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README_zh.md

@@ -118,6 +118,7 @@ discoverse.collections.models.discoverse_models
 │   ├── licenses.yaml                 # license 字典
 │   └── sources.yaml                  # 来源与候选第三方来源
 └── scripts/
+    ├── run_convex_decomposition.py
     ├── scaffold_convex_decomposition.py
     ├── download_from_hf.sh
     ├── upload_to_hf.sh
@@ -234,6 +235,8 @@ assets/robocasa/derived/convex_decompositions/dishwashers/Dishwasher031_vhacd_v1
 │   │   └── part_001.obj
 │   └── rack0/
 ├── mjcf/
+│   ├── convex_assets_include.xml
+│   ├── convex_geoms_include.xml
 │   └── convex_collision_include.xml
 └── logs/
     └── decomposition.json
@@ -244,9 +247,36 @@ assets/robocasa/derived/convex_decompositions/dishwashers/Dishwasher031_vhacd_v1
 - `metadata.yaml`：记录派生资产 ID、license、来源、算法、参数文件、验证状态
 - `source_refs.yaml`：记录对应的原始 asset、原始 XML、原始 mesh 路径
 - `meshes/`：保存凸分解后的 convex pieces
-- `mjcf/convex_collision_include.xml`：可选，保存 MuJoCo collision include，不直接改原始 `model.xml`
+- `mjcf/convex_assets_include.xml`：在 MJCF 顶层 include，用来注册 convex part mesh
+- `mjcf/convex_geoms_include.xml`：在目标 body 内 include，用来添加 collision geoms
+- `mjcf/convex_collision_include.xml`：带 wrapper body 的独立预览/便利 include
 - `logs/decomposition.json`：记录 VHACD / CoACD 等工具版本、参数、输入输出 hash
 
+实际运行 CoACD 凸分解：
+
+```bash
+pip install trimesh coacd
+
+python scripts/run_convex_decomposition.py \
+  assets/robocasa/raw/fixtures/dishwashers/Dishwasher031 \
+  --mesh visuals/door.obj \
+  --mesh visuals/rack0.obj \
+  --variant coacd_v1 \
+  --register-manifest
+```
+
+MuJoCo 接入方式：
+
+```xml
+<!-- MJCF 顶层 -->
+<include file="path/to/mjcf/convex_assets_include.xml"/>
+
+<!-- 目标 body 内部 -->
+<include file="path/to/mjcf/convex_geoms_include.xml"/>
+```
+
+不要直接修改 `raw/` 里的 `model.xml`。如果要替换原始 collision，应该在下游任务工程里选择性 include 派生 collision 文件。
+
 完整规范见：
 
 ```text