Attach two links of an object to two links of the robot

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Hello all,

I am working with a humanoid robot for transportation of objects.

My objective is to simulate the grasping with both hands of a table from two different links.

As grasping is giving some problems I wanna attach the hand links to the table lnks in a certain manner.

In the first approach I developed a Spring-damper model, but I need a better attaching where a movement of one link, means the movement of the other.

I didnt find any solution.

All sugestions are welcome!!

Bests,

Julen U.