Product review (5 stars): Genuine Whirlpool Replacement Parts...
and very quick delivery.  Found a video on youtube that showed how to replace the lower door cam without removing the door.  After removing the lower grill cover, just lift the door slightly and slide a piece of 2x6 on edge under the lower edge of the door.  The magnetic door gasket and the upper hinge will hold the door in place while the lower hinge bracket is removed (two 5/16 inch hex head screws).

The lower cam is attached to the removed lower hinge bracket with one 5/16 inch hex head screw.  The upper cam is attached with one 5/16 inch hex head screw to the upper hinge bracket on the door.  After the screw is removed, the upper cam can be pried out with a putty knife or  flat bladed screw driver.  I lubed the new cams with a little dielectric grease before mounting them.

This is not a difficult repair.  The door closes by itself again when it is off the cam notch,  It should also prevent condensation and frost in the refrigerator section because the door has been raised almost an 1/8 inch with the new cams and seals better.