A robotic system includes a manipulator assembly and a processing system. The manipulator assembly includes a first manipulator, a second manipulator, and a drivable structure. The first manipulator and the second manipulator are mechanically coupled to the drivable structure. The processing system is configured to determine a drivable structure motion for effecting a commanded motion for a first end effector of a first tool mechanically coupled to the first manipulator. Performing only the drivable structure motion would cause motion of the first end effector simultaneously with motion of a second end effector, the second end effector being of a second tool mechanically coupled to the second manipulator. The processing system is further configured to determine a movement of the second manipulator and the second tool that, when performed simultaneously with the drivable structure motion, would compensate for the motion of the second end effector.

A method for training a neural network to derive, from a force and a moment exerted on an object when pressed on a plane in which an insertion for inserting the object is located, a movement vector to insert an object into an insertion. The method includes, for a plurality of positions in which the object or the part of the object held by the robot touches a plane in which the insertion is located, controlling the robot to move to the position, controlling the robot to press the object onto the plane, measuring the force and moment experienced by the object, scaling the pair of force and moment by a number randomly chosen between zero and a predetermined positive maximum number and labelling the scaled pair by a movement vector between the position and the insertion, and training the neural network using the labelled pairs of force and moment.