message: change min_depth to 0.001 m for contacts in sim
diff: <!-- Usually you want no "snap out" velocity and a generous -->
  <!-- penetration depth to keep the grasping stable -->
  <max_vel>0</max_vel>
  - <min_depth>0.003</min_depth>
  + <min_depth>0.001</min_depth>
  </ode>
  </contact>
  <friction>
  