Commits on Nov 30, 2023

1. Clean up PR2 model …

   - Minor collision geometries (often described by seemingly arbitrary
     small boxes) have been commented out; they were causing
     self-collisions even in the default configuration.
   
   - Additional Drake collision-filtering tags have been added to remove
     remaining self-collisions in the default position.
   
   - The finger tip collision mesh geometry has been replaced by simple
     box geometry, with additional Drake tags to support hydroelastic
     contact.
   
   - Long comments we reflowed to fit in Drake's preferred 80 character
     line limit.

   

   RussTedrake committed Nov 30, 2023
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