +52,12 @@ dev = [
     "ruff>=0.11.12",
     "ty>=0.0.1a7",
 ]
+graspnet = [
+    "graspnetpy",
+    ]
 
+[tool.uv.sources]
+graspnetpy = { git = "https://github.com/alliander-opensource/graspnet-baseline" }
 
 [tool.ruff.lint.isort]
 split-on-trailing-comma = false
@@ -91,4 +98,4 @@ select = "DOC"
 style = "google"
 skip-checking-short-docstrings = false
 allow-init-docstring = true
-check-style-mismatch = true
+check-style-mismatch = true
\ No newline at end of file
diff --git a/ros2_ws/src/rcdt_utilities/rcdt_utilities/register.py b/ros2_ws/src/rcdt_utilities/rcdt_utilities/register.py
index d369fcf7..f36b0d71 100644
--- a/ros2_ws/src/rcdt_utilities/rcdt_utilities/register.py
+++ b/ros2_ws/src/rcdt_utilities/rcdt_utilities/register.py
@@ -240,7 +240,7 @@ def on_log(
 
         return register.insert_action(action, event_handler, context)
 
-    def process_io(self, event: ProcessIO) -> None:
+    def process_io(self, event: ProcessIO) -> None | LaunchDescription:
         """Returns the next register to start if the defined log is captured.
 
         This method is called when a log message is captured from the action's stderr.
@@ -248,6 +248,9 @@ def process_io(self, event: ProcessIO) -> None:
 
         Args:
             event (ProcessIO): The event containing the log message.
+
+        Returns:
+            None | LaunchDescription: None if the action is already started, otherwise a launch description containing the next action to start.
         """
         if self.is_started:
             return
diff --git a/uv.lock b/uv.lock
index 99528803..c9d0f108 100644
--- a/uv.lock
+++ b/uv.lock
@@ -7,6 +7,15 @@ resolution-markers = [
     "(platform_machine != 'aarch64' and sys_platform == 'linux') or (sys_platform != 'darwin' and sys_platform != 'linux')",
 ]
 
+[[package]]
+name = "addict"
+version = "2.4.0"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/85/ef/fd7649da8af11d93979831e8f1f8097e85e82d5bfeabc8c68b39175d8e75/addict-2.4.0.tar.gz", hash = "sha256:b3b2210e0e067a281f5646c8c5db92e99b7231ea8b0eb5f74dbdf9e259d4e494", size = 9186, upload-time = "2020-11-21T16:21:31.416Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/6a/00/b08f23b7d7e1e14ce01419a467b583edbb93c6cdb8654e54a9cc579cd61f/addict-2.4.0-py3-none-any.whl", hash = "sha256:249bb56bbfd3cdc2a004ea0ff4c2b6ddc84d53bc2194761636eb314d5cfa5dfc", size = 3832, upload-time = "2020-11-21T16:21:29.588Z" },
+]
+
 [[package]]
 name = "alabaster"
 version = "1.0.0"
@@ -18,16 +27,16 @@ wheels = [
 
 [[package]]
 name = "anyio"
-version = "4.9.0"
+version = "4.10.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "idna" },
     { name = "sniffio" },
     { name = "typing-extensions" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/95/7d/4c1bd541d4dffa1b52bd83fb8527089e097a106fc90b467a7313b105f840/anyio-4.9.0.tar.gz", hash = "sha256:673c0c244e15788651a4ff38710fea9675823028a6f08a5eda409e0c9840a028", size = 190949, upload-time = "2025-03-17T00:02:54.77Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/f1/b4/636b3b65173d3ce9a38ef5f0522789614e590dab6a8d505340a4efe4c567/anyio-4.10.0.tar.gz", hash = "sha256:3f3fae35c96039744587aa5b8371e7e8e603c0702999535961dd336026973ba6", size = 213252, upload-time = "2025-08-04T08:54:26.451Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/a1/ee/48ca1a7c89ffec8b6a0c5d02b89c305671d5ffd8d3c94acf8b8c408575bb/anyio-4.9.0-py3-none-any.whl", hash = "sha256:9f76d541cad6e36af7beb62e978876f3b41e3e04f2c1fbf0884604c0a9c4d93c", size = 100916, upload-time = "2025-03-17T00:02:52.713Z" },
+    { url = "https://files.pythonhosted.org/packages/6f/12/e5e0282d673bb9746bacfb6e2dba8719989d3660cdb2ea79aee9a9651afb/anyio-4.10.0-py3-none-any.whl", hash = "sha256:60e474ac86736bbfd6f210f7a61218939c318f43f9972497381f1c5e930ed3d1", size = 107213, upload-time = "2025-08-04T08:54:24.882Z" },
 ]
 
 [[package]]
@@ -39,6 +48,65 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/31/da/e42d7a9d8dd33fa775f467e4028a47936da2f01e4b0e561f9ba0d74cb0ca/argcomplete-3.6.2-py3-none-any.whl", hash = "sha256:65b3133a29ad53fb42c48cf5114752c7ab66c1c38544fdf6460f450c09b42591", size = 43708, upload-time = "2025-04-03T04:57:01.591Z" },
 ]
 
