This tool addresses the pregrasping planning problem, whose goal is to find a configuration that determines how and where the robotic arm must position and orientate itself, according to a distribution criterion (avoiding collisions with other agents). Artificial fiducial markers are used as reference pose and then the grasping action is performed. The use of a camera in a robot control loop can be performed with two types of architecture: eye-in-hand system (when rigidly mounted on the robot end-effector); eye- to-hand system(when it observes the robot within its work space).