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docs/primitive_collision_proxy_spec.md

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+# Primitive Collision Proxy Storage Specification
+
+Primitive collision proxies are derived assets. They are intended for thin rods, racks, grids, shelves, and slot-like structures where coarse convex decomposition can close functional gaps and very fine convex decomposition can create too many mesh collisions.
+
+Do not overwrite raw meshes or upstream XML files.
+
+## Path layout
+
+Store primitive proxy results under:
+
+```text
+assets/<source>/derived/primitive_collision_proxies/<category>/<asset_id>/
+```
+
+Example for a RoboCasa dishwasher rack:
+
+```text
+assets/robocasa/derived/primitive_collision_proxies/dishwashers/Dishwasher031_rack1_primitive_boxes_v1/
+├── metadata.yaml
+├── source_refs.yaml
+├── README.md
+├── REPORT.md
+├── proxy/
+│   └── primitive_collision_proxy.json
+├── mjcf/
+│   ├── primitive_geoms_include.xml
+│   └── primitive_collision_include.xml
+├── curobo/
+│   └── primitive_world.yml
+└── logs/
+    ├── cuboids_summary.csv
+    └── proxy_generation.json
+```
+
+## When to use this instead of convex decomposition
+
+Use primitive proxies when the collision model must preserve gaps or slots:
+
+- dishwasher racks
+- wire baskets
+- grilles
+- thin support rods
+- slot separators
+
+For block-like meshes such as doors, panels, shells, and drawer fronts, prefer CoACD convex decomposition:
+
+```text
+docs/convex_decomposition_spec.md
+```
+
+## Source of truth
+
+The canonical generated representation is:
+
+```text
+proxy/primitive_collision_proxy.json
+```
+
+MuJoCo and cuRobo exports are generated from the same proxy JSON:
+
+```text
+mjcf/primitive_geoms_include.xml
+curobo/primitive_world.yml
+```
+
+This is important because simulation and planning should use the same collision approximation whenever possible.
+
+## Run primitive proxy generation
+
+Basic command:
+
+```bash
+python scripts/run_primitive_collision_proxy.py \
+  assets/robocasa/raw/fixtures/dishwashers/Dishwasher031 \
+  --mesh visuals/rack1.obj \
+  --variant rack1_primitive_boxes_v1
+```
+
+Register a production-ready derived output in the manifest:
+
+```bash
+python scripts/run_primitive_collision_proxy.py \
+  assets/robocasa/raw/fixtures/dishwashers/Dishwasher031 \
+  --mesh visuals/rack1.obj \
+  --variant rack1_primitive_boxes_v1 \
+  --register-manifest
+```
+
+Do not use `--register-manifest` for temporary inspection runs.
+
+## Full script usage
+
+Print current CLI help:
+
+```bash
+python scripts/run_primitive_collision_proxy.py --help
+```
+
+General form:
+
+```bash
+python scripts/run_primitive_collision_proxy.py <raw_asset_dir> \
+  --mesh <mesh_path_relative_to_raw_asset_dir> \
+  --variant <variant_name> \
+  [proxy options] \
+  [MJCF options] \
+  [repository options]
+```
+
+### Required argument
+
+| Argument | Meaning |
+| --- | --- |
+| `raw_asset_dir` | Raw asset directory under `assets/<source>/raw/<asset_type>/<category>/<asset_id>/`. |
+
+### Input selection
+
+| Option | Default | Meaning |
+| --- | --- | --- |
+| `--mesh <path>` | none | OBJ mesh to convert to primitive boxes. Path can be relative to `raw_asset_dir` or absolute. Repeat this option for multiple meshes. |
+| `--mesh-glob <glob>` | `visuals/rack1.obj` | Glob used when `--mesh` is omitted. Repeatable. |
+
+The script currently parses OBJ geometry directly. Use OBJ input for this tool.
+
+### Repository/output options
+
+| Option | Default | Meaning |
+| --- | --- | --- |
+| `--variant <name>` | `primitive_boxes_v1` | Output suffix. The derived asset directory becomes `<source_asset_id>_<variant>`. |
+| `--output-dir <path>` | canonical derived path | Optional explicit output directory for inspection. |
+| `--overwrite` | false | Allow writing into an existing output directory. Use cautiously. |
+| `--register-manifest` | false | Append the generated derived asset to `manifest/assets.jsonl`. Use only for outputs intended to be kept. |
+
+### Proxy generation options
+
+| Option | Default | Meaning |
+| --- | --- | --- |
+| `--name-prefix <prefix>` | `proxy` | Prefix for generated cuboid and MuJoCo geom names. |
+| `--segment-length <float>` | `0.03` | Maximum segment length before splitting a connected component along its longest axis. Smaller values produce more/shorter boxes. |
+| `--padding <float>` | `0.001` | Extra half-extent added to each generated cuboid. Larger values make collision more conservative. |
+| `--min-half-extent <float>` | `0.0015` | Minimum half-extent per cuboid axis. Prevents zero-thickness boxes. |
+| `--min-component-vertices <int>` | `4` | Discard connected components with fewer vertices. |
+| `--min-segment-vertices <int>` | `2` | Discard split segments with fewer vertices. |
+| `--allowed-contact-target X Y Z` | none | OBJ-local point used to mark nearby cuboids as allowed-contact. |
+| `--allowed-contact-radius <float>` | `0.03` | Radius around allowed-contact target. Cuboids whose centers are inside this radius are marked as `allowed_contact`. |
+
+The generated proxy categories are:
+
+```text
+forbidden          # exported to MuJoCo and cuRobo
+allowed_contact    # exported to MuJoCo for review, omitted from cuRobo forbidden world
+```
+
+Use allowed-contact marking for task-specific regions where contact is expected or permitted. Do not treat it as a full physical validation.
