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      "final_bottle_xyz": [
        0.1803037167518253,
        -0.13004144981267246,
        1.0368270425098578
      ]
    },
    {
      "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": 0.19582701033967986,
      "held_bilateral_contact_fraction": 1.0,
      "max_contact_penetration_m": 0.00039790183581385154,
      "max_pad_normal_force_N": 39.20387763947262,
      "max_actuator_limit_ratio": 1.0,
      "max_joint_speed_rad_s": 0.3800798971319098,
      "planned_joint_speed_rad_s": 0.39601567338862775,
      "unintended_contact_steps": {},
      "nonfinite": false,
      "bottle_constraints": 0,
      "external_bottle_forces": 0.0,
      "initial_arm_q": [
        -0.4426875848854297,
        -1.0559707953971842,
        0.8835643658755222,
        -1.4200990984242363,
        -1.54773946623302,
        1.1793953971092352
      ],
      "final_bottle_xyz": [
        0.1809555135384426,
        -0.13005496273977915,
        1.0369383879832827
      ]
    }
  ],
  "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": -2.3912835954598144e-05,
      "held_bilateral_contact_fraction": 0.0,
      "max_contact_penetration_m": 0.00039789816265903136,
      "max_pad_normal_force_N": 0.0,
      "max_actuator_limit_ratio": 0.3012287789069287,
      "max_joint_speed_rad_s": 0.3800798971319098,
      "planned_joint_speed_rad_s": 0.39601567338862775,
      "unintended_contact_steps": {},
      "nonfinite": false,
      "bottle_constraints": 0,
      "external_bottle_forces": 0.0,
      "initial_arm_q": [
        -0.4426875848854297,
        -1.0559707953971842,
        0.8835643658755222,
        -1.4200990984242363,
        -1.54773946623302,
        1.1793953971092352
      ],
      "final_bottle_xyz": [
        0.1800012921945054,
        -0.13000041822742747,
        0.8379487519692523
      ]
    },
    {
      "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": -2.3900053383707487e-05,
      "held_bilateral_contact_fraction": 0.0,
      "max_contact_penetration_m": 0.00039789816265903136,
      "max_pad_normal_force_N": 55.145161783250245,
      "max_actuator_limit_ratio": 1.0,
      "max_joint_speed_rad_s": 0.3800798971319098,
      "planned_joint_speed_rad_s": 0.39601567338862775,
      "unintended_contact_steps": {},
      "nonfinite": false,
      "bottle_constraints": 0,
      "external_bottle_forces": 0.0,
      "initial_arm_q": [
        -0.4426875848854297,
        -1.0559707953971842,
        0.8835643658755222,
        -1.4200990984242363,
        -1.54773946623302,
        1.1793953971092352
      ],
      "final_bottle_xyz": [
        0.17995609177072275,
        -0.12884734752077376,
        0.8379488645652609
      ]
    }
  ],
  "positive_pass": true,
  "negative_pass": true,
  "note": "Mass and friction are assumed, not identifiable from the capture. Placement perturbations are unknown to the controller."
}