+[[package]]
+name = "asttokens"
+version = "3.0.0"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/4a/e7/82da0a03e7ba5141f05cce0d302e6eed121ae055e0456ca228bf693984bc/asttokens-3.0.0.tar.gz", hash = "sha256:0dcd8baa8d62b0c1d118b399b2ddba3c4aff271d0d7a9e0d4c1681c79035bbc7", size = 61978, upload-time = "2024-11-30T04:30:14.439Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/25/8a/c46dcc25341b5bce5472c718902eb3d38600a903b14fa6aeecef3f21a46f/asttokens-3.0.0-py3-none-any.whl", hash = "sha256:e3078351a059199dd5138cb1c706e6430c05eff2ff136af5eb4790f9d28932e2", size = 26918, upload-time = "2024-11-30T04:30:10.946Z" },
+]
+
+[[package]]
+name = "attrs"
+version = "25.3.0"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/5a/b0/1367933a8532ee6ff8d63537de4f1177af4bff9f3e829baf7331f595bb24/attrs-25.3.0.tar.gz", hash = "sha256:75d7cefc7fb576747b2c81b4442d4d4a1ce0900973527c011d1030fd3bf4af1b", size = 812032, upload-time = "2025-03-13T11:10:22.779Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/77/06/bb80f5f86020c4551da315d78b3ab75e8228f89f0162f2c3a819e407941a/attrs-25.3.0-py3-none-any.whl", hash = "sha256:427318ce031701fea540783410126f03899a97ffc6f61596ad581ac2e40e3bc3", size = 63815, upload-time = "2025-03-13T11:10:21.14Z" },
+]
+
+[[package]]
+name = "autolab-core"
+version = "1.1.1"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "colorlog" },
+    { name = "joblib" },
+    { name = "matplotlib" },
+    { name = "multiprocess" },
+    { name = "numpy" },
+    { name = "opencv-python" },
+    { name = "pillow" },
+    { name = "pyreadline", marker = "sys_platform == 'win32'" },
+    { name = "ruamel-yaml" },
+    { name = "scikit-image" },
+    { name = "scikit-learn" },
+    { name = "scipy" },
+    { name = "setproctitle" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/c1/7f/0ae0200dc09b4e479613b6ad4b43323ae49f97eecb71ebf18392ea39dd61/autolab_core-1.1.1.tar.gz", hash = "sha256:026edf33974f7ae8a01922dec22ebe04d218880f3d73222fdce738631739dfcd", size = 106507, upload-time = "2022-02-02T21:08:45.547Z" }
+wheels = [
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+]
+
+[[package]]
+name = "autolab-perception"
+version = "1.0.0"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "autolab-core" },
+    { name = "ffmpeg-python" },
+    { name = "numpy" },
+    { name = "opencv-python" },
+    { name = "pyserial" },
+    { name = "scipy" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/e7/62/10cde1d46952995b045eebd56d228d63e0ca17f9ee56be4545c2a2016c72/autolab_perception-1.0.0.tar.gz", hash = "sha256:e9efefa2dffa6b0feca7b0a8ca9a5fffae78aa0a2dafbf1dd38152c4afe0320e", size = 20214, upload-time = "2021-05-04T20:47:13.371Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/67/38/70c261de404419cf546a27d907ec3a15afe7164519032550ec5f3e28c4ef/autolab_perception-1.0.0-py3-none-any.whl", hash = "sha256:c07bd31a30c45dce41126364f5cca24ed35a6a4df3ad2c6a7b38815bc813a9d7", size = 33641, upload-time = "2021-05-04T20:47:11.458Z" },
+]
+
 [[package]]
 name = "babel"
 version = "2.17.0"
@@ -59,26 +127,27 @@ wheels = [
 
 [[package]]
 name = "catkin-pkg"
-version = "1.0.0"
+version = "1.1.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "docutils" },
+    { name = "packaging" },
     { name = "pyparsing" },
     { name = "python-dateutil" },
     { name = "setuptools" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/2e/a2/88f8ba42a0119833887b8afe159f6e3ae96e2700720baf461eeabcc6acd8/catkin_pkg-1.0.0.tar.gz", hash = "sha256:476e9f52917282f464739241b4bcaf5ebbfba9a7a68d9af8f875225feac0e1b5", size = 64861, upload-time = "2023-09-13T20:45:05.872Z" }
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+    { url = "https://files.pythonhosted.org/packages/99/1b/50316bd6f95c50686b35799abebb6168d90ee18b7c03e3065f587f010f7c/catkin_pkg-1.1.0-py3-none-any.whl", hash = "sha256:7f5486b4f5681b5f043316ce10fc638c8d0ba8127146e797c85f4024e4356027", size = 76369, upload-time = "2025-09-10T17:34:35.639Z" },
 ]
 
 [[package]]
 name = "certifi"
-version = "2025.6.15"
+version = "2025.8.3"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/73/f7/f14b46d4bcd21092d7d3ccef689615220d8a08fb25e564b65d20738e672e/certifi-2025.6.15.tar.gz", hash = "sha256:d747aa5a8b9bbbb1bb8c22bb13e22bd1f18e9796defa16bab421f7f7a317323b", size = 158753, upload-time = "2025-06-15T02:45:51.329Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/dc/67/960ebe6bf230a96cda2e0abcf73af550ec4f090005363542f0765df162e0/certifi-2025.8.3.tar.gz", hash = "sha256:e564105f78ded564e3ae7c923924435e1daa7463faeab5bb932bc53ffae63407", size = 162386, upload-time = "2025-08-03T03:07:47.08Z" }
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