The varnish experiment has not been performed yet because the robot has been updated by the provider with a new arm and a new controller. Now the robot is in our lab and we will test it. In the meanwhile acquisition and shape regognition algorithms have been elaborated and tested. The part database and varnish composition is under construction. The mechanical transmission system between the robot gripper and the spray gun has been designed and it is under fabrication. The navigation algorithms have been optimized with the integration of an absolute localization system.