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docs/asset_readiness_classification.md

@@ -33,8 +33,8 @@ 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/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. |
+| RoboCasa | `assets/robocasa/raw/fixtures/dishwashers/` | L1 candidate | Complete MJCF dishwasher fixtures used by RoboCasa/robosuite. Still needs downstream task/policy-specific L0 validation. |
+| DISCOVERSE | `assets/discoverse/raw/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/convex_decomposition_spec.md

@@ -0,0 +1,135 @@
+# Convex Decomposition Storage Specification
+
+Convex decomposition outputs are derived assets. They must not overwrite raw meshes or upstream XML files.
+
+## Path layout
+
+Store convex decomposition results under:
+
+```text
+assets/<source>/derived/convex_decompositions/<category>/<asset_id>/
+```
+
+Example for a RoboCasa dishwasher:
+
+```text
+assets/robocasa/derived/convex_decompositions/dishwashers/Dishwasher031_vhacd_v1/
+├── metadata.yaml
+├── source_refs.yaml
+├── meshes/
+│   ├── door/
+│   │   ├── part_000.obj
+│   │   ├── part_001.obj
+│   │   └── ...
+│   ├── rack0/
+│   └── rack1/
+├── mjcf/
+│   └── convex_collision_include.xml
+└── logs/
+    └── decomposition.json
+```
+
+Example for a DISCOVERSE object:
+
+```text
+assets/discoverse/derived/convex_decompositions/objects/cup_vhacd_v1/
+├── metadata.yaml
+├── source_refs.yaml
+├── meshes/
+│   └── cup/
+│       ├── part_000.obj
+│       └── part_001.obj
+├── mjcf/
+│   └── convex_collision_include.xml
+└── logs/
+    └── decomposition.json
+```
+
+## Required files
+
+### `metadata.yaml`
+
+Minimum fields:
+
+```yaml
+asset_id: robocasa.convex_decompositions.dishwashers.Dishwasher031_vhacd_v1
+source: robocasa
+asset_type: convex_decompositions
+category: dishwashers
+source_asset_id: Dishwasher031
+format: obj_mjcf_include
+entry_file: mjcf/convex_collision_include.xml
+license: CC-BY-4.0
+origin_url: https://robocasa.ai
+path: assets/robocasa/derived/convex_decompositions/dishwashers/Dishwasher031_vhacd_v1
+storage_mode: derived
+derived_from:
+  - assets/robocasa/raw/fixtures/dishwashers/Dishwasher031
+derivation_method: convex_decomposition
+decomposition_tool: vhacd
+decomposition_version: TBD
+decomposition_params_file: logs/decomposition.json
+validation_status: pending
+tags:
+  - robocasa
+  - convex_decomposition
+  - collision
+  - mujoco
+```
+
+### `source_refs.yaml`
+
+Record exact source files:
+
+```yaml
+raw_asset: assets/robocasa/raw/fixtures/dishwashers/Dishwasher031
+raw_entry_file: assets/robocasa/raw/fixtures/dishwashers/Dishwasher031/model.xml
+raw_meshes:
+  - assets/robocasa/raw/fixtures/dishwashers/Dishwasher031/visuals/door.obj
+  - assets/robocasa/raw/fixtures/dishwashers/Dishwasher031/visuals/rack0.obj
+```
+
+### `logs/decomposition.json`
+
+Record tool parameters and hashes:
+
+```json
+{
+  "tool": "vhacd",
+  "tool_version": "TBD",
+  "created_at": "YYYY-MM-DD",
+  "params": {},
+  "inputs": [
+    {
+      "path": "assets/robocasa/raw/fixtures/dishwashers/Dishwasher031/visuals/door.obj",
+      "sha256": "TBD"
+    }
+  ],
+  "outputs": [
+    {
+      "path": "meshes/door/part_000.obj",
+      "sha256": "TBD"
+    }
+  ]
+}
+```
+
+## MJCF integration rule
+
+Do not edit raw `model.xml` in place. If MuJoCo collision integration is needed, write a generated include file under:
+
+```text
+mjcf/convex_collision_include.xml
+```
+
+Downstream projects can include or compile this file when they want convex collision geometry.
+
+## Manifest rule
+
+Convex decomposition results are real derived assets and must be indexed in:
+
+```text
+manifest/assets.jsonl
+```
+
+Link-only plans or empty placeholders should not be listed in the manifest.

docs/naming_spec.md

@@ -3,13 +3,13 @@
 ## Directory fields
 
 ```text
-assets/<source>/<asset_type>/<category>/<asset_id>/
+assets/<source>/raw/<asset_type>/<category>/<asset_id>/
 ```
 
-Collection imports must still use the same four-level layout:
+Collection imports must still use the same four-level layout under `raw/`:
 
 ```text
-assets/<source>/collections/<category>/<asset_id>/
+assets/<source>/raw/<asset_type>/<category>/<asset_id>/
 ```
 
 The upstream tree should be preserved inside that directory.
@@ -19,6 +19,14 @@ The upstream tree should be preserved inside that directory.
 - `category`: lowercase snake_case.
 - `asset_id`: preserve upstream IDs when stable.
 
