Here is the full list of all 18 ESPER achievements.
Complete the first chapter.
Play up to and complete chapter 2.
Play up to and complete chapter 3.
Play up to and complete chapter 4.
Play up to and complete chapter 5.
Play through the entire game story.
Defeat the tennis robot boss.
Drop a held object on to your head.
Move the cube around the wall without hitting it in the first chapter.
Smash the glass cube on the floor instead of putting in the receiver.
Drop an object into the pit in the third chapter.
Put a tennis ball back into the tennis robot.
Gain the grabbing through glass ability.
Gain the safe grabbing ability.
Knock down the rectangular object in the background in the fourth chapter.
Drop all objects into the pit in the third chapter.
Get hit by 10 tennis balls that the machine fires at you.
Miss the throw target in the first chapter.