Is possible to create a teleoperated frame?

[mikelasa]

Hello,

I was thinking if creating a teleoperated frame is possible, for example, to move two robots move according to a moving frame.

So far I managed to teleoperate two robots separately to grab a box from both sides and now I wonder of I could control the box or a virtual moving frame in order to make both robots "follow" the box.
I have been searching in the documentation and I think I could use maybe a FrameTransformer to compute the distance from the ee of the robot to the frame, though I dont know how to actually move the box

Any input on how I could approach is highly appreciated!

This is an image of my simulation if helps to imagine what I want. The virtual frame in this case would be the central point of the box:

Thank you.