diff --git a/deep_grasp_task/include/deep_grasp_task/deep_pick_place_task.h b/deep_grasp_task/include/deep_grasp_task/deep_pick_place_task.h
index f2fc514..65ac369 100644
--- a/deep_grasp_task/include/deep_grasp_task/deep_pick_place_task.h
+++ b/deep_grasp_task/include/deep_grasp_task/deep_pick_place_task.h
@@ -56,7 +56,10 @@
 #include <moveit/task_constructor/stages/generate_grasp_pose.h>
 #include <moveit/task_constructor/stages/generate_pose.h>
 #include <moveit/task_constructor/stages/generate_place_pose.h>
-#include <moveit/task_constructor/stages/deep_grasp_pose.h>
+
+//#include <moveit/task_constructor/stages/deep_grasp_pose.h>
+#include <moveit/task_constructor/stages/grasp_provider.h>
+
 #include <moveit/task_constructor/stages/modify_planning_scene.h>
 #include <moveit/task_constructor/stages/move_relative.h>
 #include <moveit/task_constructor/stages/move_to.h>
@@ -64,7 +67,7 @@
 #include <moveit/task_constructor/solvers/cartesian_path.h>
 #include <moveit/task_constructor/solvers/pipeline_planner.h>
 #include <moveit_task_constructor_msgs/ExecuteTaskSolutionAction.h>
-#include <moveit_task_constructor_msgs/SampleGraspPosesAction.h>
+//#include <moveit_task_constructor_msgs/SampleGraspPosesAction.h>
 
 namespace deep_grasp_task
 {
diff --git a/deep_grasp_task/launch/panda_world.launch b/deep_grasp_task/launch/panda_world.launch
index f7444c5..3bd8515 100644
--- a/deep_grasp_task/launch/panda_world.launch
+++ b/deep_grasp_task/launch/panda_world.launch
@@ -26,7 +26,7 @@
     respawn="false" output="screen" />
 
   <!-- load controllers -->
-  <include file="$(find panda_moveit_config)/launch/ros_controllers.launch"/>
+  <!--include file="$(find panda_moveit_config)/launch/ros_controllers.launch"/-->
 
   <node name="joint_state_desired_publisher" pkg="topic_tools" type="relay" args="joint_states joint_states_desired" />
 
diff --git a/deep_grasp_task/src/deep_grasp_demo.cpp b/deep_grasp_task/src/deep_grasp_demo.cpp
index ec4a3be..01bfa9b 100644
--- a/deep_grasp_task/src/deep_grasp_demo.cpp
+++ b/deep_grasp_task/src/deep_grasp_demo.cpp
@@ -49,7 +49,8 @@
 #include <iostream>
 
 #include <geometric_shapes/shape_operations.h>
-#include <moveit_task_constructor_msgs/SampleGraspPosesAction.h>
+//#include <moveit_task_constructor_msgs/SampleGraspPosesAction.h>
+#include <grasping_msgs/GraspPlanningAction.h>
 #include <actionlib/client/simple_action_client.h>
 
