Institut de Robòtica i Informàtica Industrial (IRI) is a joint research center of the Spanish Council for Scientific Research (CSIC) and the Technical University of Catalonia (UPC), located in Barcelona, Spain. CSIC is a top-level EU research institute with more than 120 research centers in Spain covering all areas of research. Perception and Manipulation Group at IRI focuses on enhancing the perception, interaction, learning, and planning capabilities of robots to achieve higher degrees of autonomy and user-friendliness during everyday manipulation tasks in domestic, service and industrial environments. Our researchers provide the expertise in visual garment recognition and task-directed grasping, human pose estimation and tracking using appearance and depth data, visual servoing and human-robot interaction using 3D vision and force control. Perception and Manipulation Group draws experience from various international and national projects, such as PACO-PLUS, GARNICS, IntellAct, MANIPlus and TextilRob.