+Derived outputs use the same semantic fields, but live under:
+
+```text
+assets/<source>/derived/<asset_type>/<category>/<asset_id>/
+```
+
+Use a distinct `asset_id` suffix or additional `variant` field when storing generated variants such as convex decomposition.
+
 ## Global asset_id
 
 Use:

docs/placement_asset_notes.md

@@ -20,8 +20,8 @@ docs/structure_mapping.md
 RoboCasa currently contributes dishwasher fixtures:
 
 ```text
-assets/robocasa/fixtures/dishwashers/
-assets/robocasa/fixtures/fixture_registry/dishwasher.yaml
+assets/robocasa/raw/fixtures/dishwashers/
+assets/robocasa/raw/fixtures/fixture_registry/dishwasher.yaml
 ```
 
 These are useful for placement tasks involving loading dishes or objects into a dishwasher.
@@ -31,7 +31,7 @@ These are useful for placement tasks involving loading dishes or objects into a
 DISCOVERSE is imported as a collection-level asset:
 
 ```text
-assets/discoverse/collections/models/discoverse_models/
+assets/discoverse/raw/collections/models/discoverse_models/
 ├── mjcf/
 ├── meshes/
 └── urdf/
@@ -40,21 +40,21 @@ assets/discoverse/collections/models/discoverse_models/
 Placement-relevant DISCOVERSE MJCF task/environment files include:
 
 ```text
-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
+assets/discoverse/raw/collections/models/discoverse_models/mjcf/task_environments/place_block.xml
+assets/discoverse/raw/collections/models/discoverse_models/mjcf/task_environments/place_coffeecup.xml
+assets/discoverse/raw/collections/models/discoverse_models/mjcf/task_environments/place_jujube.xml
+assets/discoverse/raw/collections/models/discoverse_models/mjcf/task_environments/place_jujube_coffeecup.xml
+assets/discoverse/raw/collections/models/discoverse_models/mjcf/task_environments/place_kiwi_fruit.xml
+assets/discoverse/raw/collections/models/discoverse_models/mjcf/task_environments/place_spoon.xml
+assets/discoverse/raw/collections/models/discoverse_models/mjcf/task_environments/coffeecup_plate.xml
+assets/discoverse/raw/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/collections/models/discoverse_models/mjcf/object/
-assets/discoverse/collections/models/discoverse_models/meshes/object/
+assets/discoverse/raw/collections/models/discoverse_models/mjcf/object/
+assets/discoverse/raw/collections/models/discoverse_models/meshes/object/
 ```
 
 ## Candidate external sources
@@ -68,7 +68,7 @@ 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/collections/models/discoverse_models/`. |
+| DISCOVERSE | https://github.com/discoverse-dev/DISCOVERSE | MJCF task environments, manipulation objects, robots, and scenes | Already imported as `assets/discoverse/raw/collections/models/discoverse_models/`. |
 
 ## Third-party intake checklist
 

docs/source_notes/discoverse.md

@@ -10,7 +10,7 @@ Imported from local clone:
 
 ```text
 upstream: DISCOVERSE/models/
-current : assets/discoverse/collections/models/discoverse_models/
+current : assets/discoverse/raw/collections/models/discoverse_models/
 ├── mjcf/
 ├── meshes/
 └── urdf/
@@ -22,10 +22,10 @@ This source is stored as a collection-level asset rather than splitting every XM
 
 | Upstream | Current | Notes |
 | --- | --- | --- |
-| `models/mjcf/` | `assets/discoverse/collections/models/discoverse_models/mjcf/` | Preserved unchanged. MJCF include/file paths remain relative. |
-| `models/meshes/` | `assets/discoverse/collections/models/discoverse_models/meshes/` | Preserved unchanged. Mesh references stay valid. |
-| `models/urdf/` | `assets/discoverse/collections/models/discoverse_models/urdf/` | Preserved unchanged. |
-| `models/metadata.yaml` | `assets/discoverse/collections/models/discoverse_models/metadata.yaml` | Added locally for indexing. |
+| `models/mjcf/` | `assets/discoverse/raw/collections/models/discoverse_models/mjcf/` | Preserved unchanged. MJCF include/file paths remain relative. |
+| `models/meshes/` | `assets/discoverse/raw/collections/models/discoverse_models/meshes/` | Preserved unchanged. Mesh references stay valid. |
+| `models/urdf/` | `assets/discoverse/raw/collections/models/discoverse_models/urdf/` | Preserved unchanged. |
+| `models/metadata.yaml` | `assets/discoverse/raw/collections/models/discoverse_models/metadata.yaml` | Added locally for indexing. |
 