 constexpr char LOGNAME[] = "deep_grasp_demo";
@@ -224,7 +225,7 @@ int main(int argc, char** argv)
   if (deep_pick_place_task.plan())
   {
     ROS_INFO_NAMED(LOGNAME, "Planning succeded");
-    if (pnh.param("execute", false))
+    if (pnh.param("execute", true))
     {
       deep_pick_place_task.execute();
       ROS_INFO_NAMED(LOGNAME, "Execution complete");
diff --git a/deep_grasp_task/src/deep_pick_place_task.cpp b/deep_grasp_task/src/deep_pick_place_task.cpp
index b017948..ab44718 100644
--- a/deep_grasp_task/src/deep_pick_place_task.cpp
+++ b/deep_grasp_task/src/deep_pick_place_task.cpp
@@ -204,8 +204,9 @@ void DeepPickPlaceTask::init()
   ---- *               Generate Grasp Pose                *
      ***************************************************/
     {
-      auto stage = std::make_unique<stages::DeepGraspPose<moveit_task_constructor_msgs::SampleGraspPosesAction>>(
-          action_name_, "generate grasp pose");
+      //auto stage = std::make_unique<stages::DeepGraspPose<moveit_task_constructor_msgs::SampleGraspPosesAction>>(
+      //    action_name_, "generate grasp pose");
+      auto stage = std::make_unique<stages::GraspProvider>( action_name_, "generate grasp pose", 0.0, 0.0);
       stage->properties().configureInitFrom(Stage::PARENT);
       stage->properties().set("marker_ns", "grasp_pose");
       stage->setPreGraspPose(hand_open_pose_);
diff --git a/moveit_task_constructor_dexnet/config/dexnet_config.yaml b/moveit_task_constructor_dexnet/config/dexnet_config.yaml
index b8d1a05..bda1532 100644
--- a/moveit_task_constructor_dexnet/config/dexnet_config.yaml
+++ b/moveit_task_constructor_dexnet/config/dexnet_config.yaml
@@ -1,4 +1,4 @@
 # file path to neural network weights and model config
 model_name: "GQCNN-4.0-PJ"
-model_dir: "/home/bostoncleek/dex-net/deps/gqcnn/models/GQCNN-4.0-PJ"
-model_params: "/home/bostoncleek/dex-net/deps/gqcnn/cfg/examples/replication/dex-net_4.0_pj.yaml"
+model_dir: "/home/pcl/grasp_ws/src/deep_grasp_demo/dexnet_deps/gqcnn/models/GQCNN-4.0-PJ"
+model_params: "/home/pcl/grasp_ws/src/deep_grasp_demo/dexnet_deps/gqcnn/cfg/examples/replication/dex-net_4.0_pj.yaml"
diff --git a/moveit_task_constructor_dexnet/include/moveit_task_constructor_dexnet/grasp_detection.h b/moveit_task_constructor_dexnet/include/moveit_task_constructor_dexnet/grasp_detection.h
index 5183941..bc11833 100644
--- a/moveit_task_constructor_dexnet/include/moveit_task_constructor_dexnet/grasp_detection.h
+++ b/moveit_task_constructor_dexnet/include/moveit_task_constructor_dexnet/grasp_detection.h
@@ -42,7 +42,8 @@
 #include <Eigen/Geometry>
 
 // Action Server
-#include <moveit_task_constructor_msgs/SampleGraspPosesAction.h>
+//#include <moveit_task_constructor_msgs/SampleGraspPosesAction.h>
+#include <grasping_msgs/GraspPlanningAction.h>
 #include <actionlib/server/simple_action_server.h>
 
 namespace moveit_task_constructor_dexnet
@@ -107,10 +108,10 @@ class GraspDetection
   ros::ServiceClient gqcnn_client_;  // gqcnn service client
   ros::ServiceClient image_client_;  // image saving service client
 
-  std::unique_ptr<actionlib::SimpleActionServer<moveit_task_constructor_msgs::SampleGraspPosesAction>>
+  std::unique_ptr<actionlib::SimpleActionServer<grasping_msgs::GraspPlanningAction>>
       server_;                                                       // action server
-  moveit_task_constructor_msgs::SampleGraspPosesFeedback feedback_;  // action feedback message
-  moveit_task_constructor_msgs::SampleGraspPosesResult result_;      // action result message
+  grasping_msgs::GraspPlanningFeedback feedback_;  // action feedback message
+  grasping_msgs::GraspPlanningResult result_;      // action result message
 
   std::string goal_name_;    // action name
   std::string action_name_;  // action namespace
diff --git a/moveit_task_constructor_dexnet/src/grasp_detection.cpp b/moveit_task_constructor_dexnet/src/grasp_detection.cpp
index ed8553a..f0e5c86 100644
--- a/moveit_task_constructor_dexnet/src/grasp_detection.cpp
+++ b/moveit_task_constructor_dexnet/src/grasp_detection.cpp
@@ -78,7 +78,9 @@ void GraspDetection::loadParameters()
 void GraspDetection::init()
 {
   // action server
-  server_.reset(new actionlib::SimpleActionServer<moveit_task_constructor_msgs::SampleGraspPosesAction>(
+  //server_.reset(new actionlib::SimpleActionServer<moveit_task_constructor_msgs::SampleGraspPosesAction>(
+  //    nh_, action_name_, false));
+  server_.reset(new actionlib::SimpleActionServer<grasping_msgs::GraspPlanningAction>(
       nh_, action_name_, false));
   server_->registerGoalCallback(std::bind(&GraspDetection::goalCallback, this));
   server_->registerPreemptCallback(std::bind(&GraspDetection::preemptCallback, this));
@@ -101,7 +103,7 @@ void GraspDetection::init()
 
 void GraspDetection::goalCallback()
 {
-  goal_name_ = server_->acceptNewGoal()->action_name;
+  goal_name_ = server_->acceptNewGoal()->object.name;
   ROS_INFO_NAMED(LOGNAME, "New goal accepted: %s", goal_name_.c_str());
 
