Once you are connected to the BZ1 via LAN or 5G and have completed Pre-requisite Software section you can begin operating the BZ1.
To start the BZ1 whole body moveit driver please run:
roslaunch bz1_gripper_moveit_config real_bz1_moveit.launch
Requires the Z1 to be disabled from remote startup. Instructions are at Z1 Remote Enable/Disable
To tele-operate the B1:
rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/cmd_vel