# Dual-arm Robot Manual 1. Power on the robot by push a power button on tech pendant. ![](https://i.imgur.com/5BnyppE.jpg =x400) 2. To boot the robot -->press power off at the left bottom corner --> press on --> press start . Then exit this menu. ![](https://i.imgur.com/TOMJbd1.jpg =x400) 3. For unlock limiter press Automatic at the right top corner --> press Manual --> Enter password: 1234 ![](https://i.imgur.com/UulBwui.jpg =x400) 4. Press Load program --> choose ros_ur5 and open it ![](https://i.imgur.com/tuVa8Tp.jpg =x400) 5. Go to the PC station --> Enter password: 112233 6. Open terminal and run roscore: ``` $ roscore ``` 7. Bring up any system in each terminal: ``` $ roslaunch ros_conveyor conveyor_bringup.launch ``` ``` $ roslaunch dual_arm_driver dual_arm_bringup.launch ``` ``` $ roslaunch vrpn_client_ros sample.launch server:=192.168.1.18 ``` press Play from beginning Robot Program ![](https://i.imgur.com/WoE3gSN.jpg =x400) 8. Go to the Optitrack PC station power-on it ![](https://i.imgur.com/KSirCya.jpg =x400) 10. Plug the switching and open program "Motive" in the PC ![](https://i.imgur.com/bKlsCMx.jpg =x400) 10. Go to robot station's PC and run node: ``` $ rosrun dual_arm_driver mux_joint_node.py $ rosrun dual_arm_driver RobotVelocityInterface.py ``` 11. Running simple demo: ``` $ rosrun dual_arm_driver demo_pickandplace.py ```