The stereo-vision head for Nao has been delivered to DFKI by Aldebaran Robotics. DFKI started to implement the stereo-vision software that allows computing the 3D position of objects in front of the two cameras. DFKI has developed and optimized a grasping procedure that controls the motion of the hand of Nao and the global motion of its body if the object is not reachable. Aldebaran implemented a releasing function preventing the fall of the object given by the robot to the human.