Take a look at RightHand Robotics. They’re shipping a bin packing arm that achieves millions of cycles working with entangled objects in recent demonstrations. I think this task is by and large solved. https://www.righthandrobotics.com/blog
It's worth pointing out that this capability solves the problem of moving an arbitrary object from A to B. That's really not that hard with a suction cup. All you have to do - and this is how Ocado solve it, from my reading of the presentation - is locate a mostly-planar surface in your point cloud and suck it. All that changes in this case is the gripper closes to hold the part in. Bing - it works if you have no idea what the part is, beyond some basic constraints like size or weight. You don't need to worry about 'correct grasps' or anything like that.
What it doesn't solve is picking up a part precisely from a bin/tray and in a known orientation. That second problem crops up in manufacturing all the time.