diff --git a/.gitattributes b/.gitattributes
index cd98c118d387838b75a65eaaab0127dd82f27061..096f4ae6ee43b8782c59b06487b1b4a13a096a80 100644
--- a/.gitattributes
+++ b/.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
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col12.obj b/assets/local_stacking_tower/cup10/collision/cup10_col12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8e046b65b1fee14bcd381b2d985d201158e1ec7
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col13.obj b/assets/local_stacking_tower/cup10/collision/cup10_col13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b69e86000e09b74e5ac78d115981d95dc6758d9c
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col14.obj b/assets/local_stacking_tower/cup10/collision/cup10_col14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3f3c46cd1b0bade89bfd98f4efe9606f4b3f8e2
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col15.obj b/assets/local_stacking_tower/cup10/collision/cup10_col15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ee64e5845964363fe148bebebb3e4ff0c3ff88c
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col16.obj b/assets/local_stacking_tower/cup10/collision/cup10_col16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bcfc4471c96d68a05d648c84b229e0fa528705c
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col17.obj b/assets/local_stacking_tower/cup10/collision/cup10_col17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc1dbf336505051e152475896e0d3b02f5be0f59
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col18.obj b/assets/local_stacking_tower/cup10/collision/cup10_col18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b0447d174db2a18e8c65a2eceb193f7cabf4c9c
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col19.obj b/assets/local_stacking_tower/cup10/collision/cup10_col19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7de19c326528db47b450962b41a2f8c3f5f43944
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col2.obj b/assets/local_stacking_tower/cup10/collision/cup10_col2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d50e2d85bd507ae6c93cfc7b782c0bda99a25833
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col20.obj b/assets/local_stacking_tower/cup10/collision/cup10_col20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1f71f55c784966ae917ccb6b3a0e7734d339fd8
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col21.obj b/assets/local_stacking_tower/cup10/collision/cup10_col21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5461c0651ab661eb53c12526f9197cb833aea941
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col22.obj b/assets/local_stacking_tower/cup10/collision/cup10_col22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffcded2a91a1b86e4da0efcd36cd3d06b973b6b8
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col23.obj b/assets/local_stacking_tower/cup10/collision/cup10_col23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1380b296ea6cd699b7f0e33d9038fd2cd19e321c
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col24.obj b/assets/local_stacking_tower/cup10/collision/cup10_col24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79128c5d0860511bd78bf5d28a2018e1502105b4
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col25.obj b/assets/local_stacking_tower/cup10/collision/cup10_col25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..841aaa4029345eddfaafbd2c52460a02cce6a80b
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col26.obj b/assets/local_stacking_tower/cup10/collision/cup10_col26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..026885c4a828c7c29c93226761e08e190e2ce7e2
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col27.obj b/assets/local_stacking_tower/cup10/collision/cup10_col27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75ac28bce749fc823afae8e6d07dc58057e03f8c
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col28.obj b/assets/local_stacking_tower/cup10/collision/cup10_col28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7e7b12bdbfad139339f1cf49200d5dae45db6d9
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col29.obj b/assets/local_stacking_tower/cup10/collision/cup10_col29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7366b638cd5d10baf21695e5dd21f3d4123e4d0
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col3.obj b/assets/local_stacking_tower/cup10/collision/cup10_col3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b92afb5ef853607f5871055e6f34a62fa0bbf92e
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col30.obj b/assets/local_stacking_tower/cup10/collision/cup10_col30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c04021cb251127bfd166eeed06c5f94e9dfa745
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col31.obj b/assets/local_stacking_tower/cup10/collision/cup10_col31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..926a7765f9c762aed0267eedbb67f09369a654f9
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col32.obj b/assets/local_stacking_tower/cup10/collision/cup10_col32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfe98a9317a4b38c0f0d4625aebfe2356b70096c
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col33.obj b/assets/local_stacking_tower/cup10/collision/cup10_col33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc84ea8b433c1e8fce419aced58dbaf48a5223ca
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col34.obj b/assets/local_stacking_tower/cup10/collision/cup10_col34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ae9a3435e36da15febb17d74170145fc8d3fa88
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col35.obj b/assets/local_stacking_tower/cup10/collision/cup10_col35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d340fe2185a90ad9b18bc68b63b779800234fd8
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col36.obj b/assets/local_stacking_tower/cup10/collision/cup10_col36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e4083db346f9ce54bc42c52fd91d665bc2d19c1
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col37.obj b/assets/local_stacking_tower/cup10/collision/cup10_col37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c58ca6cfcebc6d5d5cba1ab3cd9f84ab7e6dc3e
