assets: add the stacking-cup tower bundle (10 cups + duck, MJCF + USD) (part 3)

Adds the stacking-cup tower bundle that backs the two new `hand_track` tasks
(`stack_10f_tower`, `stack_6f_tower`) in WUJI_SimBench PR #137.

## What is here

`assets/local_stacking_tower/` — eleven pieces from Meshy multi-image
reconstructions of the real graduated stacking-cup toy, rescaled onto the YCB
065 cups ladder:

- `cup01` (56.5 mm) .. `cup10` (102.6 mm) — the ten graduated cups
- `duck` (49 mm) — the topper

Each piece ships a visual OBJ + 4K texture, a cavity-true procedural collision
decomposition (49 convex parts per cup: azimuthal wall wedges on the measured
outer taper, the moulded shoulder ledge the cups seat on, and a cap hull), a
real-mass MJCF, and a textured USD sibling for IsaacSim.

One bundle backs both tasks — the six-floor tower uses the upper five cups plus
the duck — so there is only ever one asset set to keep in sync.

## Validated

- **MuJoCo**: cups assemble into a standing tower; per-pair seat depths measured
across a yaw sweep and under load with `measure_stacking_tower_seats.py`
(shipped in this bundle), which is what the tasks' checker bands are
calibrated from.
- **IsaacSim RTX Real-Time**: all pieces render with correct textures, colours
and size ladder from the included USDs.

## Two known limitations, recorded rather than hidden

- The assembled **ten-cup tower is only transiently stable**: most towers stand
a few seconds after the last placement and most have toppled within thirty.
Deeper seats would be an asset change.
- The **duck perches rather than sockets**. Its base has no recess matched to a
cup top, so it balances on the cup's domed closed end: when it engages it does
so at a very repeatable depth (0.0612-0.0613 m on `cup01`, 0.1 mm spread), but
across a yaw sweep it engages in only about half of orientations. A recess
sized to `cup01`'s 47.4 mm top would fix it.

## Note for whoever regenerates this

The MJCF header comments must not contain a literal `--` (an XML comment cannot).
The generator's earlier `--src <meshy_dir>` regeneration hint made every MJCF
invalid XML: MuJoCo's parser tolerates it, but metasim loads MJCF through lxml,
which refuses, so the tasks could not boot at all. The comments here are
rewritten to avoid it.

.gitattributes

@@ -1024,3 +1024,5 @@ assets/local_stacking_tower/cup06/usd/cup06.usd filter=lfs diff=lfs merge=lfs -t
 assets/local_stacking_tower/cup07/usd/cup07.usd filter=lfs diff=lfs merge=lfs -text
 assets/local_stacking_tower/cup08/usd/cup08.usd filter=lfs diff=lfs merge=lfs -text
 assets/local_stacking_tower/cup09/usd/cup09.usd filter=lfs diff=lfs merge=lfs -text
+assets/local_stacking_tower/cup10/usd/cup10.usd filter=lfs diff=lfs merge=lfs -text
+assets/local_stacking_tower/duck/usd/duck.usd filter=lfs diff=lfs merge=lfs -text

assets/local_stacking_tower/cup10/collision/cup10_col12.obj

@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.03630993 0.03630993 0.00000000
+v -0.03489572 0.03489572 0.00000000
+v -0.04269596 0.02852853 0.00000000
+v -0.04103303 0.02741739 0.00000000
+v -0.03498411 0.03498411 0.04687500
+v -0.04113696 0.02748684 0.04687500
+v -0.03284511 0.03284511 0.06250000
+v -0.03143090 0.03143090 0.06250000
+v -0.03862176 0.02580624 0.06250000
+v -0.03695882 0.02469510 0.06250000
+f 7 9 10
+f 8 7 10
+f 8 2 5
+f 5 7 8
+f 5 2 1
+f 1 2 4
+f 3 1 4
+f 4 2 8
+f 8 10 4
+f 6 10 9
+f 3 4 6
+f 6 4 10
+f 6 5 1
+f 6 1 3
+f 6 9 7
+f 7 5 6
+

assets/local_stacking_tower/cup10/collision/cup10_col13.obj

@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.04269596 0.02852853 0.00000000
+v -0.04103303 0.02741739 0.00000000
+v -0.04744121 0.01965079 0.00000000
+v -0.04559345 0.01888543 0.00000000
+v -0.04113696 0.02748684 0.04687500
+v -0.04570894 0.01893326 0.04687500
+v -0.03862176 0.02580624 0.06250000
+v -0.03695882 0.02469510 0.06250000
+v -0.04291420 0.01777565 0.06250000
+v -0.04106645 0.01701028 0.06250000
+f 7 9 10
+f 8 7 10
+f 4 10 9
+f 4 6 3
+f 9 6 4
+f 1 2 4
+f 3 1 4
+f 4 2 8
+f 8 10 4
+f 8 2 5
+f 5 7 8
+f 5 2 1
+f 3 6 5
+f 5 1 3
+f 5 9 7
+f 5 6 9
+

assets/local_stacking_tower/cup10/collision/cup10_col14.obj

@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.04744121 0.01965079 0.00000000
+v -0.04559345 0.01888543 0.00000000
+v -0.05036332 0.01001789 0.00000000
+v -0.04840175 0.00962771 0.00000000
+v -0.04570894 0.01893326 0.04687500
+v -0.04852435 0.00965209 0.04687500
+v -0.04291420 0.01777565 0.06250000
+v -0.04106645 0.01701028 0.06250000
+v -0.04555748 0.00906195 0.06250000
+v -0.04359591 0.00867176 0.06250000
+f 7 9 10
+f 8 7 10
+f 4 10 9
+f 4 6 3
+f 9 6 4
+f 1 2 4
+f 3 1 4
+f 4 2 8
+f 8 10 4
+f 8 2 5
+f 5 7 8
+f 5 2 1
+f 3 6 5
+f 5 1 3
+f 5 9 7
+f 5 6 9
+

assets/local_stacking_tower/cup10/collision/cup10_col15.obj

@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.05036332 0.01001789 0.00000000
+v -0.04840175 0.00962771 0.00000000
+v -0.05135000 0.00000000 0.00000000
+v -0.04935000 0.00000000 0.00000000
+v -0.04852435 0.00965209 0.04687500
+v -0.04947500 0.00000000 0.04687500
+v -0.04555748 0.00906195 0.06250000
+v -0.04359591 0.00867176 0.06250000
+v -0.04645000 0.00000000 0.06250000
+v -0.04445000 0.00000000 0.06250000
+f 2 4 3
+f 3 1 2
+f 10 6 3
+f 3 4 10
+f 9 6 10
+f 8 7 10
+f 7 9 10
+f 10 2 8
+f 4 2 10
+f 8 2 5
+f 5 7 8
+f 5 2 1
+f 3 6 5
+f 5 1 3
+f 5 6 9
+f 5 9 7
+

assets/local_stacking_tower/cup10/collision/cup10_col16.obj

@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.05135000 0.00000000 0.00000000
+v -0.04935000 0.00000000 0.00000000
+v -0.05036332 -0.01001789 0.00000000
+v -0.04840175 -0.00962771 0.00000000
+v -0.04947500 0.00000000 0.04687500
+v -0.04852435 -0.00965209 0.04687500
+v -0.04645000 0.00000000 0.06250000
+v -0.04445000 0.00000000 0.06250000
+v -0.04555748 -0.00906195 0.06250000
+v -0.04359591 -0.00867176 0.06250000
+f 1 5 2
+f 7 8 2
+f 2 5 7
+f 6 5 1
+f 1 3 6
+f 4 2 8
+f 4 8 10
+f 1 2 4
+f 4 3 1
+f 9 6 3
+f 9 4 10
+f 3 4 9
+f 9 8 7
+f 10 8 9
+f 7 5 9
+f 5 6 9
+

assets/local_stacking_tower/cup10/collision/cup10_col17.obj

@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.05036332 -0.01001789 0.00000000
+v -0.04840175 -0.00962771 0.00000000
+v -0.04744121 -0.01965079 0.00000000
+v -0.04559345 -0.01888543 0.00000000
+v -0.04852435 -0.00965209 0.04687500
+v -0.04570894 -0.01893326 0.04687500
+v -0.04555748 -0.00906195 0.06250000
+v -0.04359591 -0.00867176 0.06250000
+v -0.04291420 -0.01777565 0.06250000
+v -0.04106645 -0.01701028 0.06250000
+f 3 6 5
+f 1 3 5
+f 9 6 3
+f 9 4 10
+f 3 4 9
+f 9 8 7
+f 10 8 9
+f 7 5 9
+f 9 5 6
+f 7 8 2
+f 1 5 2
+f 2 5 7
+f 2 4 3
+f 2 3 1
+f 10 4 2
+f 2 8 10
+

assets/local_stacking_tower/cup10/collision/cup10_col18.obj

@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.04744121 -0.01965079 0.00000000
+v -0.04559345 -0.01888543 0.00000000
+v -0.04269596 -0.02852853 0.00000000
+v -0.04103303 -0.02741739 0.00000000
+v -0.04570894 -0.01893326 0.04687500
+v -0.04113696 -0.02748684 0.04687500
+v -0.04291420 -0.01777565 0.06250000
+v -0.04106645 -0.01701028 0.06250000
+v -0.03862176 -0.02580624 0.06250000
+v -0.03695882 -0.02469510 0.06250000
+f 6 5 1
+f 1 3 6
+f 1 5 2
+f 7 8 2
+f 2 5 7
+f 2 4 3
+f 2 3 1
+f 10 4 2
+f 2 8 10
+f 3 4 9
+f 9 4 10
+f 9 6 3
+f 9 8 7
+f 10 8 9
+f 7 5 9
+f 5 6 9
+

