---
pretty_name: Curiosity reproduction assets
license: other
tags:
  - robotics
  - tactile-sensing
  - isaaclab
  - newton
  - sugar
---

# Curiosity reproduction assets

This private dataset mirrors the non-Git inputs and selected final endpoints
needed to reproduce the `yanhr21/Curiosity` workspace as curated on
2026-08-12. Paths intentionally match the repository root, so the bundle can
be restored in place.

```bash
cd /path/to/Curiosity
hf download Railgun526/curiosity-workspace-large-files-20260708 \
  --repo-type dataset --local-dir .
```

## Active Plan 14 inputs

The current no-training Newton/IsaacLab universal tactile result needs:

- `SUGAR/data/CarryBox/`: all 100 official CarryBox motions. The current
  collector scans the whole directory before fixing motion 45.
- `SUGAR/descriptions/robots/g1/`,
  `SUGAR/descriptions/objects/small_box/`, and
  `SUGAR/descriptions/terrain/`: official G1, CarryBox, and local ground-plane
  assets.
- `SUGAR/demo_ckpts/CarryBox/`: official Tracker and Generator checkpoints;
  these are not read by Plan 14 itself, but are retained for the official
  SUGAR CarryBox reproduction path.
- `experiments/sugar_reproduction/assets/official_tacsl/`: official GelSight
  R15 USD and TAXIM calibration files used by the local IsaacLab v2.3.2 path.
- `experiments/sugar_reproduction/outputs/final/official_sugar/baseline/ckpts/refiner_model10000.pt`:
  frozen serious SUGAR Refiner used by the CarryBox collector.

The Newton cube/pen/slip cases have no learned checkpoint. Their Panda, pad,
and cup files remain an upstream dependency downloaded by Newton from the
revision of `newton-physics/newton-assets` pinned in the Newton source. They
are not duplicated here.

## Broader official SUGAR inputs

The complete official `SUGAR/data`, `SUGAR/descriptions`, and
`SUGAR/demo_ckpts` directories are included. This covers all six released
SUGAR tasks rather than only CarryBox. These files originate from the official
SUGAR release; consult the SUGAR repository and its license before
redistribution.

## Selected local checkpoints

`CHECKPOINT_INDEX.tsv` lists the canonical Refiner, the final endpoints named
by the paused Plan-13 package manifest, and the dependencies/endpoints of the
five historical experiment packages retained by the workspace cleanup record.
Intermediate snapshots, withdrawn diagnostics, and duplicate checkpoint
exports are intentionally excluded.

## Reference evidence

Small JSON records and H.264 videos are included for Plan 14 and the retained
experiment packages. Large generated tactile traces, rollout datasets,
renderer caches, logs, and environment clones are excluded because they are
outputs, not prerequisite assets. Re-running the documented commands
regenerates them.

## Code boundary

- Root code: `https://github.com/yanhr21/Curiosity`, branch `sugar`.
- Newton tactile code: branch `yanhongru/universal-tactile` in the nested
  Newton checkout described by the root reproduction guide.
- IsaacLab: the repository's current tree with the official v2.3.2 TacSL/R15
  path and the documented Isaac Sim 5.1 runtime.

This bundle records file paths and sizes only. It does not introduce a new
hash admission system.