diff --git a/params/operator_params.json b/params/operator_params.json
index 0542324..6c63394 100644
--- a/params/operator_params.json
+++ b/params/operator_params.json
@@ -1,82 +1,322 @@
 {
     "distance_h_start_1": [
+        0.003,
+        0.003,
+        0.003,
+        0.003,
+        0.003,
+        0.003,
+        0.003,
+        0.003,
+        0.003,
+        0.003,
+        0.003,
+        0.003,
         0.003,
         0.003
     ],
     "distance_h_start_2": [
+        0.003,
+        0.003,
+        0.003,
+        0.003,
+        0.003,
+        0.003,
+        0.003,
+        0.003,
+        0.003,
+        0.003,
+        0.003,
+        0.003,
         0.003,
         0.003
     ],
     "distance_s_1": [
+        0.001,
+        0.001,
+        0.001,
+        0.001,
+        0.001,
+        0.001,
+        0.001,
+        0.001,
+        0.001,
+        0.001,
+        0.001,
+        0.001,
         0.001,
         0.001
     ],
     "distance_s_2": [
+        0.001,
+        0.001,
+        0.001,
+        0.001,
+        0.001,
+        0.001,
+        0.001,
+        0.001,
+        0.001,
+        0.001,
+        0.001,
+        0.001,
         0.001,
         0.001
     ],
     "distance_l_1": [
-        0.02,
-        0.02
+        0.01,
+        0.01,
+        0.01,
+        0.01,
+        0.01,
+        0.01,
+        0.01,
+        0.01,
+        0.01,
+        0.01,
+        0.01,
+        0.01,
+        0.01,
+        0.01
     ],
     "distance_l_2": [
+        0.0325,
+        0.0325,
+        0.0325,
+        0.02,
+        0.02,
+        0.02,
+        0.02,
+        0.02,
+        0.02,
+        0.02,
+        0.02,
+        0.02,
         0.02,
         0.02
     ],
     "distance_h_end1": [
+        0.003,
+        0.003,
+        0.003,
+        0.003,
+        0.003,
+        0.003,
+        0.003,
+        0.003,
+        0.003,
+        0.003,
+        0.003,
+        0.003,
         0.003,
         0.003
     ],
     "distance_h_end2": [
+        0.003,
+        0.003,
+        0.003,
+        0.003,
+        0.003,
+        0.003,
+        0.003,
+        0.003,
+        0.003,
+        0.003,
+        0.003,
+        0.003,
         0.003,
         0.003
     ],
     "object_position": [
-        0.02,
-        0.01
+        0.02743,
+        0.0249,
+        0.024,
+        0.02425,
+        0.0225,
+        0.0233,
+        0.0226,
+        0.02442,
+        0.02357,
+        0.02321,
+        0.02464,
+        0.02745,
+        0.02321,
+        0.021348
     ],
     "time_wielding": [
         1.332,
-        1.644
+        1.644,
+        1.644,
+        1.428,
+        1.284,
+        1.308,
+        1.272,
+        1.38,
+        1.416,
+        1.392,
+        1.38,
+        1.404,
+        1.452,
+        1.452
     ],
     "time_command": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
         0.0,
         0.0
     ],
     "time_robot_movement": [
-        0.14,
-        0.331
+        0.314,
+        0.331,
+        0.356,
+        0.428,
+        0.418,
+        0.454,
+        0.458,
+        0.44,
+        0.49,
+        0.47,
+        0.44,
+        0.425,
+        0.464,
+        0.5
     ],
     "object_thickness": [
+        0.0045,
+        0.0045,
+        0.0045,
+        0.0045,
+        0.0045,
+        0.0045,
+        0.0045,
+        0.0045,
+        0.0045,
+        0.0045,
+        0.0045,
+        0.0045,
         0.0045,
         0.0045
     ],
     "force_target": [
+        5000.0,
+        5000.0,
+        5000.0,
+        5000.0,
+        5000.0,
+        5000.0,
+        5000.0,
+        5000.0,
+        5000.0,
+        5000.0,
+        5000.0,
+        5000.0,
         5000.0,
         5000.0
     ],
     "force_capture": [
+        500.0,
+        500.0,
+        500.0,
+        500.0,
+        500.0,
+        500.0,
+        500.0,
+        500.0,
