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docs/convex_decomposition_spec.md

@@ -87,6 +87,20 @@ meshes/*.stl
 
 The script writes generated pieces to `meshes/<mesh_name>/part_000.obj`, records hashes and parameters in `logs/decomposition.json`, and creates MJCF include files under `mjcf/`.
 
+For each generated convex part, the script also records size and complexity statistics in both `logs/decomposition.json` and `logs/parts_summary.csv`:
+
+```text
+bbox_extents        # x/y/z axis-aligned bounding-box dimensions
+bbox_center         # axis-aligned bounding-box center
+bbox_volume
+mesh_volume
+surface_area
+num_vertices
+num_faces
+```
+
+Use `logs/parts_summary.csv` to find parts that are too small, too large, or unexpectedly complex before using them as collision geometry.
+
 ### `metadata.yaml`
 
 Minimum fields: