# realman_hw_joint_telemetry

| Check | Result | Detail |
| --- | --- | --- |
| rm_init | PASS | error=0 |
| rm_create_robot_arm | PASS | 192.168.1.18:8080 |
| rm_get_robot_info | PASS | error=0 |
| arm_dof | INFO | 7 |
| force_type | INFO | Integrated 6D force |
| expected_dof | PASS | actual=7 |
| rm_get_current_arm_state | PASS | error=0 |
| arm_state_joints_finite | PASS | [J1=-0.001, J2=9.998, J3=0.000, J4=0.000, J5=-0.001, J6=-0.001, J7=0.001] |
| rm_get_joint_degree | PASS | error=0 |
| joint_degree_matches_arm_state | PASS | max_diff_deg=0.003000 |
| rm_get_current_joint_current | PASS | error=0 |
| joint_current_range | PASS | [J1=169.000, J2=-320.000, J3=-13.000, J4=190.000, J5=30.000, J6=28.000, J7=27.000] |
| rm_get_current_joint_voltage | PASS | error=0 |
| joint_voltage_range | PASS | [J1=23.000, J2=22.000, J3=23.000, J4=23.000, J5=23.000, J6=23.000, J7=23.000] |
| rm_get_current_joint_temperature | PASS | error=0 |
| joint_temperature_range | PASS | [J1=40.000, J2=39.000, J3=38.000, J4=38.000, J5=38.000, J6=38.000, J7=41.000] |
| rm_get_joint_en_state | PASS | error=0 |
| all_joints_enabled | PASS |  |
| rm_get_joint_err_flag | PASS | error=0 |
| joint_error_flags_zero | PASS |  |

Assertions: 18, failures: 0

