# 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 |
| move_1 | INFO | dx=-0.0053, dy=0.0051, dz=0.0010 m, force_norm_N=3.062762, step_m=0.007394, speed_percent=4 |
| move_2 | INFO | dx=-0.0114, dy=0.0079, dz=-0.0020 m, force_norm_N=17.188154, step_m=0.014000, speed_percent=15 |
| move_3 | INFO | dx=-0.0075, dy=0.0063, dz=-0.0020 m, force_norm_N=4.787042, step_m=0.009981, speed_percent=6 |
| move_4 | INFO | dx=-0.0121, dy=0.0064, dz=-0.0029 m, force_norm_N=16.756907, step_m=0.014000, speed_percent=15 |
| move_5 | INFO | dx=-0.0130, dy=0.0043, dz=-0.0028 m, force_norm_N=13.664407, step_m=0.014000, speed_percent=15 |
| move_6 | INFO | dx=-0.0134, dy=0.0029, dz=-0.0029 m, force_norm_N=17.555237, step_m=0.014000, speed_percent=15 |
| move_7 | INFO | dx=-0.0010, dy=-0.0047, dz=-0.0074 m, force_norm_N=4.012828, step_m=0.008819, speed_percent=5 |
| move_8 | INFO | dx=0.0024, dy=-0.0047, dz=-0.0128 m, force_norm_N=7.392604, step_m=0.013889, speed_percent=10 |
| move_9 | INFO | dx=0.0015, dy=-0.0044, dz=-0.0120 m, force_norm_N=6.722959, step_m=0.012884, speed_percent=9 |
| move_10 | INFO | dx=0.0011, dy=-0.0046, dz=-0.0122 m, force_norm_N=6.867019, step_m=0.013101, speed_percent=9 |
| move_11 | INFO | dx=0.0003, dy=-0.0046, dz=-0.0126 m, force_norm_N=7.107656, step_m=0.013461, speed_percent=10 |
| move_12 | INFO | dx=-0.0031, dy=-0.0036, dz=-0.0132 m, force_norm_N=16.401739, step_m=0.014000, speed_percent=15 |
| move_13 | INFO | dx=-0.0028, dy=-0.0036, dz=-0.0132 m, force_norm_N=14.364263, step_m=0.014000, speed_percent=15 |
| move_14 | INFO | dx=-0.0029, dy=-0.0039, dz=-0.0131 m, force_norm_N=11.190488, step_m=0.014000, speed_percent=15 |
| move_15 | INFO | dx=-0.0044, dy=-0.0042, dz=-0.0126 m, force_norm_N=12.655540, step_m=0.014000, speed_percent=15 |
| move_16 | INFO | dx=0.0003, dy=0.0004, dz=0.0058 m, force_norm_N=2.006104, step_m=0.005809, speed_percent=2 |
| max_cumulative_retreat_reached | FAIL | total_m=0.197338 |
| stop_reason | INFO | safety_or_error |
| move_count | INFO | 16 |
| cumulative_retreat_m | INFO | 0.197338 |
| force_retreat_hold_sequence_ok | FAIL |  |

Assertions: 13, failures: 2

