How to call pick function using both arms?

edit

I am trying to call pick function using right arm first and then left arm but it is not working.

Here is my code:

moveit::planning_interface::MoveGroup group("right_arm");
  group.setPlanningTime(45.0);
  ros::WallDuration(1.0).sleep();
  geometry_msgs::PoseStamped p;
  p.header.frame_id = "odom_combined";
  p.pose.position.x = (float)req.a;
  p.pose.position.y = (float)req.b;
  p.pose.position.z = (float)req.c;
  p.pose.orientation.x = (float)req.d;
  p.pose.orientation.y = (float)req.e;
  p.pose.orientation.z = (float)req.f;
  p.pose.orientation.w = (float)req.g;

  geometry_msgs::PoseStamped q;
  q.header.frame_id = "odom_combined";
  q.pose.position.x = (float)req.h;
  q.pose.position.y = (float)req.i;
  q.pose.position.z = (float)req.j;
  q.pose.orientation.x = (float)req.k;
  q.pose.orientation.y = (float)req.l;
  q.pose.orientation.z = (float)req.m;
  q.pose.orientation.w = (float)req.n;


  pick_right(group, p);

  ros::WallDuration(1.0).sleep();
  moveit::planning_interface::MoveGroup group_l("left_arm");
  group_l.setPlanningTime(45.0);
  ros::WallDuration(1.0).sleep();

  pick_left(group_l, q);

I have the corresponding pick_left functions. The right arm picks but nothing happens with the left arm.