docs/storage_spec.md

Asset Storage Specification

Canonical path

assets/<source>/<asset_type>/<category>/<asset_id>/

For large upstream trees that rely on many relative references, a collection-level import may be stored at:

assets/<source>/<upstream_root>/

In that case, keep the upstream directory layout intact and index the collection with a root metadata.yaml.

Required per-asset files

• Source asset files, preserving upstream structure where practical.
• metadata.yaml.

Global index

All assets must be indexed in:

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:

assets/robocasa/fixtures/dishwashers/Dishwasher031/
├── metadata.yaml
├── model.xml
└── visuals/
    ├── Body001.obj
    └── T_BC001.png