docs/storage_spec.md

Asset Storage Specification

Canonical path

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:

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:

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:

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:

assets/<source>/derived/convex_decompositions/<category>/<asset_id>/
assets/<source>/derived/primitive_collision_proxies/<category>/<asset_id>/

Convex decomposition details are in:

docs/convex_decomposition_spec.md

Primitive collision proxy details are in:

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:

docs/structure_mapping.md
docs/source_notes/<source>.md

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