How to bring guest?

Hi! I hope I’m posting this in the right place.

I’d like to come in and bring a guest to help me work on a project. In my orientation, I was told that was allowed as long as they signed a waiver and didn’t operate any of Asmbly’s equipment. How do I get the waiver for them to sign? Is that something they do when we show up, or is there a document I need to email them or something?

Thanks

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Thank you!!