{
  "label": "nominal",
  "success": true,
  "mass_kg": 0.08,
  "friction": 0.6,
  "initial_xy_offset_m": [
    0,
    0
  ],
  "gripper_enabled": true,
  "min_held_clearance_m": 0.19574460599339438,
  "held_bilateral_contact_fraction": 1.0,
  "max_contact_penetration_m": 0.0003981768251423293,
  "max_pad_normal_force_N": 43.04614590588457,
  "max_actuator_limit_ratio": 1.0,
  "max_joint_speed_rad_s": 0.3138369217582799,
  "planned_joint_speed_rad_s": 0.3285701137221708,
  "unintended_contact_steps": {},
  "nonfinite": false,
  "bottle_constraints": 0,
  "external_bottle_forces": 0.0,
  "initial_arm_q": [
    -4.378480233758123,
    -0.745786766456992,
    0.7998300905406202,
    -1.6248396591853052,
    -1.5707963294164924,
    -1.2368875763507412
  ],
  "final_bottle_xyz": [
    0.060736471808605065,
    0.18978699114940414,
    0.9026796541912812
  ]
}