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assets/robocasa/derived/convex_decompositions/dishwashers/Dishwasher031_rack1_coacd_viz_v1/README.md

@@ -0,0 +1,21 @@
+# Convex decomposition: Dishwasher031
+
+Source asset:
+
+```text
+assets/robocasa/raw/fixtures/dishwashers/Dishwasher031
+```
+
+Generated collision meshes:
+
+```text
+assets/robocasa/derived/convex_decompositions/dishwashers/Dishwasher031_rack1_coacd_viz_v1/meshes
+```
+
+MuJoCo integration:
+
+1. Include `mjcf/convex_assets_include.xml` at MJCF root/top level.
+2. Include `mjcf/convex_geoms_include.xml` inside the body that should receive these collision geoms.
+3. Use `mjcf/convex_collision_include.xml` only for quick standalone preview/wrapper-body loading.
+
+Do not edit the raw source asset in place.

assets/robocasa/derived/convex_decompositions/dishwashers/Dishwasher031_rack1_coacd_viz_v1/logs/decomposition.json

@@ -0,0 +1,2599 @@
+{
+  "tool": "coacd",
+  "tool_version": "unknown",
+  "created_at": "2026-08-21",
+  "raw_asset": "assets/robocasa/raw/fixtures/dishwashers/Dishwasher031",
+  "derived_asset": "assets/robocasa/derived/convex_decompositions/dishwashers/Dishwasher031_rack1_coacd_viz_v1",
+  "params": {
+    "threshold": 0.04,
+    "max_convex_hull": 128,
+    "preprocess_mode": "auto",
+    "preprocess_resolution": 50,
+    "resolution": 2000,
+    "mcts_nodes": 20,
+    "mcts_iterations": 150,
+    "mcts_max_depth": 4,
+    "pca": false,
+    "merge": true,
+    "decimate": false,
+    "max_ch_vertex": 256,
+    "extrude": false,
+    "extrude_margin": 0.01,
+    "apx_mode": "ch",
+    "seed": 0,
+    "real_metric": false
+  },
+  "inputs": [
+    {
+      "path": "assets/robocasa/raw/fixtures/dishwashers/Dishwasher031/visuals/rack1.obj",
+      "sha256": "5204f9392cb5418b3e8ddf1920632619bdffe21f134a35cbcac5fc71f4e87dde"
+    }
+  ],
+  "outputs": [
+    {
+      "path": "meshes/rack1/part_000.obj",
+      "sha256": "8a833b09d0b2adc8e0b3e07432dcdc186ef51a1c30ec8c662ccb6cf1f4f02b55",
+      "mesh_name": "robocasa_Dishwasher031_rack1_convex_000",
+      "bbox_extents": [
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+      "surface_area": 0.017000367033,
+      "num_vertices": 66,
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+    {
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+      "sha256": "daaf2dcf9d507674dd1bb5e3fccabe71cd27444e69725375389eba18dccdc1f4",
+      "mesh_name": "robocasa_Dishwasher031_rack1_convex_001",
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+    {
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assets/robocasa/derived/convex_decompositions/dishwashers/Dishwasher031_rack1_coacd_viz_v1/logs/parts_summary.csv

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