# realman_hw_motion_tracking

| 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 |
| motion_joint_valid | PASS |  |
| motion_delta_safe | PASS | delta_deg=2.000000 |
| motion_speed_safe | PASS | speed_percent=5 |
| read_start_state | PASS | error=0 |
| start_joints | INFO | [J1=-0.001, J2=10.000, J3=0.000, J4=-0.002, J5=-0.001, J6=-0.004, J7=0.000] |
| move_positive_rm_movej | PASS | error=0 |
| move_positive_read_actual | PASS | error=0 |
| move_positive_duration_s | INFO | 0.919758 |
| move_positive_final_error_deg | INFO | 0.010000 |
| move_positive_final_error_limit | PASS | error_deg=0.010000 |
| return_positive_rm_movej | PASS | error=0 |
| return_positive_read_actual | PASS | error=0 |
| return_positive_duration_s | INFO | 0.925660 |
| return_positive_final_error_deg | INFO | 0.002000 |
| return_positive_final_error_limit | PASS | error_deg=0.002000 |
| move_negative_rm_movej | PASS | error=0 |
| move_negative_read_actual | PASS | error=0 |
| move_negative_duration_s | INFO | 0.914565 |
| move_negative_final_error_deg | INFO | 0.012000 |
| move_negative_final_error_limit | PASS | error_deg=0.012000 |
| return_negative_rm_movej | PASS | error=0 |
| return_negative_read_actual | PASS | error=0 |
| return_negative_duration_s | INFO | 0.917783 |
| return_negative_final_error_deg | INFO | 0.008000 |
| return_negative_final_error_limit | PASS | error_deg=0.008000 |

Assertions: 20, failures: 0

