There are some fantastic guides from our lab to initialize yourself with the real darias robot and jump form simulation to real.
The best option is to start with [This guide](https://git.ias.informatik.tu-darmstadt.de/ausy/wiki/blob/master/tutorial_darias_right_arm/Using_DARIAS_Right_Arm2.pdf?expanded=true&viewer=rich)
In case you wanna use the DLR hands, you have a nice guide [Here](https://git.ias.informatik.tu-darmstadt.de/tosatto/dariaspy/blob/master/dariashand.pdf)
