The secondary arm was succesfully added to the experiment setup. Some new hardware components were designed to make the desired mechanical connection between both robot arms and the gripper. The robot controllers were integrated in the iTaSC software framework to be able to easily synchronize the combined movement. Experiments have been performed successfully showing the robots capable of picking and placing boxes up to 10 kilograms. The remaining time of the project will mostly be used to decrease the cyclus time and increase robustness of the setup.