assets/local_stacking_tower/cup10/collision/cup10_col19.obj

@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.04269596 -0.02852853 0.00000000
+v -0.04103303 -0.02741739 0.00000000
+v -0.03630993 -0.03630993 0.00000000
+v -0.03489572 -0.03489572 0.00000000
+v -0.04113696 -0.02748684 0.04687500
+v -0.03498411 -0.03498411 0.04687500
+v -0.03862176 -0.02580624 0.06250000
+v -0.03695882 -0.02469510 0.06250000
+v -0.03284511 -0.03284511 0.06250000
+v -0.03143090 -0.03143090 0.06250000
+f 3 6 5
+f 1 3 5
+f 9 6 3
+f 9 4 10
+f 3 4 9
+f 9 8 7
+f 10 8 9
+f 7 5 9
+f 9 5 6
+f 7 8 2
+f 1 5 2
+f 2 5 7
+f 2 4 3
+f 2 3 1
+f 10 4 2
+f 2 8 10
+

assets/local_stacking_tower/cup10/collision/cup10_col2.obj

@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.04744121 0.01965079 0.00000000
+v 0.04559345 0.01888543 0.00000000
+v 0.04269596 0.02852853 0.00000000
+v 0.04103303 0.02741739 0.00000000
+v 0.04570894 0.01893326 0.04687500
+v 0.04113696 0.02748684 0.04687500
+v 0.04291420 0.01777565 0.06250000
+v 0.04106645 0.01701028 0.06250000
+v 0.03862176 0.02580624 0.06250000
+v 0.03695882 0.02469510 0.06250000
+f 3 6 5
+f 1 3 5
+f 6 9 5
+f 5 9 7
+f 4 6 3
+f 10 9 4
+f 4 9 6
+f 1 2 4
+f 4 3 1
+f 1 5 8
+f 8 2 1
+f 8 5 7
+f 8 9 10
+f 7 9 8
+f 10 4 8
+f 8 4 2
+

assets/local_stacking_tower/cup10/collision/cup10_col20.obj

@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.03630993 -0.03630993 0.00000000
+v -0.03489572 -0.03489572 0.00000000
+v -0.02852853 -0.04269596 0.00000000
+v -0.02741739 -0.04103303 0.00000000
+v -0.03498411 -0.03498411 0.04687500
+v -0.02748684 -0.04113696 0.04687500
+v -0.03284511 -0.03284511 0.06250000
+v -0.03143090 -0.03143090 0.06250000
+v -0.02580624 -0.03862176 0.06250000
+v -0.02469510 -0.03695882 0.06250000
+f 1 5 2
+f 7 8 2
+f 2 5 7
+f 6 5 1
+f 1 3 6
+f 4 2 8
+f 4 8 10
+f 1 2 4
+f 4 3 1
+f 9 6 3
+f 9 4 10
+f 3 4 9
+f 9 8 7
+f 10 8 9
+f 7 5 9
+f 5 6 9
+

assets/local_stacking_tower/cup10/collision/cup10_col21.obj

@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.02852853 -0.04269596 0.00000000
+v -0.02741739 -0.04103303 0.00000000
+v -0.01965079 -0.04744121 0.00000000
+v -0.01888543 -0.04559345 0.00000000
+v -0.02748684 -0.04113696 0.04687500
+v -0.01893326 -0.04570894 0.04687500
+v -0.02580624 -0.03862176 0.06250000
+v -0.02469510 -0.03695882 0.06250000
+v -0.01777565 -0.04291420 0.06250000
+v -0.01701028 -0.04106645 0.06250000
+f 6 5 1
+f 1 3 6
+f 1 5 2
+f 7 8 2
+f 2 5 7
+f 2 4 3
+f 2 3 1
+f 10 4 2
+f 2 8 10
+f 3 4 9
+f 9 4 10
+f 9 6 3
+f 9 8 7
+f 10 8 9
+f 7 5 9
+f 5 6 9
+

assets/local_stacking_tower/cup10/collision/cup10_col22.obj

@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.01965079 -0.04744121 0.00000000
+v -0.01888543 -0.04559345 0.00000000
+v -0.01001789 -0.05036332 0.00000000
+v -0.00962771 -0.04840175 0.00000000
+v -0.01893326 -0.04570894 0.04687500
+v -0.00965209 -0.04852435 0.04687500
+v -0.01777565 -0.04291420 0.06250000
+v -0.01701028 -0.04106645 0.06250000
+v -0.00906195 -0.04555748 0.06250000
+v -0.00867176 -0.04359591 0.06250000
+f 7 8 5
+f 5 2 1
+f 8 2 5
+f 1 3 5
+f 3 6 5
+f 9 8 7
+f 10 8 9
+f 7 5 9
+f 9 5 6
+f 4 6 3
+f 10 9 4
+f 4 9 6
+f 4 2 8
+f 4 8 10
+f 1 2 4
+f 4 3 1
+

assets/local_stacking_tower/cup10/collision/cup10_col23.obj

@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.01001789 -0.05036332 0.00000000
+v -0.00962771 -0.04840175 0.00000000
+v -0.00000000 -0.05135000 0.00000000
+v -0.00000000 -0.04935000 0.00000000
+v -0.00965209 -0.04852435 0.04687500
+v -0.00000000 -0.04947500 0.04687500
+v -0.00906195 -0.04555748 0.06250000
+v -0.00867176 -0.04359591 0.06250000
+v -0.00000000 -0.04645000 0.06250000
+v -0.00000000 -0.04445000 0.06250000
+f 2 3 1
+f 4 3 2
+f 8 10 2
+f 2 10 4
+f 1 3 6
+f 6 5 1
+f 4 10 9
+f 9 3 4
+f 9 6 3
+f 8 2 7
+f 7 2 1
+f 1 5 7
+f 7 10 8
+f 7 9 10
+f 5 6 7
+f 6 9 7
+

assets/local_stacking_tower/cup10/collision/cup10_col24.obj

@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.00000000 -0.05135000 0.00000000
+v -0.00000000 -0.04935000 0.00000000
+v 0.01001789 -0.05036332 0.00000000
+v 0.00962771 -0.04840175 0.00000000
+v -0.00000000 -0.04947500 0.04687500
+v 0.00965209 -0.04852435 0.04687500
+v -0.00000000 -0.04645000 0.06250000
+v -0.00000000 -0.04445000 0.06250000
+v 0.00906195 -0.04555748 0.06250000
+v 0.00867176 -0.04359591 0.06250000
+f 1 5 2
+f 7 8 2
+f 2 5 7
+f 6 5 1
+f 1 3 6
+f 1 2 4
+f 4 3 1
+f 4 2 8
+f 4 8 10
+f 9 6 3
+f 3 4 9
+f 9 4 10
+f 9 8 7
+f 10 8 9
+f 7 5 9
+f 5 6 9
+

assets/local_stacking_tower/cup10/collision/cup10_col25.obj

@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.01001789 -0.05036332 0.00000000
+v 0.00962771 -0.04840175 0.00000000
+v 0.01965079 -0.04744121 0.00000000
+v 0.01888543 -0.04559345 0.00000000
+v 0.00965209 -0.04852435 0.04687500
+v 0.01893326 -0.04570894 0.04687500
+v 0.00906195 -0.04555748 0.06250000
+v 0.00867176 -0.04359591 0.06250000
+v 0.01777565 -0.04291420 0.06250000
+v 0.01701028 -0.04106645 0.06250000
+f 2 7 8
+f 1 5 2
+f 2 5 7
+f 3 1 2
+f 2 4 3
+f 8 7 10
+f 7 9 10
+f 10 2 8
+f 4 2 10
+f 3 4 6
+f 4 10 6
+f 6 10 9
+f 6 5 1
+f 6 1 3
+f 7 5 6
+f 6 9 7
+

assets/local_stacking_tower/cup10/collision/cup10_col26.obj

@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.01965079 -0.04744121 0.00000000
+v 0.01888543 -0.04559345 0.00000000
+v 0.02852853 -0.04269596 0.00000000
+v 0.02741739 -0.04103303 0.00000000
+v 0.01893326 -0.04570894 0.04687500
+v 0.02748684 -0.04113696 0.04687500
+v 0.01777565 -0.04291420 0.06250000
+v 0.01701028 -0.04106645 0.06250000
+v 0.02580624 -0.03862176 0.06250000
+v 0.02469510 -0.03695882 0.06250000
+f 2 7 8
+f 1 5 2
+f 2 5 7
+f 3 1 2
+f 2 4 3
+f 8 7 10
+f 7 9 10
+f 10 2 8
+f 4 2 10
+f 3 4 6
+f 4 10 6
+f 6 10 9
+f 6 5 1
+f 6 1 3
+f 7 5 6
+f 6 9 7
+

assets/local_stacking_tower/cup10/collision/cup10_col27.obj

@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.02852853 -0.04269596 0.00000000
+v 0.02741739 -0.04103303 0.00000000
+v 0.03630993 -0.03630993 0.00000000
+v 0.03489572 -0.03489572 0.00000000
+v 0.02748684 -0.04113696 0.04687500
+v 0.03498411 -0.03498411 0.04687500
+v 0.02580624 -0.03862176 0.06250000
+v 0.02469510 -0.03695882 0.06250000
+v 0.03284511 -0.03284511 0.06250000
+v 0.03143090 -0.03143090 0.06250000
+f 7 9 10
+f 8 7 10
+f 8 2 5
+f 5 7 8
+f 5 2 1
+f 1 2 4
+f 3 1 4
+f 4 2 8
+f 8 10 4
+f 6 10 9
+f 3 4 6
+f 6 4 10
+f 6 5 1
+f 6 1 3
+f 6 9 7
+f 7 5 6
+

