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SomaStacks Inc 9

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.