Actually, as you’ve said, there are some parts of the course which are a little bit outdated, specially the ones involving MoveIt. That’s why I’ve been working on updating the notebooks for the last days.
In fact, I’m planning to do an update of the course tomorrow, which is going to include new chapters for the MoveIt and Grasping sections.
I’m sure this update will answer your questions in point 1 and 2. So tomorrow morning, as soon as I update the course, I’ll send you a message here and summarize a little bit what’s new on the course.