assets/local_stacking_tower/cup10/collision/cup10_col28.obj

@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.03630993 -0.03630993 0.00000000
+v 0.03489572 -0.03489572 0.00000000
+v 0.04269596 -0.02852853 0.00000000
+v 0.04103303 -0.02741739 0.00000000
+v 0.03498411 -0.03498411 0.04687500
+v 0.04113696 -0.02748684 0.04687500
+v 0.03284511 -0.03284511 0.06250000
+v 0.03143090 -0.03143090 0.06250000
+v 0.03862176 -0.02580624 0.06250000
+v 0.03695882 -0.02469510 0.06250000
+f 7 9 10
+f 8 7 10
+f 8 2 5
+f 5 7 8
+f 5 2 1
+f 1 2 4
+f 3 1 4
+f 4 2 8
+f 8 10 4
+f 6 10 9
+f 3 4 6
+f 6 4 10
+f 6 5 1
+f 6 1 3
+f 6 9 7
+f 7 5 6
+

assets/local_stacking_tower/cup10/collision/cup10_col29.obj

@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.04269596 -0.02852853 0.00000000
+v 0.04103303 -0.02741739 0.00000000
+v 0.04744121 -0.01965079 0.00000000
+v 0.04559345 -0.01888543 0.00000000
+v 0.04113696 -0.02748684 0.04687500
+v 0.04570894 -0.01893326 0.04687500
+v 0.03862176 -0.02580624 0.06250000
+v 0.03695882 -0.02469510 0.06250000
+v 0.04291420 -0.01777565 0.06250000
+v 0.04106645 -0.01701028 0.06250000
+f 2 4 3
+f 3 1 2
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 8 7 10
+f 7 9 10
+f 4 2 10
+f 10 2 8
+f 3 4 6
+f 4 10 6
+f 6 10 9
+f 6 1 3
+f 6 5 1
+f 7 5 6
+f 6 9 7
+

assets/local_stacking_tower/cup10/collision/cup10_col3.obj

@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.04269596 0.02852853 0.00000000
+v 0.04103303 0.02741739 0.00000000
+v 0.03630993 0.03630993 0.00000000
+v 0.03489572 0.03489572 0.00000000
+v 0.04113696 0.02748684 0.04687500
+v 0.03498411 0.03498411 0.04687500
+v 0.03862176 0.02580624 0.06250000
+v 0.03695882 0.02469510 0.06250000
+v 0.03284511 0.03284511 0.06250000
+v 0.03143090 0.03143090 0.06250000
+f 9 6 3
+f 9 4 10
+f 3 4 9
+f 10 8 9
+f 9 8 7
+f 3 6 5
+f 1 3 5
+f 6 9 5
+f 5 9 7
+f 7 8 2
+f 1 5 2
+f 2 5 7
+f 2 4 3
+f 2 3 1
+f 10 4 2
+f 2 8 10
+

assets/local_stacking_tower/cup10/collision/cup10_col30.obj

@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.04744121 -0.01965079 0.00000000
+v 0.04559345 -0.01888543 0.00000000
+v 0.05036332 -0.01001789 0.00000000
+v 0.04840175 -0.00962771 0.00000000
+v 0.04570894 -0.01893326 0.04687500
+v 0.04852435 -0.00965209 0.04687500
+v 0.04291420 -0.01777565 0.06250000
+v 0.04106645 -0.01701028 0.06250000
+v 0.04555748 -0.00906195 0.06250000
+v 0.04359591 -0.00867176 0.06250000
+f 7 9 10
+f 8 7 10
+f 4 10 9
+f 4 6 3
+f 9 6 4
+f 1 2 4
+f 3 1 4
+f 4 2 8
+f 8 10 4
+f 8 2 5
+f 5 7 8
+f 5 2 1
+f 3 6 5
+f 5 1 3
+f 5 9 7
+f 5 6 9
+

assets/local_stacking_tower/cup10/collision/cup10_col31.obj

@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.05036332 -0.01001789 0.00000000
+v 0.04840175 -0.00962771 0.00000000
+v 0.05135000 -0.00000000 0.00000000
+v 0.04935000 -0.00000000 0.00000000
+v 0.04852435 -0.00965209 0.04687500
+v 0.04947500 -0.00000000 0.04687500
+v 0.04555748 -0.00906195 0.06250000
+v 0.04359591 -0.00867176 0.06250000
+v 0.04645000 -0.00000000 0.06250000
+v 0.04445000 -0.00000000 0.06250000
+f 6 5 1
+f 6 1 3
+f 6 7 5
+f 9 7 6
+f 1 5 2
+f 2 7 8
+f 5 7 2
+f 2 4 3
+f 3 1 2
+f 10 6 3
+f 3 4 10
+f 9 6 10
+f 8 7 10
+f 10 7 9
+f 10 2 8
+f 4 2 10
+

assets/local_stacking_tower/cup10/collision/cup10_col32.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.04645000 0.00000000 0.06250000
+v 0.04445000 0.00000000 0.06250000
+v 0.04291420 0.01777565 0.06250000
+v 0.04106645 0.01701028 0.06250000
+v 0.04645000 0.00000000 0.07021500
+v 0.04445000 0.00000000 0.07021500
+v 0.04291420 0.01777565 0.07021500
+v 0.04106645 0.01701028 0.07021500
+f 7 5 1
+f 1 3 7
+f 2 3 1
+f 4 3 2
+f 1 5 6
+f 6 2 1
+f 8 7 3
+f 8 3 4
+f 4 2 8
+f 2 6 8
+f 5 7 8
+f 8 6 5
+

assets/local_stacking_tower/cup10/collision/cup10_col33.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.04291420 0.01777565 0.06250000
+v 0.04106645 0.01701028 0.06250000
+v 0.03284511 0.03284511 0.06250000
+v 0.03143090 0.03143090 0.06250000
+v 0.04291420 0.01777565 0.07021500
+v 0.04106645 0.01701028 0.07021500
+v 0.03284511 0.03284511 0.07021500
+v 0.03143090 0.03143090 0.07021500
+f 7 5 1
+f 1 3 7
+f 2 3 1
+f 4 3 2
+f 8 7 3
+f 8 3 4
+f 1 5 6
+f 6 2 1
+f 5 7 6
+f 7 8 6
+f 4 2 6
+f 6 8 4
+

assets/local_stacking_tower/cup10/collision/cup10_col34.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.03284511 0.03284511 0.06250000
+v 0.03143090 0.03143090 0.06250000
+v 0.01777565 0.04291420 0.06250000
+v 0.01701028 0.04106645 0.06250000
+v 0.03284511 0.03284511 0.07021500
+v 0.03143090 0.03143090 0.07021500
+v 0.01777565 0.04291420 0.07021500
+v 0.01701028 0.04106645 0.07021500
+f 7 5 1
+f 1 3 7
+f 2 3 1
+f 4 3 2
+f 1 5 6
+f 6 2 1
+f 8 7 3
+f 8 3 4
+f 4 2 8
+f 2 6 8
+f 5 7 8
+f 8 6 5
+

assets/local_stacking_tower/cup10/collision/cup10_col35.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01777565 0.04291420 0.06250000
+v 0.01701028 0.04106645 0.06250000
+v 0.00000000 0.04645000 0.06250000
+v 0.00000000 0.04445000 0.06250000
+v 0.01777565 0.04291420 0.07021500
+v 0.01701028 0.04106645 0.07021500
+v 0.00000000 0.04645000 0.07021500
+v 0.00000000 0.04445000 0.07021500
+f 1 2 4
+f 3 1 4
+f 7 1 3
+f 7 5 1
+f 3 4 7
+f 7 4 8
+f 6 2 1
+f 1 5 6
+f 6 4 2
+f 8 4 6
+f 5 7 6
+f 6 7 8
+

assets/local_stacking_tower/cup10/collision/cup10_col36.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00000000 0.04645000 0.06250000
+v 0.00000000 0.04445000 0.06250000
+v -0.01777565 0.04291420 0.06250000
+v -0.01701028 0.04106645 0.06250000
+v 0.00000000 0.04645000 0.07021500
+v 0.00000000 0.04445000 0.07021500
+v -0.01777565 0.04291420 0.07021500
+v -0.01701028 0.04106645 0.07021500
+f 7 5 1
+f 7 1 3
+f 3 1 2
+f 2 4 3
+f 1 5 6
+f 6 2 1
+f 8 7 3
+f 3 4 8
+f 4 2 8
+f 2 6 8
+f 5 7 8
+f 8 6 5
+

assets/local_stacking_tower/cup10/collision/cup10_col37.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01777565 0.04291420 0.06250000
+v -0.01701028 0.04106645 0.06250000
+v -0.03284511 0.03284511 0.06250000
+v -0.03143090 0.03143090 0.06250000
+v -0.01777565 0.04291420 0.07021500
+v -0.01701028 0.04106645 0.07021500
+v -0.03284511 0.03284511 0.07021500
+v -0.03143090 0.03143090 0.07021500
+f 4 1 2
+f 3 1 4
+f 7 1 3
+f 7 5 1
+f 3 4 7
+f 7 4 8
+f 2 1 6
+f 1 5 6
+f 6 4 2
+f 8 4 6
+f 5 7 6
+f 6 7 8
+

assets/local_stacking_tower/cup10/collision/cup10_col38.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.03284511 0.03284511 0.06250000
+v -0.03143090 0.03143090 0.06250000
+v -0.04291420 0.01777565 0.06250000
+v -0.04106645 0.01701028 0.06250000
+v -0.03284511 0.03284511 0.07021500
+v -0.03143090 0.03143090 0.07021500
+v -0.04291420 0.01777565 0.07021500
+v -0.04106645 0.01701028 0.07021500
+f 4 1 2
+f 3 1 4
+f 7 1 3
+f 7 5 1
+f 3 4 7
+f 7 4 8
+f 2 1 6
+f 1 5 6
+f 6 4 2
+f 8 4 6
+f 5 7 6
+f 6 7 8
+

