# Source: https://internrobotics.github.io/InternDataEngine-Docs/config/assets.html

# Assets [​](#assets)

All simulation assets are organized under `workflows/simbox/assets `. This document describes the asset structure, required assets, and organization conventions.

## Asset Structure [​](#asset-structure)

```
workflows/simbox/assets/
├── envmap_lib/              # HDR environment maps for scene lighting
├── background_textures/     # Background textures for domain randomization
├── floor_textures/          # Floor textures for domain randomization
├── table_textures/          # Table surface textures
├── table0/                  # Default table USD model
├── lift2/                   # ARX Lift-2 robot assets
├── G1_120s/                 # Genie-1 robot assets
├── franka/                  # Franka robot assets
├── frankarobotiq/           # Franka with Robotiq 2F-85 gripper assets
├── split_aloha_mid_360/     # Agilex Split ALOHA robot assets
├── basic/                   # Basic task-specific assets
│   ├── arrange_the_tableware/
│   ├── hang_the_cup_on_rack/
│   ├── pour/
│   ├── store_the_eggs/
│   └── ...                  # Other task folders
├── art/                     # Articulated object assets
│   ├── electriccooker/
│   ├── microwave_gr/
│   ├── laptop/
│   └── ...
├── long_horizon/            # Long-horizon task assets
└── pick_and_place/          # Pick-and-place task assets
```
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## Required Assets [​](#required-assets)

To run a simulation task, the following assets are required:

- **Environment Maps **( `envmap_lib/ `): HDR lighting for scene illumination.
- **Background Textures **( `background_textures/ `): Domain randomization backgrounds.
- **Floor Textures **( `floor_textures/ `): Floor appearance variation.
- **Table Model **( `table0/ `): Default table fixture.
- **Robot Assets **(e.g., `lift2/ `): Robot USD and kinematics configs.
- **Task Assets **(e.g., `basic/<task_name>/ `): Objects specific to each task.

## Rigid Object Assets [​](#rigid-object-assets)

This section describes the asset structure for rigid objects, using `workflows/simbox/example_assets/task/sort_the_rubbish `as an example.

### Directory Organization [​](#directory-organization)

Different object categories are placed in separate folders at the same level. Objects of the same category are grouped together in a single folder to facilitate **category-level randomization **.

```
workflows/simbox/example_assets/task/sort_the_rubbish/
├── garbage_can/             # Container category
│   ├── recyclable_can/
│   └── nonrecyclable_can/
├── non_recyclable_garbage/  # Non-recyclable items category
│   ├── obj_1/
│   ├── obj_2/
│   └── ...
└── recyclable_garbage/      # Recyclable items category
    ├── bottle_0/
    ├── bottle_1/
    └── ...
```
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### Object Instance Structure [​](#object-instance-structure)

Each object instance folder contains the USD model, textures, and annotations:

```
workflows/simbox/example_assets/task/sort_the_rubbish/non_recyclable_garbage/obj_2/
├── Aligned_obj.usd              # Object USD with physics properties (mass, collision, etc.)
├── Aligned_grasp_sparse.npy     # Grasp pose annotations (for pickable objects)
└── textures/                    # Texture files
    └── baked_mesh_*.png
```
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**File Naming Conventions: **

- **Aligned_obj.usd **( file ): USD file containing the 3D model with complete physics properties (mass, collision mesh, etc.).
- **Aligned_grasp_sparse.npy **( file ): Grasp pose annotations for manipulation tasks.
- **textures/ **( directory ): Directory containing texture maps for the object.

## Articulated Object Assets [​](#articulated-object-assets)

Articulated objects (e.g., doors, drawers, appliances) follow a similar organization pattern. This section uses `workflows/simbox/assets/art/electriccooker `as an example.

### Directory Organization [​](#directory-organization-1)

Different articulated object categories are placed in separate folders. Objects within the same category share consistent orientation, category classification, and functionality after preprocessing.

```
workflows/simbox/assets/art/electriccooker/
├── electriccooker_0002/
├── electriccooker_0008/
├── electriccooker_0011/
├── electriccooker_0017/
├── electriccooker_0031/
└── ...
```
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### Articulated Object Instance Structure [​](#articulated-object-instance-structure)

Each articulated object instance contains the USD model, materials, and keypoint annotations:

```
workflows/simbox/assets/art/electriccooker/electriccooker_0031/
├── instance.usd             # Articulated object USD
├── instance.png             # Preview image
├── Materials/               # Material definitions
└── Kps/                     # Keypoint annotations
    └── close_h/             # Keypoints for "close horizontally" action
        ├── keypoints.json
        ├── keypoints_final.json
        └── info.json
```
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**File Naming Conventions: **

- **instance.usd **( file ): USD file for articulated objects (unlike rigid objects which use `Aligned_obj.usd `).
- **instance.png **( file ): Preview/thumbnail image.
- **Materials/ **( directory ): Material and texture definitions.
- **Kps/ **( directory ): Keypoint annotations for interaction points.
- **Kps/<action_type>/ **( directory ): Action-specific keypoints (e.g., `close_h `for closing horizontally).

### Keypoint Annotations [​](#keypoint-annotations)

Keypoint annotations define interaction points for articulated objects:

```
Kps/
├── close_h/         # Close horizontally (e.g., laptop, pot, electric cooker)
├── close_v/         # Close vertically (e.g., microwave)
├── open_h/          # Open horizontally
├── open_v/          # Open vertically
├── pull/            # Pull (e.g., drawer)
├── push/            # Push
└── ...
```
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Each action folder contains:

- **keypoints.json **( file ): Initial keypoint positions.
- **keypoints_final.json **( file ): Final/processed keypoint positions.
- **info.json **( file ): Metadata about the keypoints.

## Asset Configuration [​](#asset-configuration)

Assets are referenced in task YAML configurations:
yaml
```
objects:
  - name: bottle_1
    path: task/sort_the_rubbish/recyclable_garbage/bottle_1/Aligned_obj.usd
    target_class: RigidObject
    category: bottle
```
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For more details on object configuration, see [Objects](/InternDataEngine-Docs/concepts/objects.html).

## Best Practices [​](#best-practices)

-

**Category Organization **: Group objects of the same category in a single folder for efficient domain randomization.

-

**Consistent Naming **: Use standardized naming conventions:

- `Aligned_obj.usd `for rigid objects
- `instance.usd `for articulated objects
- `Aligned_grasp_sparse.npy `for grasp annotations

-

**Complete Physics Properties **: Ensure USD files include:

- Accurate mass properties
- Collision meshes
- Appropriate friction coefficients

-

**Preprocessing **: For all objects, ensure consistent frame and alignment across instances in the same category.