We present a bi-level co-design pipeline employed for the optimization of a set of relevant relevant kinematic parameters of the bi-manual robotic platform under development for the european project RePAIR. In particular, the bottom level consists of a monolithic co-design framework, based on trajectory optimization, which jointly optimizes for design and state variables. The framework employs a kinematic model of the system and accounts for collisions, state bounds, a number of user-defined tasks, while minimizing a suitable performance index. The top level employs a three-step heuristic globalization algorithm which performs several calls to the low level TO to cope with the observed sensitivity of the TO solution w.r.t. the choice of the initial guess.