assets/local_stacking_tower/cup10/collision/cup10_col39.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.04291420 0.01777565 0.06250000
+v -0.04106645 0.01701028 0.06250000
+v -0.04645000 0.00000000 0.06250000
+v -0.04445000 0.00000000 0.06250000
+v -0.04291420 0.01777565 0.07021500
+v -0.04106645 0.01701028 0.07021500
+v -0.04645000 0.00000000 0.07021500
+v -0.04445000 0.00000000 0.07021500
+f 4 1 2
+f 3 1 4
+f 7 1 3
+f 7 5 1
+f 3 4 7
+f 7 4 8
+f 2 1 6
+f 1 5 6
+f 6 4 2
+f 8 4 6
+f 5 7 6
+f 6 7 8
+

assets/local_stacking_tower/cup10/collision/cup10_col4.obj

@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.03630993 0.03630993 0.00000000
+v 0.03489572 0.03489572 0.00000000
+v 0.02852853 0.04269596 0.00000000
+v 0.02741739 0.04103303 0.00000000
+v 0.03498411 0.03498411 0.04687500
+v 0.02748684 0.04113696 0.04687500
+v 0.03284511 0.03284511 0.06250000
+v 0.03143090 0.03143090 0.06250000
+v 0.02580624 0.03862176 0.06250000
+v 0.02469510 0.03695882 0.06250000
+f 3 6 5
+f 1 3 5
+f 6 9 5
+f 5 9 7
+f 4 6 3
+f 10 9 4
+f 4 9 6
+f 1 2 4
+f 4 3 1
+f 1 5 8
+f 8 2 1
+f 8 5 7
+f 8 9 10
+f 7 9 8
+f 10 4 8
+f 8 4 2
+

assets/local_stacking_tower/cup10/collision/cup10_col40.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.04645000 0.00000000 0.06250000
+v -0.04445000 0.00000000 0.06250000
+v -0.04291420 -0.01777565 0.06250000
+v -0.04106645 -0.01701028 0.06250000
+v -0.04645000 0.00000000 0.07021500
+v -0.04445000 0.00000000 0.07021500
+v -0.04291420 -0.01777565 0.07021500
+v -0.04106645 -0.01701028 0.07021500
+f 7 5 1
+f 1 3 7
+f 2 3 1
+f 4 3 2
+f 1 5 6
+f 6 2 1
+f 8 7 3
+f 8 3 4
+f 4 2 8
+f 2 6 8
+f 5 7 8
+f 8 6 5
+

assets/local_stacking_tower/cup10/collision/cup10_col41.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.04291420 -0.01777565 0.06250000
+v -0.04106645 -0.01701028 0.06250000
+v -0.03284511 -0.03284511 0.06250000
+v -0.03143090 -0.03143090 0.06250000
+v -0.04291420 -0.01777565 0.07021500
+v -0.04106645 -0.01701028 0.07021500
+v -0.03284511 -0.03284511 0.07021500
+v -0.03143090 -0.03143090 0.07021500
+f 7 5 1
+f 1 3 7
+f 2 3 1
+f 4 3 2
+f 8 7 3
+f 8 3 4
+f 1 5 6
+f 6 2 1
+f 5 7 6
+f 7 8 6
+f 4 2 6
+f 6 8 4
+

assets/local_stacking_tower/cup10/collision/cup10_col42.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.03284511 -0.03284511 0.06250000
+v -0.03143090 -0.03143090 0.06250000
+v -0.01777565 -0.04291420 0.06250000
+v -0.01701028 -0.04106645 0.06250000
+v -0.03284511 -0.03284511 0.07021500
+v -0.03143090 -0.03143090 0.07021500
+v -0.01777565 -0.04291420 0.07021500
+v -0.01701028 -0.04106645 0.07021500
+f 7 5 1
+f 1 3 7
+f 2 3 1
+f 4 3 2
+f 8 7 3
+f 8 3 4
+f 1 5 6
+f 6 2 1
+f 5 7 6
+f 7 8 6
+f 4 2 6
+f 6 8 4
+

assets/local_stacking_tower/cup10/collision/cup10_col43.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01777565 -0.04291420 0.06250000
+v -0.01701028 -0.04106645 0.06250000
+v -0.00000000 -0.04645000 0.06250000
+v -0.00000000 -0.04445000 0.06250000
+v -0.01777565 -0.04291420 0.07021500
+v -0.01701028 -0.04106645 0.07021500
+v -0.00000000 -0.04645000 0.07021500
+v -0.00000000 -0.04445000 0.07021500
+f 7 5 1
+f 1 3 7
+f 4 8 7
+f 7 3 4
+f 4 3 2
+f 2 3 1
+f 6 7 8
+f 5 7 6
+f 1 5 6
+f 6 2 1
+f 6 8 4
+f 4 2 6
+

assets/local_stacking_tower/cup10/collision/cup10_col44.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00000000 -0.04645000 0.06250000
+v -0.00000000 -0.04445000 0.06250000
+v 0.01777565 -0.04291420 0.06250000
+v 0.01701028 -0.04106645 0.06250000
+v -0.00000000 -0.04645000 0.07021500
+v -0.00000000 -0.04445000 0.07021500
+v 0.01777565 -0.04291420 0.07021500
+v 0.01701028 -0.04106645 0.07021500
+f 7 5 1
+f 1 3 7
+f 4 8 7
+f 3 4 7
+f 2 4 3
+f 2 3 1
+f 6 7 8
+f 5 7 6
+f 1 5 6
+f 6 2 1
+f 6 8 4
+f 4 2 6
+

assets/local_stacking_tower/cup10/collision/cup10_col45.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01777565 -0.04291420 0.06250000
+v 0.01701028 -0.04106645 0.06250000
+v 0.03284511 -0.03284511 0.06250000
+v 0.03143090 -0.03143090 0.06250000
+v 0.01777565 -0.04291420 0.07021500
+v 0.01701028 -0.04106645 0.07021500
+v 0.03284511 -0.03284511 0.07021500
+v 0.03143090 -0.03143090 0.07021500
+f 3 1 4
+f 4 1 2
+f 2 1 6
+f 1 5 6
+f 6 4 2
+f 8 4 6
+f 7 1 3
+f 7 5 1
+f 3 4 7
+f 7 4 8
+f 7 6 5
+f 8 6 7
+

assets/local_stacking_tower/cup10/collision/cup10_col46.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.03284511 -0.03284511 0.06250000
+v 0.03143090 -0.03143090 0.06250000
+v 0.04291420 -0.01777565 0.06250000
+v 0.04106645 -0.01701028 0.06250000
+v 0.03284511 -0.03284511 0.07021500
+v 0.03143090 -0.03143090 0.07021500
+v 0.04291420 -0.01777565 0.07021500
+v 0.04106645 -0.01701028 0.07021500
+f 3 1 4
+f 4 1 2
+f 2 1 6
+f 1 5 6
+f 6 4 2
+f 8 4 6
+f 7 1 3
+f 7 5 1
+f 3 4 7
+f 7 4 8
+f 7 6 5
+f 8 6 7
+

assets/local_stacking_tower/cup10/collision/cup10_col47.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.04291420 -0.01777565 0.06250000
+v 0.04106645 -0.01701028 0.06250000
+v 0.04645000 -0.00000000 0.06250000
+v 0.04445000 -0.00000000 0.06250000
+v 0.04291420 -0.01777565 0.07021500
+v 0.04106645 -0.01701028 0.07021500
+v 0.04645000 -0.00000000 0.07021500
+v 0.04445000 -0.00000000 0.07021500
+f 3 1 4
+f 4 1 2
+f 2 1 6
+f 1 5 6
+f 6 4 2
+f 8 4 6
+f 7 1 3
+f 7 5 1
+f 3 4 7
+f 7 4 8
+f 7 6 5
+f 8 6 7
+

