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        -1.6248396591853052,
        -1.5707963294164924,
        -1.2368875763507412
      ],
      "final_bottle_xyz": [
        0.06122569934610815,
        0.18977188811461768,
        0.9026597311179357
      ]
    },
    {
      "label": "placement_09",
      "success": true,
      "mass_kg": 0.08,
      "friction": 0.6,
      "initial_xy_offset_m": [
        0.0009980190174258344,
        0.0019416356311085748
      ],
      "gripper_enabled": true,
      "min_held_clearance_m": 0.19574979932624148,
      "held_bilateral_contact_fraction": 1.0,
      "max_contact_penetration_m": 0.0003977393513582364,
      "max_pad_normal_force_N": 37.17784146041785,
      "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": [
        0.06186222255040726,
        0.18975903464471097,
        0.9026810546035285
      ]
    }
  ],
  "negative_controls": [
    {
      "label": "negative_open_gripper",
      "success": false,
      "mass_kg": 0.08,
      "friction": 0.6,
      "initial_xy_offset_m": [
        0,
        0
      ],
      "gripper_enabled": false,
      "min_held_clearance_m": -2.3497393797700106e-05,
      "held_bilateral_contact_fraction": 0.0,
      "max_contact_penetration_m": 0.0003981768251423293,
      "max_pad_normal_force_N": 0.0,
      "max_actuator_limit_ratio": 0.3701001602939823,
      "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": [
        0.060975253098484,
        0.18968874115159956,
        0.7038270293670704
      ]
    },
    {
      "label": "negative_zero_friction",
      "success": false,
      "mass_kg": 0.08,
      "friction": 0.0,
      "initial_xy_offset_m": [
        0,
        0
      ],
      "gripper_enabled": true,
      "min_held_clearance_m": -2.34988215650489e-05,
      "held_bilateral_contact_fraction": 0.0,
      "max_contact_penetration_m": 0.0003981768251423293,
      "max_pad_normal_force_N": 56.262641980079465,
      "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": [
        0.060981845276391305,
        0.18881659194325684,
        0.7038270229168094
      ]
    }
  ],
  "positive_pass": true,
  "negative_pass": true,
  "note": "Mass and friction are assumed, not identifiable from the capture. Placement perturbations are unknown to the controller."
}