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docs/convex_decomposition_spec.md

@@ -137,6 +137,151 @@ python scripts/run_convex_decomposition.py <raw_asset_dir> \
 
 After generation, inspect `logs/parts_summary.csv` to decide whether the resulting part sizes are acceptable for the target task.
 
+## Full script usage
+
+Print the current CLI help:
+
+```bash
+python scripts/run_convex_decomposition.py --help
+```
+
+General form:
+
+```bash
+python scripts/run_convex_decomposition.py <raw_asset_dir> \
+  --mesh <mesh_path_relative_to_raw_asset_dir> \
+  --variant <variant_name> \
+  [CoACD 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 | Mesh to decompose. Path can be relative to `raw_asset_dir` or absolute. Repeat this option for multiple meshes. |
+| `--mesh-glob <glob>` | `visuals/*.obj`, `visuals/*.stl`, `meshes/*.obj`, `meshes/*.stl` | Glob used when `--mesh` is omitted. Repeatable. |
+
+Example:
+
+```bash
+python scripts/run_convex_decomposition.py \
+  assets/robocasa/raw/fixtures/dishwashers/Dishwasher031 \
+  --mesh visuals/door.obj \
+  --mesh visuals/rack0.obj \
+  --mesh visuals/rack1.obj
+```
+
+### Repository/output options
+
+| Option | Default | Meaning |
+| --- | --- | --- |
+| `--variant <name>` | `coacd_v1` | Output suffix. The derived asset directory becomes `<source_asset_id>_<variant>`. |
+| `--overwrite` | false | Allow writing into an existing derived output directory. Use cautiously. |
+| `--register-manifest` | false | Append the generated derived asset to `manifest/assets.jsonl`. Use only for outputs you intend to keep. |
+
+Output path:
+
+```text
+assets/<source>/derived/convex_decompositions/<category>/<source_asset_id>_<variant>/
+```
+
+### MJCF options
+
+| Option | Default | Meaning |
+| --- | --- | --- |
+| `--class-name <name>` | `convex_collision` | `class` attribute for generated `<geom>` entries. Empty string disables it. |
+| `--rgba "r g b a"` | `0.8 0.2 0.2 0.35` | RGBA for generated collision geoms. |
+| `--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/convex_assets_include.xml      # include at MJCF root/top level
+mjcf/convex_geoms_include.xml       # include inside the target body
+mjcf/convex_collision_include.xml   # standalone wrapper for preview/convenience
+```
+
+### CoACD granularity and quality options
+
+| Option | Default | Effect |
+| --- | --- | --- |
+| `--threshold <float>` | `0.05` | Main concavity threshold. Lower values usually create more/smaller and more accurate parts. Higher values create fewer/coarser parts. |
+| `--max-convex-hull <int>` | `-1` | Maximum hull count. `-1` means CoACD default/unlimited. Lower cap forces fewer/larger parts. |
+| `--no-merge` | false | Disable CoACD hull merge. Usually preserves more/smaller parts. Useful for wire/rack-like geometry, but may create many parts. |
+| `--mcts-max-depth <int>` | `3` | Maximum recursive split depth. Higher values can produce finer decomposition and longer runtime. |
+| `--mcts-nodes <int>` | `20` | Search nodes per MCTS step. Higher values can improve split search and increase runtime. |
+| `--mcts-iterations <int>` | `150` | MCTS iterations. Higher values can improve split quality and increase runtime. |
+| `--resolution <int>` | `2000` | CoACD sampling/resolution parameter. Higher values preserve more detail and cost more time. |
+| `--preprocess-mode {auto,on,off}` | `auto` | Whether CoACD preprocesses the input mesh. |
+| `--preprocess-resolution <int>` | `50` | Resolution for preprocessing. Higher values may preserve more detail and cost more time. |
+| `--max-ch-vertex <int>` | `256` | Maximum vertices per convex hull. Controls hull complexity, not physical part size directly. |
+| `--pca` | false | Enable CoACD PCA mode. Can affect orientation/splitting behavior. |
+| `--decimate` | false | Enable CoACD decimation. May simplify output. |
+| `--extrude` | false | Enable CoACD extrusion. |
+| `--extrude-margin <float>` | `0.01` | Margin used when extrusion is enabled. |
+| `--apx-mode {ch,box}` | `ch` | Approximation mode: convex hull or box approximation. |
+| `--real-metric` | false | Enable CoACD `real_metric` option if supported. |
+| `--seed <int>` | `0` | Random seed for reproducible runs where CoACD supports it. |
+
+### Practical parameter presets
+
+Block-like assets such as doors, panels, and shells:
+
+```bash
+python scripts/run_convex_decomposition.py <raw_asset_dir> \
+  --mesh visuals/door.obj \
+  --variant coacd_v1 \
+  --threshold 0.05 \
+  --max-convex-hull 16
+```
+
+Coarser and faster collision:
+
+```bash
+python scripts/run_convex_decomposition.py <raw_asset_dir> \
+  --mesh <mesh.obj> \
+  --variant coacd_coarse_v1 \
+  --threshold 0.08 \
+  --max-convex-hull 8
+```
+
+Finer collision:
+
+```bash
+python scripts/run_convex_decomposition.py <raw_asset_dir> \
+  --mesh <mesh.obj> \
+  --variant coacd_fine_v1 \
+  --threshold 0.02 \
+  --max-convex-hull 32 \
+  --no-merge \
+  --mcts-max-depth 4
+```
+
+Rack/wire-like assets such as dishwasher racks:
+
+```bash
+python scripts/run_convex_decomposition.py <raw_asset_dir> \
+  --mesh visuals/rack1.obj \
+  --variant rack1_coacd_trial \
+  --threshold 0.02 \
+  --max-convex-hull 128 \
+  --no-merge \
+  --resolution 2000 \
+  --mcts-max-depth 4
+```
+
+For rack/wire-like assets, inspect `logs/parts_summary.csv` and visualize the result before registering it. A valid result should not have convex hulls that bridge functional slots or gaps. If the decomposition needs hundreds of parts, primitive collision using capsules/boxes is usually a better engineering choice.
+
 ### `metadata.yaml`
 
 Minimum fields: