---
# System prepended metadata

title: Dual-arm Robot Manual

---

# 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
```