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col38.obj b/assets/local_stacking_tower/cup10/collision/cup10_col38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd3e969eceaf0a59878b2b7f3537665291b8e10a
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col39.obj b/assets/local_stacking_tower/cup10/collision/cup10_col39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49ad2c0951ed0cd9161f75b61ebbaaeea63c0aa1
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col4.obj b/assets/local_stacking_tower/cup10/collision/cup10_col4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c016792db6a382452eeb0a64be974a4134e7f5e
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col40.obj b/assets/local_stacking_tower/cup10/collision/cup10_col40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbf8566a531d5e8959f0a6fd31226df8c9273699
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col41.obj b/assets/local_stacking_tower/cup10/collision/cup10_col41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13130ef6ee68cb70ff3a21dc940378c12f10bce5
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col42.obj b/assets/local_stacking_tower/cup10/collision/cup10_col42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dd78e360875a2e7fab0147895dfd29200a26c89
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col43.obj b/assets/local_stacking_tower/cup10/collision/cup10_col43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbb60c5ed3059c718b61d7b020dd033c26a87600
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col44.obj b/assets/local_stacking_tower/cup10/collision/cup10_col44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c80434810d9f7fe7c3fb73e3222d1516fc6c220
--- /dev/null
+++ b/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
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+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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col45.obj b/assets/local_stacking_tower/cup10/collision/cup10_col45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..101367d5bc34834675a347bc89fe9adf62b65e33
--- /dev/null
+++ b/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
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+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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col46.obj b/assets/local_stacking_tower/cup10/collision/cup10_col46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d264e8583d54dcfe2af31deb34a627cfbefeadac
--- /dev/null
+++ b/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
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+v 0.04106645 -0.01701028 0.07021500
+f 3 1 4
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+f 7 1 3
+f 7 5 1
+f 3 4 7
+f 7 4 8
+f 7 6 5
+f 8 6 7
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col47.obj b/assets/local_stacking_tower/cup10/collision/cup10_col47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19bc07e7dd6f87ce4cb32189b6f65b243bb451ce
--- /dev/null
+++ b/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
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+f 7 1 3
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+f 3 4 7
+f 7 4 8
+f 7 6 5
+f 8 6 7
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col48.obj b/assets/local_stacking_tower/cup10/collision/cup10_col48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a46d4e733b0b5aceadd5193761bb5be506ddf74e
--- /dev/null
+++ b/assets/local_stacking_tower/cup10/collision/cup10_col48.obj
@@ -0,0 +1,871 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col5.obj b/assets/local_stacking_tower/cup10/collision/cup10_col5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..432b7ba896bdacf3e69b9e9fa491506524c5091d
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col6.obj b/assets/local_stacking_tower/cup10/collision/cup10_col6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec717165911491696aefa9a577d78e13aa7ce9a8
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col7.obj b/assets/local_stacking_tower/cup10/collision/cup10_col7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2af385e205bb645b8891ca9f9040c73e6cc3b9f2
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col8.obj b/assets/local_stacking_tower/cup10/collision/cup10_col8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..333403eeb181aa768dca7aa437ca644faaddb584
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/collision/cup10_col9.obj b/assets/local_stacking_tower/cup10/collision/cup10_col9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e6c825224b5b829a7c7c9dc3ada9b53d25e056c
--- /dev/null
+++ b/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
+
diff --git a/assets/local_stacking_tower/cup10/cup10.xml b/assets/local_stacking_tower/cup10/cup10.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d6949062c98f0f37ed0c0e23cf4542adde679c37
--- /dev/null
+++ b/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"
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--- /dev/null
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diff --git a/assets/local_stacking_tower/cup10/visual/material_0.png b/assets/local_stacking_tower/cup10/visual/material_0.png
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diff --git a/assets/local_stacking_tower/duck/collision/duck_col0.obj b/assets/local_stacking_tower/duck/collision/duck_col0.obj
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diff --git a/assets/local_stacking_tower/duck/duck.xml b/assets/local_stacking_tower/duck/duck.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6308b979d7b03de484911df475ed51663c91b715
--- /dev/null
+++ b/assets/local_stacking_tower/duck/duck.xml
@@ -0,0 +1,31 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!--
+  local_stacking_tower duck — 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: 1 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: 0.022 kg (estimate; reweigh the toy to refine) over part volume
+  6.8e-05 m^3 -> density 322.8 kg/m^3. Canonical AABB (m): size=[0.0490, 0.0490, 0.0545].