   // save images
@@ -156,10 +158,12 @@ void GraspDetection::sampleGrasps()
     const std::vector<double> q_values = grasp_srv.response.q_values;
     ROS_INFO_NAMED(LOGNAME, "Results recieved");
 
+    moveit_msgs::Grasp current_grasp;
+
     if (grasp_candidates.empty())
     {
       ROS_ERROR_NAMED(LOGNAME, "No grasp candidates found");
-      result_.grasp_state = "failed";
+      //result_.grasp_state = "failed";
       server_->setAborted(result_);
       return;
     }
@@ -192,6 +196,7 @@ void GraspDetection::sampleGrasps()
       grasp_pose.pose.orientation.y = rot.y();
       grasp_pose.pose.orientation.z = rot.z();
 
+      /*
       // send feedback to action client
       feedback_.grasp_candidates.emplace_back(grasp_pose);
 
@@ -200,17 +205,23 @@ void GraspDetection::sampleGrasps()
       const double cost = 1.0 - q_values.at(i);
       // ROS_INFO_NAMED(LOGNAME, "ID: %u Cost: %f", i, cost);
       feedback_.costs.emplace_back(cost);
+      */
+
+      current_grasp.grasp_pose = grasp_pose;
+      const double cost = 1.0 - q_values.at(i);
+      current_grasp.grasp_quality = cost;
+      feedback_.grasps.emplace_back(current_grasp);
     }
 
     server_->publishFeedback(feedback_);
-    result_.grasp_state = "success";
+    //result_.grasp_state = "success";
     server_->setSucceeded(result_);
   }
 
   else
   {
     ROS_ERROR_NAMED(LOGNAME, "Failed to call gqcnn_grasp service");
-    result_.grasp_state = "failed";
+    //result_.grasp_state = "failed";
     server_->setAborted(result_);
   }
 }
diff --git a/moveit_task_constructor_gpd/config/gpd_config.yaml b/moveit_task_constructor_gpd/config/gpd_config.yaml
index a12f17b..5bc5a84 100644
--- a/moveit_task_constructor_gpd/config/gpd_config.yaml
+++ b/moveit_task_constructor_gpd/config/gpd_config.yaml
@@ -30,7 +30,7 @@ image_size = 60
 image_num_channels = 15
 
 # Path to directory that contains neural network parameters
-weights_file = /home/bostoncleek/GPD/gpd/models/lenet/15channels/params/
+weights_file = /home/pcl/gpd/models/lenet/15channels/params/
 
 # Preprocessing of point cloud
 #   voxelize: if the cloud gets voxelized/downsampled
diff --git a/moveit_task_constructor_gpd/include/moveit_task_constructor_gpd/grasp_detection.h b/moveit_task_constructor_gpd/include/moveit_task_constructor_gpd/grasp_detection.h
index ec98b42..b14e6ba 100644
--- a/moveit_task_constructor_gpd/include/moveit_task_constructor_gpd/grasp_detection.h
+++ b/moveit_task_constructor_gpd/include/moveit_task_constructor_gpd/grasp_detection.h
@@ -51,7 +51,9 @@
 #include <gpd/grasp_detector.h>
 
 // Action Server
-#include <moveit_task_constructor_msgs/SampleGraspPosesAction.h>
+
+//#include <moveit_task_constructor_msgs/SampleGraspPosesAction.h>
+#include <grasping_msgs/GraspPlanningAction.h>
 #include <actionlib/server/simple_action_server.h>
 
 namespace moveit_task_constructor_gpd
@@ -120,10 +122,15 @@ class GraspDetection
   ros::Subscriber cloud_sub_;  // subscribes to point cloud
   ros::Publisher cloud_pub_;   // publishes segmented cloud
 
