diff --git a/config_robot/panda_grasp_data.yaml b/config_robot/panda_grasp_data.yaml
index 31c3097..9879b5d 100644
--- a/config_robot/panda_grasp_data.yaml
+++ b/config_robot/panda_grasp_data.yaml
@@ -1,33 +1,42 @@
 base_link: 'world'
 # =====================================================
-# Note: these parameters are copied from Robotiq gripper without tweaking
 hand:
     end_effector_name: 'hand'  # ee group name
     end_effector_type: 'finger'  # 'finger' or 'suction'
 
+    # =====================================================
+    # Grasping parameters
+    # TODO: move to other file
+
     # x/y translation and angle orientation grasp resolution parameters used for sampling grasp candidates
     grasp_resolution : 0.05  # meter
     angle_resolution : 90    # degrees
 
-    # min/max values of the grasp depth range in meter.
-    # This should fit to the distance from finger tip to inner palm or the suction cup stroke
-    grasp_max_depth : 0.035
-    grasp_min_depth : 0.01
-    # grasp_depth_resolution is the discretization distance in meter used for sampling the grasp depth value.
-    # Idealy this should be a small fraction of the depth range (i.e. 0.005).
-    # If the value exceeds the depth distance range grasp_max_depth is used by default.
-    grasp_depth_resolution : 1.0
-
     # A grasp motion is composed of three linear paths: approach, retreat, lift
     # The values below define the desired distances of each path.
     # Length of approach path (this is in addition to the grasp_max_depth)
     approach_distance_desired: 0.05  # approach path (in addition to grasp_max_depth)
     retreat_distance_desired: 0.05   # retreat path (in addition to grasp_max_depth)
-    lift_distance_desired: 0.01      # lift path (used as MINIMUM safety distance from surface)
+    lift_distance_desired: 0.1      # lift path (used as MINIMUM safety distance from surface)
 
     # minimum padding on each side of the object on approach
     grasp_padding_on_approach: 0.005  # meter
 
+    # grasp_depth_resolution is the discretization distance in meter used for sampling the grasp depth value.
+    # Idealy this should be a small fraction of the depth range (i.e. 0.005).
+    # If the value exceeds the depth distance range grasp_max_depth is used by default.
+    grasp_depth_resolution : 1.0
+
+    # =====================================================
+    # Hand parameters
+
+    # min/max values of the grasp depth range in meter.
+    # Peferrably, the grasp_max_depth is always used, but sometimes no grasp is available at that depth
+    # so it can fall back to a 'less deep' grasp if necessary
+    # This should fit to the distance from finger tip to inner palm or the suction cup stroke
+    grasp_max_depth : 0.035
+    grasp_min_depth : 0.01
+
     # Distance from the eef mount to the palm of end effector [x, y, z, r, p, y]
     # z-axis pointing toward object to grasp
     # x-axis perp. to movement of grippers
@@ -41,7 +50,8 @@ hand:
     pregrasp_posture : [0.04]  # open position
     grasp_posture : [0.0]      # close position
 
-    # Target durations in seconds for reaching pregrasp and grasp positions in end effector motions
+    # Target durations, in seconds, for reaching pregrasp and grasp positions in end effector motions
+    # This is an estimate of how fast your end effector operates
     pregrasp_time_from_start : 0.0
     grasp_time_from_start : 0.0