+-->
+<mujoco model="duck">
+  <compiler meshdir="." angle="radian" />
+  <asset>
+    <texture name="duck_tex" type="2d" file="texture_map.png" />
+    <material name="duck_mat" texture="duck_tex" texrepeat="1 1" texuniform="false" reflectance="0.2" />
+    <mesh name="duck_mesh" file="visual/duck_vis.obj" />
+    <mesh name="duck_col0" file="collision/duck_col0.obj" />
+  </asset>
+  <worldbody>
+    <body name="duck" pos="0 0 0">
+      <geom name="duck_visual" type="mesh" mesh="duck_mesh" material="duck_mat"
+            group="2" contype="0" conaffinity="0" density="0" />
+      <geom name="duck_collision0" type="mesh" mesh="duck_col0"
+            density="322.8" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
+            group="3" rgba="0 1 0 0" />
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/assets/local_stacking_tower/duck/texture_map.png b/assets/local_stacking_tower/duck/texture_map.png
new file mode 100644
index 0000000000000000000000000000000000000000..17126018d1ce9c59fb77b6ec1273da7a95286f86
--- /dev/null
+++ b/assets/local_stacking_tower/duck/texture_map.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e426dcd70925b5f17bcead78caa889e04e8424ed952e44c44f2ff86254b6900
+size 12572143
diff --git a/assets/local_stacking_tower/duck/usd/duck.usd b/assets/local_stacking_tower/duck/usd/duck.usd
new file mode 100644
index 0000000000000000000000000000000000000000..18a4b516925c63281319834db836c2c7b61abcc2
--- /dev/null
+++ b/assets/local_stacking_tower/duck/usd/duck.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee0202bef6076a4c423ed5174e16b49f4b76a9f56bd944c671fe10abdb7effa1
+size 549476
diff --git a/assets/local_stacking_tower/duck/visual/duck_vis.obj b/assets/local_stacking_tower/duck/visual/duck_vis.obj
new file mode 100644
index 0000000000000000000000000000000000000000..574805828aa5c0f7d3c810f54b91e880788ccbef
--- /dev/null
+++ b/assets/local_stacking_tower/duck/visual/duck_vis.obj
@@ -0,0 +1,69845 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.00269945 -0.01273398 0.04681826
+v -0.00269945 -0.01273398 0.04681826
+v -0.00269945 -0.01273398 0.04681826
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+v -0.00162945 -0.01201634 0.04390769
+v -0.00162945 -0.01201634 0.04390769
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+v -0.00106470 -0.01257606 0.04333849
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+v -0.00164576 -0.01269061 0.04699197
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+v -0.00179408 -0.01463885 0.04491612
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+v -0.00269718 -0.01098053 0.04473386
+v 0.00000000 -0.01164358 0.04445225
+v 0.00135957 -0.01187256 0.03986629
+v 0.00251260 -0.01159412 0.03925854
+v 0.00050525 -0.01479305 0.04490426
+v 0.00130804 -0.01248393 0.04732834
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+v 0.00142045 -0.01127273 0.04833616
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+v -0.00453809 -0.01156906 0.03723384
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+v 0.00568225 -0.01159864 0.03898798
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+v -0.00058429 -0.01399031 0.04146302
+v 0.00145203 -0.01401560 0.04064430
+v 0.00132932 -0.01320537 0.04665022
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+v 0.00067336 -0.01042602 0.04557554
+v 0.00067336 -0.01042602 0.04557554
+v 0.00049000 -0.01361161 0.04049122
