{
    "dist_open_start_1" : 0.005,
    "dist_open_start_2" : 0.005,
    "dist_open_after_1" : 0.006,
    "dist_open_after_2" : 0.006,
    "dist_open_end_1" : 0.010,
    "dist_open_end_2" : 0.050,
    "dist_close_end_1" : 0.005,
    "dist_close_end_2" : 0.005,
    "time_wielding" : 1,
    "time_command" : 0.060,
    "time_robot_movement" : 0.2,
    "object_thickness" : 4.5e-3,
    "force_target" : 5000,
    "force_capture" : 500
}