[yuecideng]

Description

Fix E8 table clearance for a static rigid table. Static RigidObject.body_data is absent, so the guard raised before inspecting native colliders. Reading the entity from _entities restores the supported static path and preserves the existing checks for every native shape and valid contact/rest offsets.

This focused bug fix targets the head branch of #729 and remains separate from the GenSim Task Program adapter migration.

Type of change

• Bug fix (non-breaking change which fixes an issue)

Validation

• Black 26.10.1 black .; tests/gen_sim/task_engine/test_twist.py: 16 passed.
• API docs 3399/3399 exports aligned; project context check passed. Existing E8 guidance already describes native table bounds and fail-closed qualification.
• With the same patch on frozen PR Integrate Task Engine runtime policies and robot profiles #729 and migration checkouts, the original convex source passes all three native table-clearance checks on both sides, then stops at the unchanged missing-contact gate.
• A separate round-grip E8 qualification source completes 34/34 calls on both patched checkouts at seed 0, with strict TaskSpec satisfied, 2,206 steps, structured behavior difference 0, and byte-identical video. The local evidence archive SHA-256 is b73b53290dae9375cdf0a9d046f8839d4c4c719901b98c197c7ef92068c80a89. The source is outside this PR; additional seeds remain in the migration acceptance plan.

Screenshots

Not applicable.

Checklist

• I ran black ..
• I reviewed affected documentation and context; no edit was needed.
• API coverage passed; no public API changed.
• Focused tests cover static and kinematic tables, collider count, and invalid offsets.
• No dependency changes.