moveit-noetic, How to attach one object with two end-effectors?

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i'm trying to grasp one object with two arms(A arm and B arm) by this process.

1. Attach object with A arm (l_tool_frame).
2. Attach object with B arm (r_tool_frame).

but it didn't work. when i attach the object to B arm, It is automatically detached from A arm.

I want to attach the object with two arms. Is there any way to do this?

This code is the first way i tried it.

moveit_msgs::AttachedCollisionObject l_pad_attach;
pad_attach.link_name = ("l_tool_frame");
pad_attach.object = add_object[0];
current_scene.applyAttachedCollisionObject( pad_attach );

moveit_msgs::AttachedCollisionObject r_pad_attach;
pad_attach.link_name = ("r_tool_frame");
pad_attach.object = add_object[0];
current_scene.applyAttachedCollisionObject( pad_attach );

This code is the second way i tried it.

moveit_msgs::AttachedCollisionObject pad_attach;
pad_attach.link_name = ("l_tool_frame","r_tool_frame");

pad_attach.object = add_object[0];
current_scene.applyAttachedCollisionObject( pad_attach );

There is no error, but it is attached only to "r_tool_frame"

Thank you