  We present our runner-up approach for the Real Robot Challenge 2021. We build
upon our previous approach used in Real Robot Challenge 2020. To solve the task
of sequential goal-reaching we focus on two aspects to achieving near-optimal
trajectory: Grasp stability and Controller performance. In the RRC 2021
simulated challenge, our method relied on a hand-designed Pinch grasp combined
with Trajectory Interpolation for better stability during the motion for fast
goal-reaching. In Stage 1, we observe reverting to a Triangular grasp to
provide a more stable grasp when combined with Trajectory Interpolation,
possibly due to the sim2real gap. The video demonstration for our approach is
available at https://youtu.be/dlOueoaRWrM. The code is publicly available at
https://github.com/madan96/benchmark-rrc.
