Following Rosen’s suggestion, I used the TaskManip interface to perform grasp planning, and here’s the first look at the ER4U grasping an object. Yes, you read that right, I’m getting agonizingly close!

The next thing I’m going to implement is introducing a couple of placeholders to define the start and end positions of the target.

Hopefully, I’ll also be able to add a IP based target tracking plug to later substitute for the placeholders in the simulation.