# Configuration for the grasp example.
#
# Usage:
#   pixi run python examples/grasp_example.py --config examples/grasp_example.toml

[env]
robot = "fetch"
backend = "maniskill"
render_mode = "human"

[scene]
mode = "latest"
ground_z_threshold = 0.3
depth_range = [0.2, 3.0]

[planner]
algorithm = "rrtc"
timeout = 5.0

[grasping]
backend = "graspgen"
num_grasps = 200
topk_num_grasps = 100
device = "cuda"

[subgoal]
task = "grasp"

[mpc]
gain = 2.5

[scheduler]
steps_per_iteration = 10