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+
diff --git a/assets/local_stacking_tower/duck/visual/material.mtl b/assets/local_stacking_tower/duck/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c337ef8c31e1f58d1ae8252df0d92c2ec15a0f6e
--- /dev/null
+++ b/assets/local_stacking_tower/duck/visual/material.mtl
@@ -0,0 +1,3 @@
+newmtl material_0
+Kd 1 1 1
+map_Kd ../texture_map.png
diff --git a/assets/local_stacking_tower/duck/visual/material_0.png b/assets/local_stacking_tower/duck/visual/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6ff8a24a0206d756ad774481b837926d7dafef82
--- /dev/null
+++ b/assets/local_stacking_tower/duck/visual/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f92e59802f90e74177bee426f17c6f594452d54579158f1ff008a4cc07703d1c
+size 77
diff --git a/assets/local_stacking_tower/measure_stacking_tower_seats.py b/assets/local_stacking_tower/measure_stacking_tower_seats.py
new file mode 100644
index 0000000000000000000000000000000000000000..cfd34c46775080ca0fc784449a2744069379f581
--- /dev/null
+++ b/assets/local_stacking_tower/measure_stacking_tower_seats.py
@@ -0,0 +1,277 @@
+"""Measure the seated pair-dz bands of the local_stacking_tower bundles in place.
+
+Run this after ANY change to the piece bundles (a Meshy rebuild, a rescale, the
+duck seat fix) with any python that has mujoco + numpy:
+
+    python measure_stacking_tower_seats.py            # all 11 pieces
+    python measure_stacking_tower_seats.py --cups     # cups only (skip a broken duck)
+
+It builds a floor + freejoint scene from ``<piece>/<piece>.xml`` exactly as the
+task loads them (hand_track contact stiffening applied), assembles the tower
+bottom -> top across two placement regimes, settles, and prints
+
+  * a stability verdict (every trial must stand: upright + settled), and
+  * a ready-to-paste ``_PAIR_DZ_M`` block for
+    ``roboverse_pack/tasks/hand_track/hand_track_stacking_tower.py``.
+
+The two regimes bracket what an operator produces: a piece RELEASED above its
+seat drops and wedges deepest, while one lowered onto the seat rests at the
+shallow end of the funnel. Real placements land between them, so each printed
+band is the union +/- 5 mm. The wrong-order section is the order gate's
+evidence: a size-skipping piece perches high on the base below and an oversized
+piece swallows the smaller one, and both must sit outside the printed bands.
+
+If a pair does NOT stand, that bundle violates the asset contract in
+``gen_stacking_tower.py`` (a real shoulder-ledge seat with cavity-true
+collision) — fix the asset; never widen the checker to accept a falling tower.
+"""
+
+from __future__ import annotations
+
+import argparse
+import os
+import re
+import xml.etree.ElementTree as ET
+
+import mujoco
+import numpy as np
+
+HERE = os.path.dirname(os.path.abspath(__file__))
+#: bottom -> top: cup10 is the largest, cup01 the smallest, duck on top.
+CUPS = [f"cup{i:02d}" for i in range(10, 0, -1)]
+PIECES = [*CUPS, "duck"]
+TRIALS_DROP = 4
+TRIALS_PLACE = 2
+SETTLE_S = 6.0
+
+
+def build_scene(pieces: list[str]) -> mujoco.MjModel:
+    parts_assets, parts_bodies = [], []
+    for piece in pieces:
+        # Strip comments before parsing: the generator writes its regeneration
+        # command into the header, and a ``--flag`` there is a literal ``--``
+        # inside an XML comment — MuJoCo accepts it, strict XML parsers do not.
