[docs]def get_config():
'''
- return the config dict
'''
config = dict()
force_closure = dict()
force_closure['quality_method'] = 'force_closure'
force_closure['num_cone_faces'] = 8
force_closure['soft_fingers'] = 1
force_closure['quality_type'] = 'quasi_static'
force_closure['all_contacts_required']= 1
force_closure['check_approach'] = False
force_closure['torque_scaling'] = 0.01
force_closure['wrench_norm_thresh'] = 0.001
force_closure['wrench_regularizer'] = 0.0000000001
config['metrics'] = dict()
config['metrics']['force_closure'] = force_closure
return config