I did a great deal of infantry time and yes we were instructed to fire rifle grenades from both the ground and shoulder(under arm) position. I don't remember firing it from the shoulder proper. That was F.N. and we used frag grenades in a US or UKicon launcher most of the time. We saw our own later but all were identical except for colour. We didn't have the shaped charge because we had the .84 mm and .66 mm for that. I only wished we had a multi purpose item like the M9 grenade. And no I never really noticed recoil, just the blast of fine grit in the face upon firing.