assets/local_juice_shot: 59 mL sim2real juice-shot bottle, fine-pitch screw cap
The sixth dexterous task's asset (hand_track.open_juice_shot): a photo-referenced sim2real twin of a real retail bottle (Trader Joe's Organic Mighty Turmeric juice shot, NET 2 fl oz / 59 mL).
Real-world reference dimensions (from photos + standard PET shot-bottle specs):
- total height ~85 mm, body OD ~38 mm
- cap OD ~29 mm, height ~15.5 mm, white with fine vertical ribs
- neck support flange OD ~33 mm; tamper-evident band stays on the neck
- thread: single-start FINE, 3.0 mm/turn (28 mm PCO-1881 reference: 2.7 mm/turn), ~1.7 turns to disengage (5 mm)
- filled mass ~75 g (model: 77.6 g)
Mechanism: same screw pattern as local_bottle_cap v2 (cap_slide + cap_twist joint equality; slide listed first for the teleop overlay contract; explicit cap<->bottle contact exclude). Fine-pitch specifics, measured in raw MuJoCo: a 20 N straight pull moves the cap <0.5 mm (back-drive threshold ~ friction/pitch ~ 42 N); 0.05 N-m of twist opens past the 5 mm gate in 1.8 s tracking the pitch to 0.3%; the equality's elastic leak under load is closed with an extreme equality solimp (documented in the XML), and the slide carries the fine screw's translational reflected inertia as armature. Deterministic mesh generator ships next to the XML.
Code + tests: somastacks/WUJI_SimBench#89 (roboverse_pack/tasks/hand_track/tests/test_juice_shot_asset.py, 6/6).
Ready for review — independent of #22 (different asset dir); both screw-cap assets share the same mechanism pattern.