>To have both hands independant.
>wield right sword
>wield left sword
>
>or just
>right sword
>left sword

wield sword
dualwield sword

>and all checks applied to one hand should not touch the other
>hand.
>If you try to wield something heavy in your right hand while
>holding something heavy in your left hand, the wield fails.

So you want it how it works today...

>For urgent moments when most people can't think it is possible
>to have 3rd command:
>
>"grasp" (or whatever) sword
>which tries to wield it into your right hand and remove
>offhand if necessary.

Personally, I think this makes it overly complicated.