assets/local_stacking_tower/cup10/collision/cup10_col48.obj

@@ -0,0 +1,871 @@
+# https://github.com/mikedh/trimesh
+v 0.02251078 -0.02009047 0.07539619
+v 0.02898125 -0.01640700 0.07533239
+v 0.03061486 -0.02735279 0.07488320
+v 0.03253399 -0.02840725 0.07374905
+v 0.03266873 -0.02902160 0.07096026
+v 0.03352093 -0.02610495 0.07475613
+v 0.03229870 -0.02564663 0.07498034
+v 0.03290063 -0.02762255 0.07434248
+v 0.03268512 -0.02885092 0.07249403
+v 0.03377257 -0.02846777 0.06985946
+v 0.03367062 -0.02844111 0.07175642
+v 0.03399106 -0.02670729 0.07444658
+v 0.03350255 -0.02780960 0.07389901
+v 0.03403690 -0.02796523 0.07306314
+v 0.03432496 -0.02748988 0.07360221
+v 0.03475941 -0.02664412 0.07411012
+v 0.03519730 -0.02451396 0.07473241
+v 0.03571128 -0.02509313 0.07442616
+v 0.03471920 -0.02769944 0.07140910
+v 0.03518604 -0.02705261 0.07299143
+v 0.03576813 -0.02632223 0.07333728
+v 0.03602798 -0.02556129 0.07393531
+v 0.03643538 -0.02590424 0.07153563
+v 0.03661336 -0.02446261 0.07415521
+v 0.03745909 -0.02413715 0.07311726
+v 0.03653752 -0.02527517 0.07356049
+v 0.03721658 -0.02485229 0.07121339
+v 0.03776578 -0.02323615 0.07365031
+v 0.03814881 -0.02311075 0.07243117
+v 0.03780839 -0.02123212 0.07451333
+v 0.03901233 -0.02118921 0.07236130
+v 0.03947728 -0.02005938 0.07115774
+v -0.00123646 -0.04204845 0.07510753
+v -0.00036761 -0.04329035 0.07414258
+v 0.00064181 -0.04186925 0.07520656
+v 0.00154150 -0.04052967 0.07539937
+v 0.00057928 -0.04297387 0.07456303
+v 0.00096689 -0.04343780 0.07365373
+v 0.00119371 -0.04244110 0.07491277
+v 0.00025594 -0.03337856 0.06883856
+v 0.00116760 -0.04361515 0.07219829
+v 0.00219729 -0.04317610 0.07360245
+v 0.00210322 -0.04264089 0.07453381
+v 0.00311378 -0.04185863 0.07480943
+v 0.00319799 -0.04269283 0.07388414
+v 0.00350862 -0.04283263 0.07318761
+v 0.00360802 -0.04223385 0.07426587
+v 0.00435544 -0.04066992 0.07500897
+v 0.00444170 -0.04223510 0.07354998
+v 0.00536655 -0.04215867 0.07175134
+v 0.00494371 -0.04250142 0.07024579
+v 0.00618892 -0.03567875 0.07548837
+v -0.00302249 -0.04152234 0.07501924
+v -0.00250707 -0.04345443 0.06888430
+v -0.00305653 -0.04308469 0.07290810
+v -0.00441509 -0.04270669 0.07144185
+v -0.00202534 -0.04344869 0.07255269
+v -0.00096594 -0.04296852 0.07451446
+v -0.00161665 -0.04315888 0.07402968
+v -0.00019450 -0.04373686 0.07095920
+v -0.00010656 -0.04359792 0.07326020
+v 0.00203884 -0.04347589 0.07207518
+v 0.00344509 -0.04309406 0.07160008
+v 0.03003362 -0.02639879 0.07507914
+v 0.03680101 -0.01837493 0.07494257
+v 0.03803575 -0.01809251 0.07477231
+v 0.03805364 -0.01489429 0.07487246
+v 0.03694138 -0.02183848 0.07472031
+v 0.03866996 -0.01601772 0.07464571
+v 0.03874057 -0.01799615 0.07450318
+v 0.03784107 -0.02226882 0.07419275
+v 0.03888771 -0.01932616 0.07418891
+v 0.03873335 -0.02097959 0.07372485
+v 0.03925330 -0.01518200 0.07418307
+v 0.03929222 -0.01731843 0.07413538
+v 0.03958531 -0.01936372 0.07247904
+v 0.03960758 -0.01824372 0.07344345
+v 0.03983943 -0.01607679 0.07330624
+v 0.03995124 -0.01769841 0.07214375
+v 0.04004243 -0.01534476 0.07220012
+v 0.04007706 -0.01462540 0.07051733
+v 0.04012843 -0.01641063 0.07132712
+v 0.02360162 0.00762761 0.07540793
+v 0.02533563 -0.00949324 0.07541372
+v 0.02859613 -0.01530186 0.07534815
+v 0.03614737 -0.01325089 0.07508445
+v 0.02870157 -0.01706729 0.07533174
+v 0.02722501 0.01640944 0.07537099
+v 0.03183944 0.01225676 0.07525767
+v 0.02846817 0.01521269 0.07534360
+v 0.03194567 0.02789256 0.07446299
+v 0.03328615 0.02644011 0.07472161
+v 0.03255950 0.02909513 0.07001656
+v 0.03225550 0.02892590 0.07286029
+v 0.03509505 0.02370879 0.07484897
+v 0.03288344 0.02799764 0.07403800
+v 0.03274601 0.02845583 0.07351416
+v 0.03386430 0.02835042 0.07123989
+v 0.03420164 0.02695031 0.07421671
+v 0.03401568 0.02804259 0.07282536
+v 0.03448660 0.02733755 0.07363113
+v 0.03561874 0.02509438 0.07446099
+v 0.03480515 0.02753899 0.07221021
+v 0.03787401 0.01487706 0.07492121
+v 0.03505006 0.02702681 0.07333332
+v 0.03549537 0.02589783 0.07412517
+v 0.03572946 0.02653581 0.07284288
+v 0.03644180 0.02579639 0.07242970
+v 0.03660066 0.02573138 0.06993842
+v 0.03705892 0.02124994 0.07475554
+v 0.03716695 0.02457303 0.07316943
+v 0.03691477 0.02383941 0.07423436
+v 0.03729910 0.02363751 0.07399303
+v 0.03806007 0.02140042 0.07432347
+v 0.03791348 0.02304877 0.07353428
+v 0.03826043 0.02308415 0.07037209
+v 0.03798702 0.02240808 0.07395361
+v 0.03824005 0.02287393 0.07260227
+v 0.03841609 0.01825983 0.07464441
+v 0.03886614 0.02170153 0.07165078
+v 0.03878392 0.01905542 0.07433988
+v 0.03874112 0.01526648 0.07459625
+v 0.03898951 0.02108783 0.07278528
+v 0.03867465 0.02081313 0.07390627
+v 0.03929780 0.01559847 0.07417953
+v 0.03927243 0.01930385 0.07366955
+v 0.03934384 0.01768382 0.07402519
+v 0.03973060 0.01895279 0.07213543
+v 0.03955715 0.01667689 0.07386130
+v 0.03962213 0.01876184 0.07307353
+v 0.03987506 0.01357820 0.06894096
+v 0.03979075 0.01540535 0.07336130
+v 0.03977978 0.01753129 0.07323028
+v 0.03995787 0.01775517 0.07205133
+v 0.04003296 0.01576691 0.07243997
+v 0.04016954 0.01632496 0.07008880
+v -0.00059402 -0.00068527 0.06877671
+v 0.03007104 0.02653944 0.07505919
+v -0.00147797 0.04240803 0.07487818
+v 0.00008214 0.04264742 0.07487565
+v -0.00066946 0.04371363 0.07023812
+v 0.00047528 0.04362551 0.07280741
+v -0.00126660 0.04343239 0.07343336
+v 0.00036850 0.04135212 0.07534124
+v 0.00212474 0.04163851 0.07513663
+v 0.00070335 0.04288120 0.07463373
+v 0.00169527 0.04331840 0.07355004
+v 0.00169089 0.04232269 0.07489943
+v 0.00242147 0.04298925 0.07388131
+v 0.00264564 0.04338018 0.07075394
+v 0.00597475 0.03438173 0.07550000
+v 0.00263807 0.04248954 0.07446771
+v 0.00238180 0.04333358 0.07266040
+v 0.00383823 0.04144189 0.07479544
+v 0.00393913 0.03986759 0.07531315
+v 0.00431817 0.04280061 0.07044722
+v 0.00352038 0.04236374 0.07413751
+v 0.00430905 0.04253944 0.07287605
+v 0.00441514 0.04215372 0.07369705
+v 0.00605428 0.04180543 0.06990708
+v 0.00648300 0.03698903 0.07543077
+v 0.00679986 0.04119596 0.06980752
+v -0.02491120 -0.00855303 0.07541094
+v -0.01555718 -0.02026723 0.06882162
+v -0.00533222 -0.04214778 0.07206685
+v -0.00561704 -0.04212633 0.07006791
+v -0.00367992 -0.04186476 0.07458870
+v -0.00075238 -0.04130341 0.07534342
+v -0.00339720 -0.04316699 0.07068164
+v -0.00361041 -0.04249694 0.07391377
+v -0.00606524 -0.03676013 0.07548188
+v -0.04013625 -0.01524490 0.07098127
+v -0.03997481 -0.01783417 0.07173612
+v -0.03991013 -0.01611989 0.07308905
+v -0.03978551 -0.01809535 0.07295779
+v -0.03936407 -0.02028736 0.07208031
+v -0.03895692 -0.02120539 0.07278670
+v -0.03877799 -0.02072456 0.07381302
+v -0.03835246 -0.02022076 0.07441702
+v -0.03864829 -0.02165697 0.07331940
+v -0.03835062 -0.02291485 0.07092426
+v -0.03791407 -0.02340010 0.07299244
+v -0.03794163 -0.02198831 0.07422898
+v -0.03742441 -0.02195504 0.07454922
+v -0.03730672 -0.02384271 0.07384070
+v -0.03698802 -0.02168661 0.07472869
+v -0.03766912 -0.01867161 0.07482129
+v -0.03683320 -0.02529299 0.07244888
+v -0.03727099 -0.02302270 0.07433250
+v -0.03667390 -0.02517108 0.07343442
+v -0.03623462 -0.02464715 0.07433315
+v -0.03669578 -0.02477467 0.07386508
+v -0.03530847 -0.02485704 0.07463892
+v -0.03567669 -0.02656697 0.07300684
+v -0.03509864 -0.02429760 0.07478895
+v -0.03547654 -0.02596271 0.07410912
+v -0.03513880 -0.02661007 0.07384330
+v -0.03749452 -0.01433631 0.07498253
+v -0.03530438 -0.02717577 0.07137935
+v -0.03443025 -0.02796431 0.07093654
+v -0.03453578 -0.02761495 0.07300489
+v -0.03362004 -0.02751351 0.07412216
+v -0.03329008 -0.02849998 0.07280848
+v -0.03382992 -0.02844342 0.06984576
+v -0.03198932 -0.02772029 0.07454945
+v -0.03269289 -0.02839788 0.07367067
+v -0.03250539 -0.02905500 0.07151415
+v -0.03237838 -0.02810516 0.07416654
+v -0.03053524 -0.02701057 0.07497143
+v -0.02875299 -0.02604740 0.07508853
+v -0.03254206 -0.02612053 0.07491082
+v -0.04013934 -0.01649617 0.07109494
+v -0.04000296 -0.01513995 0.07241695
+v -0.03980006 -0.01337775 0.06996976
+v -0.03948650 -0.01803020 0.07378411
+v -0.03964699 -0.01650858 0.07374332
+v -0.03931509 -0.01683793 0.07417486
+v -0.03884107 -0.01620187 0.07455140
+v -0.03820283 -0.01489297 0.07483127
+v -0.03635112 -0.01359173 0.07507572
+v -0.02901409 -0.01582453 0.07534903
+v -0.02721306 0.01564956 0.07538881
+v -0.01611705 -0.00078408 0.06901733
+v -0.04017253 0.01543498 0.07011813
+v -0.04006909 0.01756706 0.07025700
+v -0.04000456 0.01654191 0.07262552
+v -0.04004557 0.01523863 0.07220029
+v -0.03976907 0.01616741 0.07349946
+v -0.03963120 0.01789642 0.07354178
+v -0.03927797 0.01988137 0.07331798
+v -0.03930358 0.01558125 0.07418885
+v -0.03940413 0.01692723 0.07407377
+v -0.03927961 0.01860046 0.07393230
+v -0.03885214 0.02169262 0.07196109
+v -0.03856089 0.01823527 0.07459012
+v -0.03859278 0.02094032 0.07397131
+v -0.03874281 0.01158486 0.06968630
+v -0.03863170 0.02015964 0.07421500
+v -0.03875841 0.01433875 0.07450454
+v -0.03845286 0.02210262 0.07331220
+v -0.03805085 0.02341601 0.07163602
+v -0.03766747 0.01469087 0.07496122
+v -0.03731514 0.02296825 0.07432123
+v -0.03730821 0.02378536 0.07388072
+v -0.03739830 0.02027614 0.07477602
+v -0.03739387 0.02435390 0.07284684
+v -0.03693834 0.02526500 0.07105753
+v -0.03698334 0.02470537 0.07345473
+v -0.03663504 0.02541311 0.07299373
+v -0.03602469 0.02587269 0.07359548
+v -0.03608638 0.02348643 0.07469918
+v -0.03536492 0.02708509 0.07169604
+v -0.03595538 0.02526876 0.07419918
