I want to do a bimanual pick and place task for an object at a known position of a known shape using Moveit. I have been using [this tutorial](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pick_place/pick_place_tutorial.html) for reference.
But, since this tutorial is for one hand, I am unable to understand how to correctly specify the end effector in the srdf, since there will be 2 end effectors in this case, with different parent links.
Also, I am unable to find any example code where something similar has been successfully implemented. It would be great if somebody could suggest a good reference for this.
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