-  std::unique_ptr<actionlib::SimpleActionServer<moveit_task_constructor_msgs::SampleGraspPosesAction>>
-      server_;                                                       // action server
-  moveit_task_constructor_msgs::SampleGraspPosesFeedback feedback_;  // action feedback message
-  moveit_task_constructor_msgs::SampleGraspPosesResult result_;      // action result message
+  //std::unique_ptr<actionlib::SimpleActionServer<moveit_task_constructor_msgs::SampleGraspPosesAction>>
+  //    server_;                                                       // action server
+  //moveit_task_constructor_msgs::SampleGraspPosesFeedback feedback_;  // action feedback message
+  //moveit_task_constructor_msgs::SampleGraspPosesResult result_;      // action result message
+
+  std::unique_ptr<actionlib::SimpleActionServer<grasping_msgs::GraspPlanningAction>> server_; // action_server
+  grasping_msgs::GraspPlanningFeedback feedback_;
+  grasping_msgs::GraspPlanningResult result_;
+
 
   std::string path_to_pcd_file_;    // path to cylinder pcd file
   std::string path_to_gpd_config_;  // path to GPD config file
diff --git a/moveit_task_constructor_gpd/src/grasp_detection.cpp b/moveit_task_constructor_gpd/src/grasp_detection.cpp
index 53f6630..0f07c64 100644
--- a/moveit_task_constructor_gpd/src/grasp_detection.cpp
+++ b/moveit_task_constructor_gpd/src/grasp_detection.cpp
@@ -82,12 +82,21 @@ void GraspDetection::loadParameters()
 
 void GraspDetection::init()
 {
+  /*
   // action server
   server_.reset(new actionlib::SimpleActionServer<moveit_task_constructor_msgs::SampleGraspPosesAction>(
       nh_, action_name_, false));
   server_->registerGoalCallback(std::bind(&GraspDetection::goalCallback, this));
   server_->registerPreemptCallback(std::bind(&GraspDetection::preemptCallback, this));
   server_->start();
+  */
+
+  // action server
+  server_.reset(new actionlib::SimpleActionServer<grasping_msgs::GraspPlanningAction>(
+      nh_, action_name_, false));
+  server_->registerGoalCallback(std::bind(&GraspDetection::goalCallback, this));
+  server_->registerPreemptCallback(std::bind(&GraspDetection::preemptCallback, this));
+  server_->start();
 
   // GPD point cloud camera, load cylinder from file
   // set camera view origin
@@ -110,7 +119,7 @@ void GraspDetection::init()
 
 void GraspDetection::goalCallback()
 {
-  goal_name_ = server_->acceptNewGoal()->action_name;
+  goal_name_ = server_->acceptNewGoal()->object.name;
   ROS_INFO_NAMED(LOGNAME, "New goal accepted: %s", goal_name_.c_str());
   goal_active_ = true;
 
@@ -134,6 +143,8 @@ void GraspDetection::sampleGrasps()
   grasp_detector_->preprocessPointCloud(*cloud_camera_);      // preprocess the point cloud
   grasps = grasp_detector_->detectGrasps(*cloud_camera_);     // detect grasps in the point cloud
 
+  moveit_msgs::Grasp current_grasp;
+
   // Use grasps with score > 0
   std::vector<unsigned int> grasp_id;
   for (unsigned int i = 0; i < grasps.size(); i++)
@@ -147,7 +158,7 @@ void GraspDetection::sampleGrasps()
   if (grasp_id.empty())
   {
     ROS_ERROR_NAMED(LOGNAME, "No grasp candidates found with a positive cost");
-    result_.grasp_state = "failed";
+    //result_.grasp_state = "failed";
     server_->setAborted(result_);
     return;
   }
@@ -174,15 +185,21 @@ void GraspDetection::sampleGrasps()
     grasp_pose.pose.orientation.y = rot.y();
     grasp_pose.pose.orientation.z = rot.z();
 
+    /*
     feedback_.grasp_candidates.emplace_back(grasp_pose);
 
     // Grasp is selected based on cost not score
     // Invert score to represent grasp with lowest cost
     feedback_.costs.emplace_back(static_cast<double>(1.0 / grasps.at(id)->getScore()));
+    */
+
+    current_grasp.grasp_pose = grasp_pose;
+    current_grasp.grasp_quality = static_cast<double>(1.0 / grasps.at(id)->getScore());
+    feedback_.grasps.emplace_back(current_grasp);
   }
 
   server_->publishFeedback(feedback_);
-  result_.grasp_state = "success";
+  //result_.grasp_state = "success";
   server_->setSucceeded(result_);
 }