Task:
Use both arms to rearrange a fork and a spoon on opposite sides of a plate. Perform the following steps **simultaneously**.

1. Grasp the fork with the left arm and the spoon with the right arm.

2. Reorient both end-effectors to a downward-facing pose.

3. Place the fork at y = +0.16 and the spoon at y = −0.16 relative to the plate’s center.