 Reference preservation: yes. The directory tree was wrapped in one collection asset, but no inner filenames were renamed.
 

docs/source_notes/robocasa.md

@@ -30,21 +30,21 @@ robocasa/models/assets/
 This library currently includes RoboCasa dishwasher fixtures under:
 
 ```text
-assets/robocasa/fixtures/dishwashers/
+assets/robocasa/raw/fixtures/dishwashers/
 ```
 
 Included dishwasher-related files:
 
 - 25 dishwasher fixture model directories: `Dishwasher031`, `Dishwasher032`, `Dishwasher034`, `Dishwasher036`, `Dishwasher038`, `Dishwasher039`, `Dishwasher040`, `Dishwasher042`, `Dishwasher043`, `Dishwasher044`, `Dishwasher045`, `Dishwasher046`, `Dishwasher048`, `Dishwasher049`, `Dishwasher051`, `Dishwasher053`, `Dishwasher054`, `Dishwasher055`, `Dishwasher058`, `Dishwasher059`, `Dishwasher060`, `Dishwasher061`, `Dishwasher062`, `Dishwasher063`, `Dishwasher067`
-- Fixture registry: `assets/robocasa/fixtures/fixture_registry/dishwasher.yaml`
+- Fixture registry: `assets/robocasa/raw/fixtures/fixture_registry/dishwasher.yaml`
 - Fixture implementation reference: `docs/source_notes/robocasa/dishwasher_fixture.py`
 
 ## Structure mapping
 
 | Upstream | Current | Notes |
 | --- | --- | --- |
-| `robocasa/models/assets/fixtures/dishwashers/Dishwasher031/` | `assets/robocasa/fixtures/dishwashers/Dishwasher031/` | One-to-one directory mapping for each dishwasher model. `model.xml` and `visuals/` kept intact. |
-| `robocasa/models/assets/fixtures/fixture_registry/dishwasher.yaml` | `assets/robocasa/fixtures/fixture_registry/dishwasher.yaml` | Registry copied without renaming. |
+| `robocasa/models/assets/fixtures/dishwashers/Dishwasher031/` | `assets/robocasa/raw/fixtures/dishwashers/Dishwasher031/` | One-to-one directory mapping for each dishwasher model. `model.xml` and `visuals/` kept intact. |
+| `robocasa/models/assets/fixtures/fixture_registry/dishwasher.yaml` | `assets/robocasa/raw/fixtures/fixture_registry/dishwasher.yaml` | Registry copied without renaming. |
 | `robocasa/models/fixtures/dishwasher.py` | `docs/source_notes/robocasa/dishwasher_fixture.py` | Reference copy for implementation and naming conventions. |
 
 Reference preservation: yes. The assets were normalized into the unified library layout, but per-asset filenames and relative mesh references were preserved.

docs/source_notes/third_party.md

@@ -25,5 +25,5 @@ Required metadata:
 Use:
 
 ```text
-assets/third_party/<asset_type>/<category>/<asset_id>/
+assets/third_party/raw/<asset_type>/<category>/<asset_id>/
 ```

docs/storage_spec.md

@@ -3,13 +3,13 @@
 ## Canonical path
 
 ```text
-assets/<source>/<asset_type>/<category>/<asset_id>/
+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>/collections/<category>/<asset_id>/
+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`.
@@ -17,13 +17,30 @@ In that case, keep the upstream directory layout intact inside the collection di
 Example:
 
 ```text
-assets/discoverse/collections/models/discoverse_models/
+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
+- 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.
+
 ## Required per-asset files
 
 - Source asset files, preserving upstream structure where practical.
@@ -58,7 +75,7 @@ For MuJoCo/MJCF assets:
 Example:
 
 ```text
-assets/robocasa/fixtures/dishwashers/Dishwasher031/
+assets/robocasa/raw/fixtures/dishwashers/Dishwasher031/
 ├── metadata.yaml
 ├── model.xml
 └── visuals/

docs/structure_mapping.md

@@ -33,3 +33,15 @@ If you change a source’s on-disk structure, update:
 - `docs/source_notes/<source>.md`
 - the source’s `metadata.yaml`
 - any manifest row that stores `path`
+
+## Current storage layers
+
+```text
+assets/<source>/raw/...
+assets/<source>/derived/...
+```
+
+- `raw/`: source-preserved imported files. Do not overwrite these during processing.
+- `derived/`: generated or transformed outputs such as convex decomposition results, collision meshes, cleaned meshes, and format conversions.
+
+Derived outputs must point back to their raw inputs through `metadata.yaml` and `source_refs.yaml`.