+
+### MJCF options
+
+| Option | Default | Meaning |
+| --- | --- | --- |
+| `--class-name <name>` | `primitive_collision` | `class` attribute for generated `<geom>` entries. Empty string disables it. |
+| `--rgba-forbidden "r g b a"` | `0.8 0.1 0.1 0.45` | RGBA for forbidden cuboids. |
+| `--rgba-allowed "r g b a"` | `0.1 0.6 1 0.45` | RGBA for allowed-contact cuboids. |
+| `--group <int>` | `0` | MuJoCo geom group. Empty string disables it. |
+| `--contype <int>` | empty | MuJoCo contact type. Empty means use MuJoCo default. |
+| `--conaffinity <int>` | empty | MuJoCo contact affinity. Empty means use MuJoCo default. |
+
+Generated MJCF files:
+
+```text
+mjcf/primitive_geoms_include.xml       # include inside the target body
+mjcf/primitive_collision_include.xml   # standalone wrapper for preview/convenience
+```
+
+Recommended integration:
+
+```xml
+<!-- inside the object body that should receive primitive collision geoms -->
+<include file="path/to/mjcf/primitive_geoms_include.xml"/>
+```
+
+## Output files
+
+### `proxy/primitive_collision_proxy.json`
+
+Contains:
+
+- format marker
+- generation params
+- source mesh stats
+- cuboid list
+- each cuboid's name, source mesh, category, position, half-size, full dimensions, component index, and segment index
+
+### `logs/cuboids_summary.csv`
+
+Tabular summary for inspection:
+
+```text
+name
+source_mesh
+category
+component
+segment
+pos_x / pos_y / pos_z
+size_x / size_y / size_z       # MuJoCo half-size
+dim_x / dim_y / dim_z          # full dimensions
+```
+
+Use this file to identify boxes that are too long, too thick, or unexpectedly spanning a slot.
+
+### `curobo/primitive_world.yml`
+
+cuRobo cuboid fragment generated from `forbidden` cuboids only. `allowed_contact` cuboids are intentionally omitted.
+
+### `REPORT.md`
+
+Human-readable generation report with mesh stats, cuboid counts, largest cuboids, and a review checklist.
+
+## Practical presets
+
+Dishwasher rack first pass:
+
+```bash
+python scripts/run_primitive_collision_proxy.py \
+  assets/robocasa/raw/fixtures/dishwashers/Dishwasher031 \
+  --mesh visuals/rack1.obj \
+  --variant rack1_primitive_boxes_v1 \
+  --segment-length 0.03 \
+  --padding 0.001 \
+  --min-half-extent 0.0015
+```
+
+Finer boxes:
+
+```bash
+python scripts/run_primitive_collision_proxy.py <raw_asset_dir> \
+  --mesh visuals/rack1.obj \
+  --variant rack1_primitive_boxes_fine_v1 \
+  --segment-length 0.015 \
+  --padding 0.0005 \
+  --min-half-extent 0.001
+```
+
+Coarser boxes:
+
+```bash
+python scripts/run_primitive_collision_proxy.py <raw_asset_dir> \
+  --mesh visuals/rack1.obj \
+  --variant rack1_primitive_boxes_coarse_v1 \
+  --segment-length 0.06 \
+  --padding 0.0015 \
+  --min-half-extent 0.002
+```
+
+## Review checklist
+
+Before registering primitive proxies in `manifest/assets.jsonl`:
+
+- Open or render `mjcf/primitive_geoms_include.xml` with the visual mesh.
+- Confirm boxes do not bridge functional rack slots.
+- Confirm boxes are not much thicker than the intended rod/wire collision margin.
+- Confirm the chosen `segment-length` is not creating too many boxes for MuJoCo or cuRobo.
+- Confirm allowed-contact cuboids, if used, are task-specific and documented.
+- Run:
+
+```bash
+python scripts/validate_asset.py assets/<source>/derived/primitive_collision_proxies/<category>/<asset_id>
+python scripts/validate_asset.py --all
+```
+
+## Manifest rule
+
+Primitive proxy results are real derived assets and must be indexed in:
+
+```text
+manifest/assets.jsonl
+```
+
+Only register reviewed outputs that should be reused. Temporary trials should not be listed in the manifest.