{
  "status": "complete",
  "scope": "Provisional fixed UR10e/Robotiq raw-stock-to-roller interface trial; not production recipe or hardware qualification.",
  "transport": {
    "status": "COMPLETE",
    "simulation_seconds": 9.138500000043635,
    "maximum_penetration_m": 4.919130001239583e-06,
    "roller_stop_observation": {
      "stopped": true,
      "maximum_surface_speed_m_s": 3.2367995430316462e-06,
      "maximum_command_rad_s": 0.0,
      "surface_speed_limit_m_s": 0.001
    },
    "observation": {
      "position": [
        0.4901460874960115,
        4.161797014967661e-05,
        0.8039884118580372
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      "velocity": [
        2.9737825471654015e-06,
        -1.375001875842456e-09,
        -3.592341939138229e-08
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      "angular_speed": 2.6595781090188245e-06,
      "supported": true,
      "upward_force_n": 0.913598820006721,
      "roller_contacts": 9,
      "maximum_penetration_m": 2.665454250902439e-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": 68.75450000014627,
        "type": "arrival",
        "observation": {
          "position": [
            0.4900023869653084,
            4.149816339427126e-05,
            0.8039922411618723
          ],
          "velocity": [
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            2.0416166651996645e-08,
            -0.001999407089387144
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          "angular_speed": 8.236486239112048e-05,
          "supported": true,
          "upward_force_n": 0.8879020527774478,
          "roller_contacts": 8,
          "maximum_penetration_m": 1.8015735368777786e-08,
          "obstacles": [],
          "in_receiving_zone": true
        }
      },
      {
        "time": 69.0120000001475,
        "type": "transfer_complete",
        "observation": {
          "position": [
            0.4901460874960115,
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            0.8039884118580372
          ],
          "velocity": [
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          "angular_speed": 2.6595781090188245e-06,
          "supported": true,
          "upward_force_n": 0.913598820006721,
          "roller_contacts": 9,
          "maximum_penetration_m": 2.665454250902439e-07,
          "obstacles": [],
          "in_receiving_zone": true
        }
      }
    ],
    "scope": "Provisional contact transport observations only; loading and retrieval are managed and verified by the caller."
  },
  "part_position": [
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    1.0498921254542086
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  "release": {
    "released": true,
    "seating": {
      "seated": true,
      "position_error": 0.00010840376356876442,
      "angle_error": 0.00041066699918507324,
      "support_contact": true
    },
    "linear_speed_m_s": 1.0536629057387806e-07,
    "angular_speed_rad_s": 1.0920736664604518e-07,
    "pad_force_n": 0
  },
  "video": {
    "frames": 932,
    "fps": 30,
    "speed": 4
  },
  "simulation_seconds": 124.14100000041073
}