+v -0.03516875 0.02533615 0.07455146
+v -0.03513536 0.02697559 0.07329821
+v -0.03460684 0.02690345 0.07402201
+v -0.03390162 0.02680781 0.07442734
+v -0.03437683 0.02795586 0.07170684
+v -0.03408240 0.02784379 0.07327614
+v -0.03390675 0.02584061 0.07473501
+v -0.03343075 0.02793639 0.07378712
+v -0.03332436 0.02872129 0.07008107
+v -0.02891070 0.01666045 0.07532973
+v -0.03319038 0.02844487 0.07309306
+v -0.03242452 0.02803902 0.07420319
+v -0.03253200 0.02899751 0.07186230
+v -0.03031595 0.02678293 0.07501658
+v -0.03112266 0.02772115 0.07469912
+v -0.02634794 0.02276265 0.07528028
+v -0.02782031 0.01818986 0.07532855
+v -0.03956901 0.01967598 0.07180558
+v -0.03966224 0.01884632 0.07289033
+v -0.03503765 0.01264004 0.07513385
+v -0.00836172 0.03859408 0.06927069
+v -0.00762611 0.04021325 0.06978663
+v -0.00633272 0.03697893 0.07543360
+v -0.00492189 0.04248987 0.07076468
+v -0.00347887 0.04249918 0.07398412
+v -0.00380355 0.04287315 0.07237888
+v -0.00368306 0.04197307 0.07447332
+v -0.00271231 0.04051600 0.07534112
+v -0.00327084 0.04284998 0.07344918
+v -0.00260244 0.04167587 0.07503027
+v -0.00160085 0.04353912 0.07224001
+v -0.00245565 0.04285843 0.07407530
+v -0.00143687 0.04291414 0.07444564
+v -0.00115429 0.04194549 0.07514802
+v -0.00046726 0.04341127 0.07382542
+v 0.00276807 0.03947158 0.07542623
+v -0.00463493 0.04234830 0.07295461
+v -0.03020702 0.02631312 0.07507808
+f 54 204 164
+f 57 54 60
+f 276 222 151
+f 109 131 93
+f 54 164 40
+f 40 131 54
+f 274 275 141
+f 81 131 136
+f 60 54 51
+f 214 164 204
+f 214 237 164
+f 224 237 214
+f 136 120 128
+f 83 88 151
+f 104 138 89
+f 116 120 136
+f 136 131 116
+f 131 109 116
+f 108 116 109
+f 262 274 237
+f 262 237 224
+f 224 225 262
+f 275 274 262
+f 164 237 223
+f 223 274 164
+f 237 274 223
+f 164 274 137
+f 137 40 164
+f 137 274 131
+f 131 40 137
+f 79 32 82
+f 82 32 81
+f 136 135 82
+f 82 81 136
+f 50 51 5
+f 61 57 60
+f 63 62 60
+f 60 51 63
+f 63 51 50
+f 166 204 54
+f 166 56 204
+f 54 57 169
+f 169 166 54
+f 56 166 169
+f 204 56 207
+f 59 61 34
+f 57 61 59
+f 170 59 167
+f 171 52 151
+f 273 221 222
+f 177 176 181
+f 181 214 204
+f 177 181 182
+f 214 181 212
+f 243 245 251
+f 238 243 236
+f 245 243 238
+f 218 239 231
+f 242 245 235
+f 235 239 218
+f 245 238 235
+f 232 231 235
+f 235 231 239
+f 150 156 141
+f 93 156 98
+f 98 109 93
+f 289 276 151
+f 289 144 276
+f 251 245 291
+f 291 245 242
+f 242 273 291
+f 276 144 281
+f 281 291 276
+f 267 291 281
+f 134 135 136
+f 136 128 134
+f 133 135 134
+f 145 140 144
+f 138 88 90
+f 90 89 138
+f 130 126 133
+f 133 134 130
+f 130 134 128
+f 95 138 104
+f 104 110 95
+f 119 110 104
+f 97 96 101
+f 93 131 162
+f 131 274 162
+f 27 32 29
+f 76 32 79
+f 132 135 133
+f 10 32 27
+f 81 32 10
+f 54 131 10
+f 131 81 10
+f 10 51 54
+f 10 5 51
+f 50 5 9
+f 60 62 41
+f 41 61 60
+f 38 41 62
+f 61 41 38
+f 34 61 38
+f 42 38 62
+f 170 167 206
+f 203 207 56
+f 170 206 203
+f 204 207 203
+f 203 200 204
+f 57 59 55
+f 55 59 170
+f 55 169 57
+f 56 169 55
+f 170 203 55
+f 58 59 34
+f 58 167 59
+f 210 171 221
+f 221 171 163
+f 222 221 163
+f 151 222 163
+f 163 171 151
+f 52 171 36
+f 36 171 168
+f 221 273 220
+f 220 198 211
+f 220 273 242
+f 242 198 220
+f 211 210 220
+f 220 210 221
+f 236 240 230
+f 225 272 271
+f 272 230 271
+f 226 225 224
+f 226 272 225
+f 187 184 186
+f 187 186 195
+f 195 211 187
+f 211 198 187
+f 188 182 181
+f 224 214 172
+f 172 212 224
+f 214 212 172
+f 142 150 141
+f 109 98 103
+f 97 159 157
+f 157 96 97
+f 152 96 157
+f 156 150 153
+f 150 142 153
+f 161 289 151
+f 138 289 161
+f 151 88 161
+f 161 88 138
+f 278 282 264
+f 247 225 241
+f 247 262 225
+f 262 247 252
+f 249 252 247
+f 244 240 236
+f 236 243 244
+f 222 276 269
+f 276 291 269
+f 144 140 287
+f 287 281 144
+f 155 145 144
+f 155 289 138
+f 144 289 155
+f 140 145 148
+f 148 154 152
+f 148 145 154
+f 88 83 84
+f 151 52 84
+f 84 83 151
+f 123 128 120
+f 123 130 128
+f 123 115 124
+f 124 126 123
+f 126 130 123
+f 110 119 114
+f 67 66 69
+f 104 67 69
+f 116 108 111
+f 160 156 93
+f 93 162 160
+f 141 156 160
+f 160 274 141
+f 160 162 274
+f 73 71 28
+f 73 76 77
+f 77 76 79
+f 31 29 32
+f 32 76 31
+f 31 76 73
+f 73 28 31
+f 31 28 29
+f 12 6 8
+f 13 16 8
+f 8 16 12
+f 13 8 47
+f 47 8 44
+f 72 71 73
+f 73 77 72
+f 72 77 75
+f 26 28 24
+f 24 28 71
+f 50 9 46
+f 46 63 50
+f 45 42 46
+f 62 63 46
+f 46 42 62
+f 13 47 4
+f 4 47 45
+f 5 10 11
+f 11 9 5
+f 10 19 11
+f 202 206 208
+f 208 206 167
+f 208 205 202
+f 167 205 208
+f 201 206 202
+f 201 203 206
+f 202 197 201
+f 201 197 194
+f 200 203 201
+f 165 203 56
+f 56 55 165
+f 165 55 203
+f 211 205 209
+f 168 171 209
+f 209 210 211
+f 171 210 209
+f 53 205 167
+f 167 58 53
+f 168 209 53
+f 53 209 205
+f 202 205 193
+f 193 184 191
+f 193 211 195
+f 193 205 211
+f 195 186 193
+f 186 184 193
+f 3 6 7
+f 3 8 6
+f 44 8 3
+f 233 238 236
+f 236 230 233
+f 232 235 233
+f 233 235 238
+f 234 230 240
+f 234 271 230
+f 234 240 241
+f 241 225 234
+f 225 271 234
+f 183 184 179
+f 179 178 183
+f 215 178 179
+f 179 187 218
+f 184 187 179
+f 228 216 232
+f 224 212 227
+f 227 226 224
+f 212 226 227
+f 189 184 183
+f 191 184 189
+f 183 185 189
+f 218 187 219
+f 219 187 198
+f 219 198 242
+f 219 235 218
+f 242 235 219
+f 194 188 199
+f 199 201 194
+f 200 201 199
+f 204 200 199
+f 199 181 204
+f 199 188 181
+f 191 189 192
+f 192 189 185
+f 264 279 266
+f 264 282 290
+f 290 279 264
+f 282 279 290
+f 141 275 277
+f 275 262 277
+f 262 266 277
+f 277 266 279
+f 284 142 141
+f 143 142 284
+f 141 277 284
+f 284 277 279
+f 284 282 143
+f 284 279 282
+f 288 142 143
+f 100 103 98
+f 98 94 100
+f 100 94 97
+f 97 101 100
+f 156 153 158
+f 158 98 156
+f 158 94 98
+f 158 159 97
+f 97 94 158
+f 286 288 143
+f 262 252 258
+f 264 266 258
+f 258 266 262
+f 241 240 246
+f 246 247 241
+f 246 249 247
+f 250 249 248
+f 248 244 250
+f 249 246 248
+f 240 244 248
+f 248 246 240
+f 263 273 222
+f 263 269 291
+f 263 291 273
+f 267 281 268
+f 138 95 92
+f 145 155 92
+f 92 155 138
+f 1 84 52
+f 104 89 86
+f 86 67 104
+f 118 123 120
+f 115 123 118
+f 118 111 115
+f 120 116 118
+f 116 111 118
+f 124 114 121
+f 121 114 119
+f 121 126 124
+f 107 111 108
+f 107 108 109
+f 109 103 107
+f 25 28 26
+f 29 28 25
+f 27 29 25
+f 79 82 80
+f 80 82 135
+f 75 77 78
+f 135 132 78
+f 78 80 135
+f 78 77 79
+f 79 80 78
+f 70 69 66
+f 75 69 70
+f 70 72 75
+f 26 24 22
+f 12 16 18
+f 16 22 18
+f 18 22 24
+f 18 6 12
+f 18 24 71
+f 74 69 75
+f 75 125 74
+f 74 125 69
+f 69 125 122
+f 122 119 104
+f 104 69 122
+f 122 121 119
+f 26 22 21
+f 21 22 16
+f 23 10 27
+f 23 19 10
+f 26 21 23
+f 27 25 23
+f 23 25 26
+f 45 46 49
+f 49 4 45
+f 49 46 9
+f 168 53 33
+f 33 53 58
+f 202 193 196
+f 196 193 191
+f 196 197 202
+f 191 192 196
+f 196 192 197
+f 37 58 34
+f 34 38 37
+f 37 33 58
+f 39 33 37
+f 44 3 48
+f 229 230 272
+f 229 233 230
+f 272 226 229
+f 226 228 229
+f 232 233 229
+f 229 228 232
+f 180 185 183
+f 183 178 180
+f 182 185 180
+f 177 182 180
+f 180 178 177
+f 217 179 218
+f 215 179 217
+f 217 216 215
+f 218 231 217
+f 217 231 232
+f 232 216 217
+f 215 216 175
+f 175 176 177
+f 177 178 175
+f 175 178 215
+f 213 226 212
+f 190 185 182
+f 190 192 185
+f 182 188 190
+f 190 188 194
+f 194 197 190
+f 197 192 190
+f 146 148 152
+f 140 148 146
+f 146 286 140
+f 288 286 146
+f 149 158 153
+f 152 157 149
+f 149 157 159
+f 159 158 149
+f 149 146 152
+f 285 278 280
+f 280 286 285
+f 282 278 285
+f 143 282 285
+f 285 286 143
+f 139 286 280
+f 139 287 140
+f 140 286 139
+f 250 256 255
+f 255 258 252
+f 255 249 250
+f 252 249 255
+f 261 256 265
+f 261 278 264
+f 280 278 261
+f 261 265 280
+f 222 269 270
+f 270 263 222
+f 269 263 270
+f 253 244 243
+f 250 244 253
+f 253 256 250
+f 265 256 257
+f 257 268 265
+f 256 253 257
+f 152 154 91
+f 91 96 152
+f 154 145 91
+f 145 92 91
+f 85 86 89
+f 89 90 85
+f 84 1 85
+f 85 90 88
+f 88 84 85
+f 65 66 67
+f 67 86 65
+f 65 7 68
+f 68 66 65
+f 126 121 127
+f 133 126 127
+f 127 122 125
+f 121 122 127
+f 110 114 112
+f 99 101 96
+f 99 106 101
+f 96 91 99
+f 99 91 92
+f 105 106 111
+f 111 107 105
+f 101 106 105
+f 105 100 101
+f 103 100 105
+f 105 107 103
+f 129 78 132
+f 129 127 125
+f 129 125 75
+f 75 78 129
+f 129 132 133
+f 133 127 129
+f 71 72 30
+f 72 70 30
+f 68 18 30
+f 30 18 71
+f 30 66 68
+f 30 70 66
+f 17 18 68
+f 6 18 17
+f 68 7 17
+f 7 6 17
+f 14 11 19
+f 9 11 14
+f 13 4 14
+f 14 49 9
+f 4 49 14
+f 168 33 35
+f 35 33 39
+f 35 36 168
+f 35 3 36
+f 35 48 3
+f 35 39 44
+f 44 48 35
+f 38 42 43
+f 43 37 38
+f 43 42 45
+f 45 47 43
+f 39 37 43
+f 43 47 44
+f 44 39 43
+f 176 175 173
+f 173 181 176
+f 173 212 181
+f 174 175 216
+f 226 213 174
+f 174 213 212
+f 174 228 226
+f 216 228 174
+f 212 173 174
+f 174 173 175
+f 147 153 142
+f 147 149 153
+f 142 288 147
+f 288 146 147
+f 146 149 147
+f 280 265 283
+f 283 139 280
+f 265 268 283
+f 287 139 283
+f 281 287 283
+f 283 268 281
+f 259 261 264
+f 264 258 259
+f 258 255 259
+f 259 255 256
+f 256 261 259
+f 254 257 253
+f 254 243 251
+f 254 253 243
+f 87 1 52
+f 87 85 1
+f 117 112 114
+f 124 115 117
+f 117 114 124
+f 102 95 110
+f 110 112 102
+f 102 92 95
+f 102 112 106
+f 102 99 92
+f 106 99 102
+f 20 14 19
+f 19 23 20
+f 20 23 21
+f 268 257 260
+f 257 254 260
+f 267 268 260
+f 260 254 251
+f 251 291 260
+f 260 291 267
+f 86 85 2
+f 2 87 86
+f 85 87 2
+f 64 65 86
+f 86 87 64
+f 7 65 64
+f 64 87 52
+f 52 36 64
+f 64 3 7
+f 36 3 64
+f 113 117 115
+f 112 117 113
+f 115 111 113
+f 111 106 113
+f 106 112 113
+f 14 20 15
+f 15 16 13
+f 13 14 15
+f 15 21 16
+f 15 20 21
+

