This stage is associated primarily with the development of coordination between vision and prehension.
From the en.wikipedia.org
In testing the new approach, monkeys were trained to make prehension movements, reaching and grasping various objects located at different positions.
From the sciencedaily.com
Prehension requires coordination between the direction of reach, performed mainly by the arm, and the type of grasp, performed mainly by the fingers.
From the sciencedaily.com
More examples
Grasping: the act of gripping something firmly with the hands (or the tentacles)
(prehend) seize: take hold of; grab; "The sales clerk quickly seized the money on the counter"; "She clutched her purse"; "The mother seized her child by the arm"; "Birds of prey often seize small mammals"
Prehensility is the quality of an appendage or organ that has adapted for grasping or holding. The word is derived from the Latin term prehendere, meaning "to grasp. ...