message: CHANGE: Relax warning a bit
diff: arm_id: $(arg arm_id)
  -singularity_warning_threshold: 0.001 # print a warning if the smallest singular value of J x J^T drops below this value (use -1 to disable)
  +singularity_warning_threshold: 0.0001 # print a warning if the smallest singular value of J x J^T drops below this value (use -1 to disable)
  franka_gripper:
  type: franka_gazebo/FrankaGripperSim
  