{
  "status": "failed",
  "scope": "Provisional fixed UR10e/Robotiq raw-stock-to-roller interface trial; not production recipe or hardware qualification.",
  "transport": {
    "status": "COMPLETE",
    "simulation_seconds": 9.149000000043685,
    "maximum_penetration_m": 2.9041015080588307e-05,
    "observation": {
      "position": [
        0.4901014731957478,
        4.0915012274211904e-05,
        0.8039990319437962
      ],
      "velocity": [
        -5.313261992541082e-06,
        1.6831171903205712e-11,
        -3.9314500559370504e-08
      ],
      "angular_speed": 2.6609111021576994e-06,
      "supported": true,
      "upward_force_n": 0.9135989649456223,
      "roller_contacts": 4,
      "maximum_penetration_m": 3.507535416208547e-07,
      "obstacles": [],
      "in_receiving_zone": true
    },
    "events": [
      {
        "time": 59.87350000010386,
        "type": "start",
        "transport_model": "actuated rollers and friction contact, no workpiece constraint"
      },
      {
        "time": 60.37350000010625,
        "type": "rollers_started",
        "speed_m_s": 0.05
      },
      {
        "time": 68.59650000014551,
        "type": "arrival",
        "observation": {
          "position": [
            0.4900028463869417,
            4.090006453938422e-05,
            0.8039999443062817
          ],
          "velocity": [
            0.04991079299227017,
            -2.7158750136630224e-08,
            -0.00012888493843439232
          ],
          "angular_speed": 0.0005218302782852271,
          "supported": true,
          "upward_force_n": 0.8886708183663825,
          "roller_contacts": 10,
          "maximum_penetration_m": 5.533120606806422e-08,
          "obstacles": [],
          "in_receiving_zone": true
        }
      },
      {
        "time": 69.02250000014755,
        "type": "transfer_complete",
        "observation": {
          "position": [
            0.4901014731957478,
            4.0915012274211904e-05,
            0.8039990319437962
          ],
          "velocity": [
            -5.313261992541082e-06,
            1.6831171903205712e-11,
            -3.9314500559370504e-08
          ],
          "angular_speed": 2.6609111021576994e-06,
          "supported": true,
          "upward_force_n": 0.9135989649456223,
          "roller_contacts": 4,
          "maximum_penetration_m": 3.507535416208547e-07,
          "obstacles": [],
          "in_receiving_zone": true
        }
      }
    ],
    "scope": "Provisional isolated roller transport. Initial stock is placed by scene initialization; robot loading/retrieval and line integration are not demonstrated."
  },
  "error": "Retrieval interlock: {'stopped': False, 'maximum_surface_speed_m_s': 0.049768831236071565, 'maximum_command_rad_s': 0.0, 'surface_speed_limit_m_s': 0.001}",
  "task": "roller contact transport",
  "part_position": [
    -0.1898985268042522,
    -0.6499590849877258,
    1.0499990319437962
  ],
  "video": {
    "frames": 518,
    "fps": 30,
    "speed": 4
  },
  "simulation_seconds": 69.02250000014755
}