In 3 experiments, the authors investigated the impact of action goals on the production of discrete bimanual responses. Similar to a bartender putting 2 glasses simultaneously on a shelf, participants placed 2 objects into either parallel or opposite orientations by carrying out either mirror-symmetrical or mirror-asymmetrical movements. In Experiment 1, performance was strongly affected by the congruency of the intended object orientations but was essentially unaffected by movement symmetry. Experiment 2 replicated this instrumental goal-congruency effect (and the absence of motor-symmetry effects) when actions were cued in advance. Experiment 3 revealed substantial motor-symmetry effects, provided the movements themselves became the action goal. The authors concluded that performance in bimanual choice reaction tasks is constrained by the creation and maintenance of goal codes rather than by properties inherent in the neuromuscular system that carries out these responses. These goals can relate to either body-intrinsic states or to body-extrinsic states according to the actor's current intentions.