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AGENTS.md

@@ -46,6 +46,28 @@ assets/<source>/derived/<asset_type>/<category>/<asset_id>/
 
 Use `derived/` for convex decomposition, collision meshes, cleaned meshes, conversions, and other generated outputs. Do not overwrite raw assets.
 
+For convex decomposition, use:
+
+```text
+assets/<source>/derived/convex_decompositions/<category>/<asset_id>_<variant>/
+```
+
+Preferred generator:
+
+```bash
+python scripts/run_convex_decomposition.py assets/<source>/raw/<asset_type>/<category>/<asset_id> --mesh <relative_mesh_path> --variant coacd_v1
+```
+
+Generated MuJoCo include files have different insertion contexts:
+
+```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
+```
+
+Do not edit the raw source `model.xml` when adding convex collision geometry. Integrate the derived includes in downstream task scenes or in separate derived MJCF files.
+
 Whenever a source is reorganized during import, record the original upstream layout and the current layout in:
 
 ```text