Team 28 used a vacuum pickup last year, but they generated it by mounting a CIM to a suction pump.
It worked great and picked up totes and cans no matter the orientation.
Venturi pumps were included in the KOP for several years, although this was several years ago .
They work well for the smaller game pieces, but forming an efficient seal is critical, because the volume of air is necessarily low with the supply on the robot.