# realman_hw_force_retreat_hold

| 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 |
| six_axis_force_supported | PASS | actual=Integrated 6D force |
| force_threshold_gt_release | PASS |  |
| retreat_step_range_safe | PASS | min_m=0.004000, max_m=0.014000 |
| retreat_step_gain_safe | PASS | gain_m_per_N=0.001500 |
| max_cumulative_retreat_safe | PASS | max_m=0.200000 |
| retreat_speed_range_safe | PASS | min_percent=2, max_percent=15 |
| retreat_speed_gain_safe | PASS | gain_percent_per_N=1.500000 |
| retreat_direction_sign_valid | PASS | sign=1.000000 |
| stop_reason | INFO | signal_requested |
| move_count | INFO | 0 |
| cumulative_retreat_m | INFO | 0.000000 |
| force_retreat_hold_sequence_ok | PASS |  |

Assertions: 12, failures: 0

