fix(cabinet_12): replace E_drawer1_1's oversized box collision with the sibling bins' convex hulls
cabinet_12's middle bin (E_drawer1_1) shipped a 50-box collision decomposition that is
systematically OVERSIZED: 29/50 boxes protrude 4-14.6 mm outside the bin's entire visible
surface (worst offenders: a 31x10 cm plate at +14.4 mm and a 41 cm wall with 100% of its
corners outside the visual silhouette). These invisible walls, interleaved with the other
two bins' rims when all three are open, wedge-trap the teleoperator's fingertips at the
bin corners -- fingers visibly sink "into" the corner and stick (reproduced on both hands,
multiple angles).
The up (E_drawer1_4) and down (E_drawer1_7) bins use 36-piece convex-hull decompositions
that measure 0.0 mm outside their visual silhouette. All three bins are the SAME geometry
in body-local frame (verified: 12840 visual vertices, max nearest-neighbor deviation
0.001 mm between bins), so this change reuses E_drawer1_7's audited hulls verbatim as
collision_E_drawer1_1_000..035 and rewrites the MJCF's E_drawer1_1 body to reference them
(50 box geoms -> 36 mesh geoms; asset entries added; visuals, joints, inertials, and every
other body untouched).
Validation (MuJoCo 3.8.0):
- both-direction audit: collision-outside-visual 14.6 -> 0.00 mm; visual-outside-collision
2.97 -> 0.04 mm (now identical to the sibling bins) - model compiles; nq unchanged (recorded demo state buffers still fit); ngeom 195 -> 181
- a recorded hand_track.open_cabinet_12 teleop take re-simulated with its recorded PD
torques: all three bins still open to their recorded angles, no instability
(|qvel|max 2.1), hand<->cabinet penetration stays under 2 mm with the stiffened-contact
engine settings
Note for adopters: the MJCF now references meshes/collision/E_drawer1_1/*.obj, so runtimes
that fetch per-file must pick up the 36 new files together with the new model.xml (never
mix with the old revision). usd/model.usd is NOT touched by this PR -- the IsaacSim-side
collision for E_drawer1_1 should be regenerated to match in a follow-up.