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## Canonical path
```text
assets/<source>/raw/<asset_type>/<category>/<asset_id>/
```
For large upstream trees that rely on many relative references, use the same four-level layout and store the upstream tree inside the collection asset directory:
```text
assets/<source>/raw/<asset_type>/<category>/<asset_id>/
```
In that case, keep the upstream directory layout intact inside the collection directory and index the collection with a root `metadata.yaml`.
Example:
```text
assets/discoverse/raw/collections/models/discoverse_models/
├── metadata.yaml
├── mjcf/
├── meshes/
└── urdf/
```
## Derived assets
Generated or transformed outputs must not overwrite raw assets. Store them under:
```text
assets/<source>/derived/<asset_type>/<category>/<asset_id>/
```
Use this for:
- convex decomposition results
- primitive collision proxies
- collision-only meshes
- format conversions
- normalized or cleaned variants
If a derived asset keeps a direct dependency on a raw asset, reference the raw asset in metadata and preserve provenance links.
Current derived collision asset types:
```text
assets/<source>/derived/convex_decompositions/<category>/<asset_id>/
assets/<source>/derived/primitive_collision_proxies/<category>/<asset_id>/
```
Convex decomposition details are in:
```text
docs/convex_decomposition_spec.md
```
Primitive collision proxy details are in:
```text
docs/primitive_collision_proxy_spec.md
```
## Required per-asset files
- Source asset files, preserving upstream structure where practical.
- `metadata.yaml`.
If a source is reorganized during import, also record the upstream-to-local structure mapping in:
```text
docs/structure_mapping.md
docs/source_notes/<source>.md
```
## Global index
All assets must be indexed in:
```text
manifest/assets.jsonl
```
Use one JSON object per line.
## MJCF assets
For MuJoCo/MJCF assets:
- `model.xml` is the preferred entry file.
- Meshes and textures should remain relative to `model.xml`.
- Common mesh formats: `.obj`, `.stl`, `.dae`.
- Common texture formats: `.png`, `.jpg`, `.jpeg`.
Example:
```text
assets/robocasa/raw/fixtures/dishwashers/Dishwasher031/
├── metadata.yaml
├── model.xml
└── visuals/
├── Body001.obj
└── T_BC001.png
```
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