+        with open(os.path.join(HERE, piece, f"{piece}.xml")) as fh:
+            text = re.sub(r"<!--.*?-->", "", fh.read(), flags=re.DOTALL)
+        tree = ET.ElementTree(ET.fromstring(text))
+        asset = tree.find("asset")
+        body = tree.find("worldbody/body")
+        for el in asset:
+            if el.tag in ("texture", "mesh") and el.get("file"):
+                el.set("file", os.path.join(HERE, piece, el.get("file")))
+        parts_assets.append("".join(ET.tostring(el, encoding="unicode") for el in asset))
+        inner = "".join(ET.tostring(el, encoding="unicode") for el in body)
+        parts_bodies.append(f'<body name="{piece}" pos="0 0 0"><freejoint name="{piece}_free"/>{inner}</body>')
+    xml = f"""
+<mujoco model="stacking_tower_seats">
+  <compiler angle="radian"/>
+  <option timestep="0.002" gravity="0 0 -9.81"/>
+  <asset>{"".join(parts_assets)}</asset>
+  <worldbody>
+    <geom name="floor" type="plane" size="2 2 0.1" friction="2.0 0.1 0.01"/>
+    {"".join(parts_bodies)}
+  </worldbody>
+</mujoco>"""
+    model = mujoco.MjModel.from_xml_string(xml)
+    # HAND_TRACK_SIM_PARAMS contact stiffening (the task's own contact model).
+    model.geom_solref[:, 0] = 0.008
+    model.geom_solimp[:, 0] = 0.94
+    model.geom_solimp[:, 1] = 0.99
+    return model
+
+
+def body_top_z(model: mujoco.MjModel, data: mujoco.MjData, body: str) -> float:
+    """Conservative world-space top of one body from its collision geom AABBs."""
+    top = -np.inf
+    bid = model.body(body).id
+    for gid in range(model.ngeom):
+        if model.geom_bodyid[gid] != bid or model.geom_contype[gid] == 0:
+            continue
+        center, half = model.geom_aabb[gid][:3], model.geom_aabb[gid][3:]
+        for sx in (-1, 1):
+            for sy in (-1, 1):
+                for sz in (-1, 1):
+                    corner = np.zeros(3)
+                    mujoco.mju_rotVecQuat(corner, center + half * np.array([sx, sy, sz], float), data.xquat[bid])
+                    top = max(top, float((data.xpos[bid] + corner)[2]))
+    return top
+
+
+def run_trial(model, pieces, yaws, seat_dz=None) -> list[dict]:
+    """Assemble bottom -> top, settle, and report each piece's pose.
+
+    ``seat_dz=None`` releases each piece from just above the piece below (the
+    energetic drop). With a per-pair seat estimate it starts each piece 1 mm
+    above its seat instead (the gentle placement).
+    """
+    data = mujoco.MjData(model)
+    for i, piece in enumerate(pieces):  # park everything off-scene first
+        jadr = model.joint(f"{piece}_free").qposadr[0]
+        data.qpos[jadr : jadr + 3] = (2.0 + 0.5 * i, 2.0, 0.0)
+        data.qpos[jadr + 3 : jadr + 7] = (1.0, 0.0, 0.0, 0.0)
+    mujoco.mj_forward(model, data)
+    for i, piece in enumerate(pieces):
+        jadr = model.joint(f"{piece}_free").qposadr[0]
+        if i == 0:
+            drop_z = 0.0
+        elif seat_dz is not None:
+            drop_z = float(data.xpos[model.body(pieces[i - 1]).id][2]) + seat_dz[i] + 0.001
+        else:
+            drop_z = body_top_z(model, data, pieces[i - 1]) + 0.002
+        yaw = float(yaws[i])
+        data.qpos[jadr : jadr + 3] = (0.0, 0.0, drop_z)
+        data.qpos[jadr + 3 : jadr + 7] = (np.cos(yaw / 2), 0.0, 0.0, np.sin(yaw / 2))
+        data.qvel[:] = 0.0
+        mujoco.mj_forward(model, data)
+        for _ in range(600):  # 1.2 s per placement
+            mujoco.mj_step(model, data)
+    for _ in range(int(SETTLE_S / 0.002)):
+        mujoco.mj_step(model, data)
+    pre = {p: data.xpos[model.body(p).id].copy() for p in pieces}
+    for _ in range(5):  # one 100 Hz control tick, for the speed read
+        mujoco.mj_step(model, data)
+    rows = []
+    for i, piece in enumerate(pieces):
+        bid = model.body(piece).id
+        pos = data.xpos[bid].copy()
+        rot = np.zeros(9)
+        mujoco.mju_quat2Mat(rot, data.xquat[bid])
+        row = {
+            "piece": piece,
+            "updot": float(rot.reshape(3, 3)[2, 2]),
+            "speed": float(np.linalg.norm(pos - pre[piece]) / 0.01),
+        }
+        if i:
+            prev_pos = data.xpos[model.body(pieces[i - 1]).id]
+            row["dz"] = float(pos[2] - prev_pos[2])
+            row["dxy"] = float(np.linalg.norm((pos - prev_pos)[:2]))
+        rows.append(row)
+    return rows
+
+
+def pair_seat_sweep(lo: str, up: str, yaws) -> list[float]:
+    """Seat depth of ONE pair across relative yaws, dropped and lowered.
