fix(box_task): re-fit cardboard_box visual walls to its frozen collision hull

assets/box_task/cardboard_box/cardboard_box.xml

@@ -11,6 +11,17 @@
       collision geom (matches Parrot's prop_collision class)
     - inner usable XY region shrinks to X=±0.108, Y=±0.1105 (matches the
       pack_box checker's rel_xy_half_extent_m)
+
+  2026-08-10 visual re-fit (box.obj + usd/cardboard_box.usd; NO geom change):
+    the scanned visual walls used to sit at |x|<=0.0977 / |y|<=0.1016 — ~1 cm
+    INSIDE the hull's inner faces — so contents resting against the physics
+    wall rendered poking through the cardboard. The mesh was radially remapped
+    (monotone piecewise-linear per axis): wall interior surfaces now sit
+    0.3 mm outside the hull inner faces (x 0.1083, y 0.1108), flap tips end
+    exactly on the hull outer faces (0.123 / 0.1255). Contents can no longer
+    visually penetrate; an invisible outer margin of ~1.2 cm below the flap
+    flare remains (collision outer face vs. visual wall sheet) — spawn
+    placement must still clear the HULL, not the render.
 -->
 <mujoco model="cardboard_box">
   <compiler meshdir="." angle="radian" />

assets/box_task/cardboard_box/usd/cardboard_box.usd

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ccf304bad17dfa46387768dcd3a91ec88b6cd2ed338b3375f9c52d7995663f9b
-size 214418
+oid sha256:e1ee4dd02faaae15870a7b180999cd43cbc8f83ff6f6f81a22b21dad181c9351
+size 309492