Here we used two Universal robots (UR3 and UR3e) to perform an assembly during a pick and place movement. To simulate factory conditions, we used a conveyor which feeds different Arucco encoded pieces to the robotic setup. If the desired piece is detected, we estimate an ideal pickup position from which it can be lifted from the conveyor. When both arms have a correct piece, an assembly is performed. This motion requires a synchronized set of movements from the robotic arms.