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docs/convex_decomposition_spec.md

@@ -24,6 +24,8 @@ assets/robocasa/derived/convex_decompositions/dishwashers/Dishwasher031_vhacd_v1
 │   ├── rack0/
 │   └── rack1/
 ├── mjcf/
+│   ├── convex_assets_include.xml
+│   ├── convex_geoms_include.xml
 │   └── convex_collision_include.xml
 └── logs/
     └── decomposition.json
@@ -40,6 +42,8 @@ assets/discoverse/derived/convex_decompositions/objects/cup_vhacd_v1/
 │       ├── part_000.obj
 │       └── part_001.obj
 ├── mjcf/
+│   ├── convex_assets_include.xml
+│   ├── convex_geoms_include.xml
 │   └── convex_collision_include.xml
 └── logs/
     └── decomposition.json
@@ -57,6 +61,32 @@ python scripts/scaffold_convex_decomposition.py assets/robocasa/raw/fixtures/dis
 
 This creates a new directory under `assets/robocasa/derived/convex_decompositions/...` with placeholder metadata, source references, logs, and MJCF include files. Fill in the generated meshes and replace placeholders before adding the asset to `manifest/assets.jsonl`.
 
+### Run CoACD decomposition
+
+Use `scripts/run_convex_decomposition.py` when you want to actually generate convex parts and MuJoCo include files:
+
+```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
+```
+
+If `--mesh` is omitted, the script searches common mesh locations under the raw asset directory:
+
+```text
+visuals/*.obj
+visuals/*.stl
+meshes/*.obj
+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/`.
+
 ### `metadata.yaml`
 
 Minimum fields:
@@ -129,10 +159,28 @@ Record tool parameters and hashes:
 Do not edit raw `model.xml` in place. If MuJoCo collision integration is needed, write a generated include file under:
 
 ```text
-mjcf/convex_collision_include.xml
+mjcf/
+```
+
+Generated MJCF should be split by include context:
+
+```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
+```
+
+Recommended integration pattern:
+
+```xml
+<!-- top level -->
+<include file="path/to/mjcf/convex_assets_include.xml"/>
+
+<!-- inside the object body that should receive collision geoms -->
+<include file="path/to/mjcf/convex_geoms_include.xml"/>
 ```
 
-Downstream projects can include or compile this file when they want convex collision geometry.
+This split avoids mixing root-level `<asset>` declarations with body-level `<geom>` declarations. `convex_collision_include.xml` is provided as a convenience wrapper body and should not be used when replacing collision geometry inside an existing body hierarchy.
 
 ## Manifest rule