Mesh-sdf large number of collision contacts and differences between base mujoco and warp

I'm dealing with a pipe shaped sdf, and have been having many collision issues putting a robot inside of it. I can't show the robot itself so I use the mug example file instead.
Note, my robot has sdf to sdf collision issues with the pipe, but I can't seem to recreate it with a different model. (This issue exists in both warp and the base mujoco, and because of it, I switched to mesh to sdf)

Sdf to sdf collision works fine with the mug in both warp and base mujoco:
`mjwarp-viewer mug_in_pipe.xml`
[mug_in_pipe.xml](https://github.com/user-attachments/files/29276896/mug_in_pipe.xml)
https://github.com/user-attachments/assets/006880c9-43a3-4434-a375-6c106b810666

However, when I change the mug to mesh the mug seems to launch out of the pipe:
`mjwarp-viewer mug_in_pipe_mesh.xml`
[mug_in_pipe_mesh.xml](https://github.com/user-attachments/files/29276897/mug_in_pipe_mesh.xml)
https://github.com/user-attachments/assets/edb24fe7-5bda-4a9c-a09c-ef135b015854

The mug_in_pipe_mesh.xml also has issues in base mujoco, but they are different to the issue from warp:
`python -m mujoco.viewer --mjcf=mug_in_pipe_mesh.xml`
https://github.com/user-attachments/assets/b708b126-5b9b-46ed-aa53-b74ef3d2c1af

Funnily enough, with my robot I don't seem to get any issues with mesh to sdf collision in base mujoco

Any help is greatly appreciated, thanks!

Start by running the two provided reproductions, mug_in_pipe.xml and mug_in_pipe_mesh.xml, with `mjwarp-viewer` and the base MuJoCo viewer commands in the report. Compare mesh-to-SDF contact behavior between MuJoCo Warp and base MuJoCo, using the working SDF-to-SDF case as a baseline. Done means the differing collision behavior is explained and the reproduced mesh case no longer launches the mug unexpectedly.

Written by the indexing model from the issue text.