If I guess correctly, then you want to have a "complex robot" with several (in your case 2 resp. 4) arms that all operate independently.
The PickAndPlace simulation object can indeed carry more than one part at the same time (it has a configurable capacity), but (!) all these parts are transferred simultaneously from the same source to the same target. So a PickAndPlace will not do the trick for you.
In my opinion, what you want to create is a "complex machine" for which we have the Frame. A Frame allows you to encapsulate a more complex simulation logic in one specialized simulation object.
In that "Complex PickAndPlace Frame", every PickAndPlace might take over the role of one particular independent arm.
My first attempt would have been to create a frame for the whole robot and then to use PickAndPlace robots as its arms.
About the example model: To my knowledge, there is none that covers you particular topic.
what do you mean by grama and tge ?
In any way in this case the magic word is "invers kinematics".
with the robot specific invers kinematics (IK) you calulate the axis angles to a given target position / orientation.
for 3 or 4 axis robots this not very complicated ( basic geometry)
You then create/run the axis animations between actual axis angles and calulated target axis angles.