+
+    Seat depth is yaw-dependent on this asset (the moulded cups are not
+    surfaces of revolution: their collision wedges interlock at different
+    depths depending on how the upper cup is turned), so a band calibrated on
+    a handful of assemblies under-samples the real spread an operator will
+    produce. Sweeping the pair in isolation is both cheap and exhaustive.
+    """
+    model = build_scene([lo, up])
+    depths = []
+    for yaw in yaws:
+        for release_h in (0.020, 0.004):  # dropped from clear, and lowered onto the seat
+            data = mujoco.MjData(model)
+            jlo = model.joint(f"{lo}_free").qposadr[0]
+            data.qpos[jlo : jlo + 3] = (0.0, 0.0, 0.0)
+            mujoco.mj_forward(model, data)
+            jup = model.joint(f"{up}_free").qposadr[0]
+            data.qpos[jup : jup + 3] = (0.0, 0.0, body_top_z(model, data, lo) + release_h)
+            data.qpos[jup + 3 : jup + 7] = (np.cos(yaw / 2), 0.0, 0.0, np.sin(yaw / 2))
+            mujoco.mj_forward(model, data)
+            for _ in range(2500):  # 5 s: land + settle
+                mujoco.mj_step(model, data)
+            rot = np.zeros(9)
+            mujoco.mju_quat2Mat(rot, data.xquat[model.body(up).id])
+            if rot.reshape(3, 3)[2, 2] < 0.9:
+                continue  # toppled on release: not a seated sample
+            depths.append(float(data.xpos[model.body(up).id][2] - data.xpos[model.body(lo).id][2]))
+    return depths
+
+
+def main():
+    ap = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    ap.add_argument("--cups", action="store_true", help="cups only — skip the duck (use while it is being fixed)")
+    ap.add_argument("--yaws", type=int, default=8, help="relative yaws sampled per pair (default 8)")
+    args = ap.parse_args()
+    pieces = CUPS if args.cups else PIECES
+    model = build_scene(pieces)
+    rng = np.random.default_rng(7)
+    per_pair: dict[int, list[float]] = {i: [] for i in range(1, len(pieces))}
+    dxy_max = 0.0
+    updot_min, speed_max = 1.0, 0.0
+    failures: list[str] = []
+
+    print("== per-pair seat sweep (isolated pairs, every relative yaw) ==")
+    yaws = np.linspace(0.0, 2.0 * np.pi, args.yaws, endpoint=False)
+    for i in range(1, len(pieces)):
+        depths = pair_seat_sweep(pieces[i - 1], pieces[i], yaws)
+        if not depths:
+            failures.append(f"pair {pieces[i]} on {pieces[i - 1]}: no seated sample at any yaw")
+            print(f"  {pieces[i]} on {pieces[i - 1]}: NO SEATED SAMPLE")
+            continue
+        per_pair[i].extend(depths)
+        print(
+            f"  {pieces[i]} on {pieces[i - 1]}: n={len(depths)} "
+            f"[{min(depths):.4f}, {max(depths):.4f}] spread {1000 * (max(depths) - min(depths)):.1f} mm"
+        )
+
+    def batch(label: str, count: int, seat_dz):
+        nonlocal dxy_max, updot_min, speed_max
+        for trial in range(count):
+            rows = run_trial(model, pieces, rng.uniform(-np.pi, np.pi, len(pieces)), seat_dz)
+            bad = [r["piece"] for r in rows if r["updot"] <= 0.9 or r["speed"] >= 0.02]
