# 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=30.017, J2=3.628, J3=0.475, J4=-9.901, J5=-0.085, J6=-8.324, J7=-0.035] |
| rm_get_joint_degree | PASS | error=0 |
| joint_degree_matches_arm_state | PASS | max_diff_deg=0.002000 |
| rm_get_current_joint_current | PASS | error=0 |
| joint_current_range | PASS | [J1=-174.000, J2=78.000, J3=-85.000, J4=-329.000, J5=-180.000, J6=-61.000, J7=80.000] |
| 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=22.000, J7=22.000] |
| rm_get_current_joint_temperature | PASS | error=0 |
| joint_temperature_range | PASS | [J1=32.000, J2=31.000, J3=30.000, J4=31.000, J5=31.000, J6=32.000, J7=34.000] |
| 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