assets/local_stacking_tower/cup10/collision/cup10_col5.obj

@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.02852853 0.04269596 0.00000000
+v 0.02741739 0.04103303 0.00000000
+v 0.01965079 0.04744121 0.00000000
+v 0.01888543 0.04559345 0.00000000
+v 0.02748684 0.04113696 0.04687500
+v 0.01893326 0.04570894 0.04687500
+v 0.02580624 0.03862176 0.06250000
+v 0.02469510 0.03695882 0.06250000
+v 0.01777565 0.04291420 0.06250000
+v 0.01701028 0.04106645 0.06250000
+f 9 6 3
+f 9 4 10
+f 3 4 9
+f 10 8 9
+f 9 8 7
+f 3 6 5
+f 1 3 5
+f 6 9 5
+f 5 9 7
+f 7 8 2
+f 1 5 2
+f 2 5 7
+f 2 4 3
+f 2 3 1
+f 10 4 2
+f 2 8 10
+

assets/local_stacking_tower/cup10/collision/cup10_col6.obj

@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.01965079 0.04744121 0.00000000
+v 0.01888543 0.04559345 0.00000000
+v 0.01001789 0.05036332 0.00000000
+v 0.00962771 0.04840175 0.00000000
+v 0.01893326 0.04570894 0.04687500
+v 0.00965209 0.04852435 0.04687500
+v 0.01777565 0.04291420 0.06250000
+v 0.01701028 0.04106645 0.06250000
+v 0.00906195 0.04555748 0.06250000
+v 0.00867176 0.04359591 0.06250000
+f 3 6 5
+f 1 3 5
+f 6 9 5
+f 5 9 7
+f 4 6 3
+f 10 9 4
+f 4 9 6
+f 1 2 4
+f 4 3 1
+f 1 5 8
+f 8 2 1
+f 8 5 7
+f 8 9 10
+f 7 9 8
+f 10 4 8
+f 8 4 2
+

assets/local_stacking_tower/cup10/collision/cup10_col7.obj

@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.01001789 0.05036332 0.00000000
+v 0.00962771 0.04840175 0.00000000
+v 0.00000000 0.05135000 0.00000000
+v 0.00000000 0.04935000 0.00000000
+v 0.00965209 0.04852435 0.04687500
+v 0.00000000 0.04947500 0.04687500
+v 0.00906195 0.04555748 0.06250000
+v 0.00867176 0.04359591 0.06250000
+v 0.00000000 0.04645000 0.06250000
+v 0.00000000 0.04445000 0.06250000
+f 2 4 3
+f 3 1 2
+f 10 6 3
+f 3 4 10
+f 9 6 10
+f 8 7 10
+f 7 9 10
+f 10 2 8
+f 4 2 10
+f 5 7 8
+f 5 2 1
+f 8 2 5
+f 3 6 5
+f 5 1 3
+f 5 6 9
+f 5 9 7
+

assets/local_stacking_tower/cup10/collision/cup10_col8.obj

@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.00000000 0.05135000 0.00000000
+v 0.00000000 0.04935000 0.00000000
+v -0.01001789 0.05036332 0.00000000
+v -0.00962771 0.04840175 0.00000000
+v 0.00000000 0.04947500 0.04687500
+v -0.00965209 0.04852435 0.04687500
+v 0.00000000 0.04645000 0.06250000
+v 0.00000000 0.04445000 0.06250000
+v -0.00906195 0.04555748 0.06250000
+v -0.00867176 0.04359591 0.06250000
+f 1 5 2
+f 7 8 2
+f 2 5 7
+f 6 5 1
+f 6 1 3
+f 1 2 4
+f 3 1 4
+f 4 2 8
+f 4 8 10
+f 9 6 3
+f 3 4 9
+f 9 4 10
+f 9 8 7
+f 10 8 9
+f 7 5 9
+f 5 6 9
+

