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Documentation-wise our presentation at ROSCon 2018 is probably a good starting point: https://roscon.ros.org/2018/ It also walks you (briefly) through the C++ API that you need to implement for a custom stage.

"pick" is definitely no "primitive" stage! The current pick implementation is a container comprised of quite a number of primitive stages. Thinking otherwise is very confusing indeed.

For pick/place with dual-arms you will have to setup your own container, possibly using some custom primitive stages to generate paired pick poses, etc.