+        500.0,
+        500.0,
+        500.0,
+        500.0,
         500.0,
         500.0
     ],
     "Tesla closing": [
         0.216,
-        0.228
+        0.228,
+        0.252,
+        0.216,
+        0.228,
+        0.216,
+        0.228,
+        0.228,
+        0.228,
+        0.216,
+        0.228,
+        0.216,
+        0.216,
+        0.216
     ],
     "Tesla squeeze": [
         0.276,
-        0.288
+        0.288,
+        0.264,
+        0.264,
+        0.276,
+        0.276,
+        0.312,
+        0.276,
+        0.24,
+        0.24,
+        0.24,
+        0.24,
+        0.24,
+        0.24
     ],
     "Tesla welding": [
         1.332,
-        1.644
+        1.644,
+        1.644,
+        1.428,
+        1.284,
+        1.308,
+        1.272,
+        1.38,
+        1.416,
+        1.392,
+        1.38,
+        1.404,
+        1.452,
+        1.452
     ],
     "Tesla oncomming_relief": [
         0.528,
-        0.528
+        0.528,
+        0.54,
+        0.636,
+        0.504,
+        0.468,
+        0.492,
+        0.54,
+        0.563,
+        0.588,
+        0.541,
+        0.564,
+        0.576,
+        0.507
     ],
     "Tesla summary time": [
         2.34,
-        2.652
+        2.652,
+        2.796,
+        2.4,
+        2.208,
+        2.34,
+        2.256,
+        2.544,
+        2.405,
+        2.405,
+        2.358,
+        2.37,
+        2.442,
+        1.908
     ]
 }
\ No newline at end of file
diff --git a/params/system_params.json b/params/system_params.json
index cebc1d4..332939d 100644
--- a/params/system_params.json
+++ b/params/system_params.json
@@ -6,16 +6,16 @@
         1000.0
     ],
     "a_max_1": [
-        10.0
+        7.96
     ],
     "v_max_1": [
-        0.25
+        0.499
     ],
     "a_max_2": [
-        50.0
+        35.81
     ],
     "v_max_2": [
-        1.0
+        0.75
     ],
     "mass_1": [
         270.0
@@ -57,6 +57,6 @@
         1000.0
     ],
     "gun_range": [
-        100.0
+        112.5
     ]
 }
\ No newline at end of file
diff --git a/src/controller/passportFormer.py b/src/controller/passportFormer.py
index dbebcc2..0635f26 100644
--- a/src/controller/passportFormer.py
+++ b/src/controller/passportFormer.py
@@ -62,11 +62,11 @@ class PassportFormer(BasePointPassportFormer):
         points_pocket = []
         system_settings = {key: value[0] for key, value in self._params[1].items()}
         tesla_time = sum(self._params[0].get("Tesla summary time", []))
-        useful_data = {"tesla_time": tesla_time,
-                        "range": system_settings["gun_range"],
-                        "k_hardness": system_settings["k_hardness_1"],
-
-                        }
+        useful_data = {
+            "tesla_time": tesla_time,
+            "range": system_settings["gun_range"],
+            "k_hardness": system_settings["k_hardness_1"]
+        }
 
         for i in range(point_quantity):
             operator_settings = {
@@ -82,8 +82,14 @@ class PassportFormer(BasePointPassportFormer):
                     for key, value in self._params[0].items()
                 }
 
-                displacement_me = -0.01
-                displacement_fe = -0.01
+                P1 = operator_settings["object_position"] + 0.5*operator_settings["object_thickness"]
+                P2 = operator_settings["object_position"] - 0.5*operator_settings["object_thickness"]
+
+                next_P1 = next_operator_settings["object_position"] + 0.5*next_operator_settings["object_thickness"]
+                next_P2 = next_operator_settings["object_position"] - 0.5*next_operator_settings["object_thickness"]
+
+                displacement_me = next_P1 - P1
+                displacement_fe = next_P2 - P2
 
                 operator_settings["distance_h_end1"] -= displacement_fe
                 operator_settings["distance_h_end2"] += displacement_me