[
  {
    "pair": [
      "block_01",
      "table"
    ],
    "t_start": 0.0042,
    "t_end": 2.0,
    "max_normal_force": 11.62,
    "impulse_Ns": 4.5425,
    "duration_s": 1.996
  },
  {
    "pair": [
      "block_02",
      "block_16"
    ],
    "t_start": 0.0542,
    "t_end": 0.0792,
    "max_normal_force": 1.09,
    "impulse_Ns": 0.0066,
    "duration_s": 0.025
  },
  {
    "pair": [
      "block_02",
      "table"
    ],
    "t_start": 0.0042,
    "t_end": 2.0,
    "max_normal_force": 0.3,
    "impulse_Ns": 0.8273,
    "duration_s": 1.996
  },
  {
    "pair": [
      "block_03",
      "block_16"
    ],
    "t_start": 0.1875,
    "t_end": 0.2125,
    "max_normal_force": 0.01,
    "impulse_Ns": 0.0001,
    "duration_s": 0.025
  },
  {
    "pair": [
      "block_03",
      "table"
    ],
    "t_start": 0.0042,
    "t_end": 2.0,
    "max_normal_force": 0.0,
    "impulse_Ns": 0.0073,
    "duration_s": 1.996
  },
  {
    "pair": [
      "block_04",
      "table"
    ],
    "t_start": 0.0042,
    "t_end": 2.0,
    "max_normal_force": 0.15,
    "impulse_Ns": 0.8377,
    "duration_s": 1.996
  },
  {
    "pair": [
      "block_05",
      "table"
    ],
    "t_start": 0.0042,
    "t_end": 2.0,
    "max_normal_force": 0.0,
    "impulse_Ns": 0.0215,
    "duration_s": 1.996
  },
  {
    "pair": [
      "block_06",
      "table"
    ],
    "t_start": 0.0042,
    "t_end": 2.0,
    "max_normal_force": 0.04,
    "impulse_Ns": 0.3036,
    "duration_s": 1.996
  },
  {
    "pair": [
      "block_07",
      "block_17"
    ],
    "t_start": 0.0042,
    "t_end": 2.0,
    "max_normal_force": 0.34,
    "impulse_Ns": 0.0244,
    "duration_s": 1.996
  },
  {
    "pair": [
      "block_07",
      "sleeve_01"
    ],
    "t_start": 0.0042,
    "t_end": 2.0,
    "max_normal_force": 0.79,
    "impulse_Ns": 0.0361,
    "duration_s": 1.996
  },
  {
    "pair": [
      "block_07",
      "table"
    ],
    "t_start": 0.0042,
    "t_end": 2.0,
    "max_normal_force": 0.3,
    "impulse_Ns": 0.5955,
    "duration_s": 1.996
  },
  {
    "pair": [
      "block_08",
      "table"
    ],
    "t_start": 0.0042,
    "t_end": 2.0,
    "max_normal_force": 0.28,
    "impulse_Ns": 1.5622,
    "duration_s": 1.996
  },
  {
    "pair": [
      "block_09",
      "table"
    ],
    "t_start": 0.0042,
    "t_end": 2.0,
    "max_normal_force": 0.04,
    "impulse_Ns": 0.2277,
    "duration_s": 1.996
  },
  {
    "pair": [
      "block_10",
      "table"
    ],
    "t_start": 0.0042,
    "t_end": 2.0,
    "max_normal_force": 0.0,
    "impulse_Ns": 0.0015,
    "duration_s": 1.996
  },
  {
    "pair": [
      "block_11",
      "table"
    ],
    "t_start": 0.0042,
    "t_end": 2.0,
    "max_normal_force": 0.01,
    "impulse_Ns": 0.1107,
    "duration_s": 1.996
  },
  {
    "pair": [
      "block_12",
      "table"
    ],
    "t_start": 0.0042,
    "t_end": 2.0,
    "max_normal_force": 0.02,
    "impulse_Ns": 0.1067,
    "duration_s": 1.996
  },
  {
    "pair": [
      "block_13",
      "table"
    ],
    "t_start": 0.0042,
    "t_end": 2.0,
    "max_normal_force": 0.01,
    "impulse_Ns": 0.0333,
    "duration_s": 1.996
  },
  {
    "pair": [
      "block_14",
      "table"
    ],
    "t_start": 0.0042,
    "t_end": 2.0,
    "max_normal_force": 0.13,
    "impulse_Ns": 1.0582,
    "duration_s": 1.996
  },
  {
    "pair": [
      "block_15",
      "table"
    ],
    "t_start": 0.0042,
    "t_end": 2.0,
    "max_normal_force": 0.09,
    "impulse_Ns": 0.4829,
    "duration_s": 1.996
  },
  {
    "pair": [
      "block_16",
      "table"
    ],
    "t_start": 0.0042,
    "t_end": 2.0,
    "max_normal_force": 0.14,
    "impulse_Ns": 0.2799,
    "duration_s": 1.996
  },
  {
    "pair": [
      "block_17",
      "table"
    ],
    "t_start": 0.0042,
    "t_end": 2.0,
    "max_normal_force": 0.09,
    "impulse_Ns": 0.3406,
    "duration_s": 1.996
  },
  {
    "pair": [
      "hand_01",
      "table"
    ],
    "t_start": 0.0042,
    "t_end": 2.0,
    "max_normal_force": 0.53,
    "impulse_Ns": 2.8012,
    "duration_s": 1.996
  },
  {
    "pair": [
      "hand_02",
      "sleeve_01"
    ],
    "t_start": 0.0042,
    "t_end": 0.2958,
    "max_normal_force": 2.88,
    "impulse_Ns": 0.071,
    "duration_s": 0.292
  },
  {
    "pair": [
      "hand_02",
      "sleeve_01"
    ],
    "t_start": 0.5667,
    "t_end": 0.65,
    "max_normal_force": 1.07,
    "impulse_Ns": 0.013,
    "duration_s": 0.083
  },
  {
    "pair": [
      "hand_02",
      "table"
    ],
    "t_start": 0.0042,
    "t_end": 2.0,
    "max_normal_force": 26.98,
    "impulse_Ns": 18.2261,
    "duration_s": 1.996
  },
  {
    "pair": [
      "sleeve_01",
      "table"
    ],
    "t_start": 0.0042,
    "t_end": 2.0,
    "max_normal_force": 1.78,
    "impulse_Ns": 1.4788,
    "duration_s": 1.996
  }
]