This paper proposes a planning framework to deal with the problem of computing the motion of a robot with dual arm/hand, during an object pick-and-place task. We consider the situation where the start and goal configurations of the object constrain the robot to grasp the object with one hand, to give it to the other hand, before placing it in its final configuration. To realize such a task, the proposed framework treats the grasp computation, for one or two multi-fingered hands, of an arbitrarily-shaped object, the exchange configuration and finally the motion of the robot arms and body. In order to improve the planner performance, a context-independent grasp list is computed offline for each hand and for the given object as well as computed offline roadmap that will be adapted according to the environment composition. Simulation results show the planner performance on a complex scenario.