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docs/asset_readiness_classification.md

@@ -34,7 +34,7 @@ Readiness must be evaluated against a target task, robot embodiment, simulator,
 | Source | Stored asset group | Current technical level | Notes |
 | --- | --- | --- | --- |
 | RoboCasa | `assets/robocasa/fixtures/dishwashers/` | L1 candidate | Complete MJCF dishwasher fixtures used by RoboCasa/robosuite. Still needs downstream task/policy-specific L0 validation. |
-| DISCOVERSE | `assets/discoverse/models/` | L1/L2 candidate by subasset | Preserved upstream `models/` tree. Some files are complete task environments; individual MJCF/URDF assets should be promoted individually after task-specific validation. |
+| DISCOVERSE | `assets/discoverse/collections/models/discoverse_models/` | L1/L2 candidate by subasset | Preserved upstream `models/` tree. Some files are complete task environments; individual MJCF/URDF assets should be promoted individually after task-specific validation. |
 | TinyForge | link-only placeholder | not classified | No physical asset imported yet. |
 | Hunter | link-only placeholder | not classified | No physical asset imported yet. |
 | Third-party sites | link-only candidates | not classified | Import only exact used assets after license/provenance review. |

docs/naming_spec.md

@@ -6,7 +6,13 @@
 assets/<source>/<asset_type>/<category>/<asset_id>/
 ```
 
-Collection imports may use the upstream root directly when preserving internal relative paths is more important than forcing a normalized subdirectory split.
+Collection imports must still use the same four-level layout:
+
+```text
+assets/<source>/collections/<category>/<asset_id>/
+```
+
+The upstream tree should be preserved inside that directory.
 
 - `source`: lowercase snake_case.
 - `asset_type`: lowercase snake_case plural for collections.

docs/placement_asset_notes.md

@@ -25,7 +25,7 @@ These are useful for placement tasks involving loading dishes or objects into a
 DISCOVERSE is imported as a collection-level asset:
 
 ```text
-assets/discoverse/models/
+assets/discoverse/collections/models/discoverse_models/
 ├── mjcf/
 ├── meshes/
 └── urdf/
@@ -34,21 +34,21 @@ assets/discoverse/models/
 Placement-relevant DISCOVERSE MJCF task/environment files include:
 
 ```text
-assets/discoverse/models/mjcf/task_environments/place_block.xml
-assets/discoverse/models/mjcf/task_environments/place_coffeecup.xml
-assets/discoverse/models/mjcf/task_environments/place_jujube.xml
-assets/discoverse/models/mjcf/task_environments/place_jujube_coffeecup.xml
-assets/discoverse/models/mjcf/task_environments/place_kiwi_fruit.xml
-assets/discoverse/models/mjcf/task_environments/place_spoon.xml
-assets/discoverse/models/mjcf/task_environments/coffeecup_plate.xml
-assets/discoverse/models/mjcf/task_environments/stack_block.xml
+assets/discoverse/collections/models/discoverse_models/mjcf/task_environments/place_block.xml
+assets/discoverse/collections/models/discoverse_models/mjcf/task_environments/place_coffeecup.xml
+assets/discoverse/collections/models/discoverse_models/mjcf/task_environments/place_jujube.xml
+assets/discoverse/collections/models/discoverse_models/mjcf/task_environments/place_jujube_coffeecup.xml
+assets/discoverse/collections/models/discoverse_models/mjcf/task_environments/place_kiwi_fruit.xml
+assets/discoverse/collections/models/discoverse_models/mjcf/task_environments/place_spoon.xml
+assets/discoverse/collections/models/discoverse_models/mjcf/task_environments/coffeecup_plate.xml
+assets/discoverse/collections/models/discoverse_models/mjcf/task_environments/stack_block.xml
 ```
 
 Placement-relevant DISCOVERSE object assets include bowls, plates, cups, fruit, boxes, baskets, pans, spoons, towels, trashbins, and cabinets under:
 
 ```text
-assets/discoverse/models/mjcf/object/
-assets/discoverse/models/meshes/object/
+assets/discoverse/collections/models/discoverse_models/mjcf/object/
+assets/discoverse/collections/models/discoverse_models/meshes/object/
 ```
 
 ## Candidate external sources
@@ -62,7 +62,7 @@ The following sources are recorded as link-only candidates. Do not copy assets f
 | Objaverse / Objaverse-XL | https://objaverse.allenai.org | Large-scale everyday objects for object placement and scene variety | Import exact used asset IDs with original UID, license, source URL, and conversion pipeline. |
 | Google Scanned Objects | https://app.ignitionrobotics.org/GoogleResearch/fuel/collections/Google%20Scanned%20Objects | Scanned household objects suitable for manipulation and placement | Import exact used model with provider URL and license metadata. |
 | RoboCasa | https://robocasa.ai | Kitchen fixtures, objects, scenes, textures, and placement-style tasks | Import normalized assets under `assets/robocasa/...`. |
-| DISCOVERSE | https://github.com/discoverse-dev/DISCOVERSE | MJCF task environments, manipulation objects, robots, and scenes | Already imported as `assets/discoverse/models/`. |
+| DISCOVERSE | https://github.com/discoverse-dev/DISCOVERSE | MJCF task environments, manipulation objects, robots, and scenes | Already imported as `assets/discoverse/collections/models/discoverse_models/`. |
 
 ## Third-party intake checklist
 

docs/source_notes/discoverse.md

@@ -9,7 +9,7 @@ Imported from local clone:
 - Imported asset root: `models/`
 
 ```text
-assets/discoverse/models/
+assets/discoverse/collections/models/discoverse_models/
 ├── mjcf/
 ├── meshes/
 └── urdf/

docs/storage_spec.md

@@ -6,13 +6,23 @@
 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:
+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>/<upstream_root>/
+assets/<source>/collections/<category>/<asset_id>/
 ```
 
-In that case, keep the upstream directory layout intact and index the collection with a root `metadata.yaml`.
+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/collections/models/discoverse_models/
+├── metadata.yaml
+├── mjcf/
+├── meshes/
+└── urdf/
+```
 
 ## Required per-asset files