assets/local_stacking_tower/cup10/collision/cup10_col9.obj

@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.01001789 0.05036332 0.00000000
+v -0.00962771 0.04840175 0.00000000
+v -0.01965079 0.04744121 0.00000000
+v -0.01888543 0.04559345 0.00000000
+v -0.00965209 0.04852435 0.04687500
+v -0.01893326 0.04570894 0.04687500
+v -0.00906195 0.04555748 0.06250000
+v -0.00867176 0.04359591 0.06250000
+v -0.01777565 0.04291420 0.06250000
+v -0.01701028 0.04106645 0.06250000
+f 2 7 8
+f 1 5 2
+f 2 5 7
+f 3 1 2
+f 2 4 3
+f 8 7 10
+f 7 9 10
+f 10 2 8
+f 4 2 10
+f 3 4 6
+f 4 10 6
+f 6 10 9
+f 6 5 1
+f 6 1 3
+f 7 5 6
+f 6 9 7
+

assets/local_stacking_tower/cup10/cup10.xml

@@ -0,0 +1,223 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!--
+  local_stacking_tower cup10 — single-rigid-body prop for hand_track / manipulation.
+  Meshy multi-image-to-3d reconstruction of the real stacking-cup tower toy photographed
+  on the bimanual rig (2026-08-14), built by scripts/build_stacking_tower_assets.py:
+  canonical pose (molded top +z, opening down, base rim z=0, xy centered) -> per-axis
+  rescale onto the YCB 065 cups ladder (circularized) -> procedural cavity-true
+  collision: 49 convex parts (azimuthal wall wedges + flat shoulder ledge
+  + top-zone ring + cap hull), so the cups seat over each other and stack like the toy.
+  DO NOT hand-edit: regenerate with `python scripts/build_stacking_tower_assets.py` (pass the meshy dir via its src flag).
+  Real-mass fit: 0.042 kg (estimate; reweigh the toy to refine) over part volume
+  9.3e-05 m^3 -> density 453.8 kg/m^3. Canonical AABB (m): size=[0.1026, 0.1026, 0.0755].
+-->
+<mujoco model="cup10">
+  <compiler meshdir="." angle="radian" />
+  <asset>
+    <texture name="cup10_tex" type="2d" file="texture_map.png" />
+    <material name="cup10_mat" texture="cup10_tex" texrepeat="1 1" texuniform="false" reflectance="0.2" />
+    <mesh name="cup10_mesh" file="visual/cup10_vis.obj" />
+    <mesh name="cup10_col0" file="collision/cup10_col0.obj" />
+    <mesh name="cup10_col1" file="collision/cup10_col1.obj" />
+    <mesh name="cup10_col2" file="collision/cup10_col2.obj" />
+    <mesh name="cup10_col3" file="collision/cup10_col3.obj" />
+    <mesh name="cup10_col4" file="collision/cup10_col4.obj" />
+    <mesh name="cup10_col5" file="collision/cup10_col5.obj" />
+    <mesh name="cup10_col6" file="collision/cup10_col6.obj" />
+    <mesh name="cup10_col7" file="collision/cup10_col7.obj" />
+    <mesh name="cup10_col8" file="collision/cup10_col8.obj" />
+    <mesh name="cup10_col9" file="collision/cup10_col9.obj" />
+    <mesh name="cup10_col10" file="collision/cup10_col10.obj" />
+    <mesh name="cup10_col11" file="collision/cup10_col11.obj" />
+    <mesh name="cup10_col12" file="collision/cup10_col12.obj" />
+    <mesh name="cup10_col13" file="collision/cup10_col13.obj" />
+    <mesh name="cup10_col14" file="collision/cup10_col14.obj" />
+    <mesh name="cup10_col15" file="collision/cup10_col15.obj" />
+    <mesh name="cup10_col16" file="collision/cup10_col16.obj" />
+    <mesh name="cup10_col17" file="collision/cup10_col17.obj" />
+    <mesh name="cup10_col18" file="collision/cup10_col18.obj" />
+    <mesh name="cup10_col19" file="collision/cup10_col19.obj" />
+    <mesh name="cup10_col20" file="collision/cup10_col20.obj" />
+    <mesh name="cup10_col21" file="collision/cup10_col21.obj" />
+    <mesh name="cup10_col22" file="collision/cup10_col22.obj" />
+    <mesh name="cup10_col23" file="collision/cup10_col23.obj" />
+    <mesh name="cup10_col24" file="collision/cup10_col24.obj" />
+    <mesh name="cup10_col25" file="collision/cup10_col25.obj" />
+    <mesh name="cup10_col26" file="collision/cup10_col26.obj" />
+    <mesh name="cup10_col27" file="collision/cup10_col27.obj" />
+    <mesh name="cup10_col28" file="collision/cup10_col28.obj" />
+    <mesh name="cup10_col29" file="collision/cup10_col29.obj" />
+    <mesh name="cup10_col30" file="collision/cup10_col30.obj" />
+    <mesh name="cup10_col31" file="collision/cup10_col31.obj" />
+    <mesh name="cup10_col32" file="collision/cup10_col32.obj" />
+    <mesh name="cup10_col33" file="collision/cup10_col33.obj" />
+    <mesh name="cup10_col34" file="collision/cup10_col34.obj" />
+    <mesh name="cup10_col35" file="collision/cup10_col35.obj" />
+    <mesh name="cup10_col36" file="collision/cup10_col36.obj" />
+    <mesh name="cup10_col37" file="collision/cup10_col37.obj" />
+    <mesh name="cup10_col38" file="collision/cup10_col38.obj" />
+    <mesh name="cup10_col39" file="collision/cup10_col39.obj" />
+    <mesh name="cup10_col40" file="collision/cup10_col40.obj" />
+    <mesh name="cup10_col41" file="collision/cup10_col41.obj" />
+    <mesh name="cup10_col42" file="collision/cup10_col42.obj" />
+    <mesh name="cup10_col43" file="collision/cup10_col43.obj" />
+    <mesh name="cup10_col44" file="collision/cup10_col44.obj" />
+    <mesh name="cup10_col45" file="collision/cup10_col45.obj" />
+    <mesh name="cup10_col46" file="collision/cup10_col46.obj" />
+    <mesh name="cup10_col47" file="collision/cup10_col47.obj" />
+    <mesh name="cup10_col48" file="collision/cup10_col48.obj" />
+  </asset>
+  <worldbody>
+    <body name="cup10" pos="0 0 0">
+      <geom name="cup10_visual" type="mesh" mesh="cup10_mesh" material="cup10_mat"
+            group="2" contype="0" conaffinity="0" density="0" />
+      <geom name="cup10_collision0" type="mesh" mesh="cup10_col0"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision1" type="mesh" mesh="cup10_col1"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision2" type="mesh" mesh="cup10_col2"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision3" type="mesh" mesh="cup10_col3"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision4" type="mesh" mesh="cup10_col4"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision5" type="mesh" mesh="cup10_col5"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision6" type="mesh" mesh="cup10_col6"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision7" type="mesh" mesh="cup10_col7"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision8" type="mesh" mesh="cup10_col8"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision9" type="mesh" mesh="cup10_col9"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision10" type="mesh" mesh="cup10_col10"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision11" type="mesh" mesh="cup10_col11"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision12" type="mesh" mesh="cup10_col12"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision13" type="mesh" mesh="cup10_col13"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision14" type="mesh" mesh="cup10_col14"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision15" type="mesh" mesh="cup10_col15"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision16" type="mesh" mesh="cup10_col16"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision17" type="mesh" mesh="cup10_col17"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision18" type="mesh" mesh="cup10_col18"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision19" type="mesh" mesh="cup10_col19"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision20" type="mesh" mesh="cup10_col20"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision21" type="mesh" mesh="cup10_col21"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision22" type="mesh" mesh="cup10_col22"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision23" type="mesh" mesh="cup10_col23"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision24" type="mesh" mesh="cup10_col24"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision25" type="mesh" mesh="cup10_col25"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision26" type="mesh" mesh="cup10_col26"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision27" type="mesh" mesh="cup10_col27"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision28" type="mesh" mesh="cup10_col28"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision29" type="mesh" mesh="cup10_col29"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision30" type="mesh" mesh="cup10_col30"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision31" type="mesh" mesh="cup10_col31"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision32" type="mesh" mesh="cup10_col32"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision33" type="mesh" mesh="cup10_col33"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision34" type="mesh" mesh="cup10_col34"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision35" type="mesh" mesh="cup10_col35"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision36" type="mesh" mesh="cup10_col36"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision37" type="mesh" mesh="cup10_col37"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision38" type="mesh" mesh="cup10_col38"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision39" type="mesh" mesh="cup10_col39"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision40" type="mesh" mesh="cup10_col40"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision41" type="mesh" mesh="cup10_col41"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision42" type="mesh" mesh="cup10_col42"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision43" type="mesh" mesh="cup10_col43"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision44" type="mesh" mesh="cup10_col44"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision45" type="mesh" mesh="cup10_col45"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision46" type="mesh" mesh="cup10_col46"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision47" type="mesh" mesh="cup10_col47"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+      <geom name="cup10_collision48" type="mesh" mesh="cup10_col48"
+            density="453.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+    </body>
+  </worldbody>
+</mujoco>

assets/local_stacking_tower/cup10/usd/cup10.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bdc8756187204fb8a0b2f47aefa9ca7887578e4fdc24a823fea90344141fa88
+size 584947