# rm75_acceptance_preflight

| Check | Result | Detail |
| --- | --- | --- |
| source_document | INFO | RM75-6F mechanical arm testing agent operation document v1.0 |
| scope | INFO | INIT/PREFLIGHT/IDLE read-only acceptance checks; no motion command is sent |
| 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 |
| rm75_expected_7dof | PASS | actual=7 |
| six_axis_force_sensor_available | PASS | actual=Integrated 6D force |
| controller_generation_known | PASS | actual=3 |
| rm_get_arm_run_mode | PASS | error=0 |
| run_mode | INFO | real |
| real_robot_mode | PASS | mode=1 |
| rm_get_arm_power_state | PASS | error=0 |
| arm_powered_on | PASS | power_state=1 |
| rm_get_current_arm_state | PASS | error=0 |
| current_joints_finite | PASS | [J1=0.000, J2=0.001, J3=-0.001, J4=0.001, J5=-0.001, J6=0.001, J7=0.000] |
| current_tcp_pose_finite | PASS | pos_m=(0.0000,0.0000,0.8677), euler_rad=(0.0000,0.0000,0.0000) |
| current_arm_errors_clear | PASS | err_len=1, codes=[0] |
| rm_get_arm_all_state | PASS | error=0 |
| all_joints_enabled | PASS |  |
| joint_error_codes_zero | PASS |  |
| joint_power_temperature_current_ranges | PASS |  |
| arm_all_state_errors_clear | PASS | err_len=1, codes=[0] |
| rm_get_controller_state | PASS | error=0 |
| controller_state | INFO | voltage_V=23.349001, current_A=0.589000, temperature_C=47.466000, err=0 |
| controller_voltage_range | PASS |  |
| controller_current_range | PASS |  |
| controller_temperature_range | PASS |  |
| controller_error_zero | PASS | err=0 |
| rm_get_current_work_frame | PASS | error=0 |
| current_work_frame | INFO | name=World, payload_kg=0.000, cog_mm=(0.000,0.000,0.000), pos_m=(0.0000,0.0000,0.0000), euler_rad=(0.0000,0.0000,0.0000) |
| work_frame_pose_finite | PASS |  |
| rm_get_current_tool_frame | PASS | error=0 |
| current_tool_frame | INFO | name=Arm_Tip, payload_kg=0.000, cog_mm=(0.000,0.000,0.000), pos_m=(0.0000,0.0000,0.0000), euler_rad=(0.0000,0.0000,0.0000) |
| tool_frame_pose_finite | PASS |  |
| tool_payload_reasonable | PASS | payload_kg=0.000000 |
| rm_get_force_data_preflight_samples | PASS | failures=0 |
| work_zero_force_mean | INFO | Fx=-0.0793, Fy=0.1656, Fz=-4.6367, Mx=-0.0241, My=0.0368, Mz=-0.0116 |
| force_norm_computed | PASS | force_norm_N=4.640301 |
| work_zero_force_static_range | PASS | max_abs_force_N=4.636667 |
| work_zero_torque_static_range | PASS | max_abs_torque_Nm=0.036833 |
| manual_items_not_executed | INFO | appearance/load/e-stop/contact-force/repeatability require human safety confirmation or external tools |

Assertions: 33, failures: 0