+            print(
+                f"{label} trial {trial}: {'STANDS' if not bad else 'FELL/UNSETTLED ' + ','.join(bad)}\n  "
+                + " ".join(f"{r['piece']}:dz={r.get('dz', 0):.4f},up={r['updot']:.2f},v={r['speed']:.4f}" for r in rows)
+            )
+            if bad:
+                failures.append(f"{label} trial {trial}: {','.join(bad)}")
+                continue
+            for i in range(1, len(pieces)):
+                per_pair[i].append(rows[i]["dz"])
+                dxy_max = max(dxy_max, rows[i]["dxy"])
+            updot_min = min(updot_min, min(r["updot"] for r in rows))
+            speed_max = max(speed_max, max(r["speed"] for r in rows))
+
+    print("\n== full-tower assembly (stability; every piece released onto the stack) ==")
+    batch("drop", TRIALS_DROP, None)
+
+    print("\n== wrong-order seats (must fall OUTSIDE the bands above) ==")
+    perch, swallow = [], []
+    for i in range(2, len(pieces)):  # skip-a-size: piece i placed directly on piece i-2
+        lo, up = pieces[i - 2], pieces[i]
+        m2 = build_scene([lo, up])
+        d2 = mujoco.MjData(m2)
+        d2.qpos[m2.joint(f"{lo}_free").qposadr[0] : m2.joint(f"{lo}_free").qposadr[0] + 3] = (0, 0, 0.0)
+        jadr = m2.joint(f"{up}_free").qposadr[0]
+        d2.qpos[jadr : jadr + 3] = (0, 0, 0.12)  # released clear of any piece's top
+        mujoco.mj_forward(m2, d2)
+        for _ in range(3000):
+            mujoco.mj_step(m2, d2)
+        dz = float(d2.xpos[m2.body(up).id][2] - d2.xpos[m2.body(lo).id][2])
+        perch.append((up, lo, dz))
+        print(f"  skip-a-size {up} on {lo}: dz={dz:.4f}")
+    for i in range(1, len(pieces) - 1):  # oversize swallow: piece i-1 dropped over piece i
+        lo, up = pieces[i], pieces[i - 1]
+        m2 = build_scene([lo, up])
+        d2 = mujoco.MjData(m2)
+        jadr = m2.joint(f"{up}_free").qposadr[0]
+        d2.qpos[jadr : jadr + 3] = (0, 0, 0.12)
+        mujoco.mj_forward(m2, d2)
+        for _ in range(3000):
+            mujoco.mj_step(m2, d2)
+        dz = float(d2.xpos[m2.body(up).id][2] - d2.xpos[m2.body(lo).id][2])
+        swallow.append((up, lo, dz))
+        print(f"  oversize {up} over {lo}: dz={dz:.4f}")
+
+    print()
+    if failures:
+        print("FAIL — these trials did not stand; fix the asset, not the checker:")
+        for f in failures:
+            print(f"  {f}")
+        raise SystemExit(1)
+    print(f"all trials stand.  max pair |dxy| {dxy_max:.4f}   min upright dot {updot_min:.4f}   max speed {speed_max:.5f}")
+    print("paste into hand_track_stacking_tower.py if the values moved:\n_PAIR_DZ_M = (")
+    for i in range(1, len(pieces)):
+        lo, hi = min(per_pair[i]) - 0.005, max(per_pair[i]) + 0.005
+        print(
+            f"    ({lo:.3f}, {hi:.3f}),"
+            f"  # {pieces[i]} on {pieces[i - 1]}: seated [{min(per_pair[i]):.4f}, {max(per_pair[i]):.4f}]"
+        )
+    print(")")
+
+
+if __name__ == "__main__":
+    main()
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