diff --git a/assets/robocasa/derived/convex_decompositions/dishwashers/Dishwasher031_rack1_coacd_viz_v1/README.md b/assets/robocasa/derived/convex_decompositions/dishwashers/Dishwasher031_rack1_coacd_viz_v1/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..bbed098257eacb5f3269c3277831a76430f46bf2
--- /dev/null
+++ b/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.
diff --git a/assets/robocasa/derived/convex_decompositions/dishwashers/Dishwasher031_rack1_coacd_viz_v1/logs/decomposition.json b/assets/robocasa/derived/convex_decompositions/dishwashers/Dishwasher031_rack1_coacd_viz_v1/logs/decomposition.json
new file mode 100644
index 0000000000000000000000000000000000000000..8686de6bb41a83dc9964619659dd3ad5fbd3b764
--- /dev/null
+++ b/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": [
+ {
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diff --git a/assets/robocasa/derived/convex_decompositions/dishwashers/Dishwasher031_rack1_coacd_viz_v1/logs/parts_summary.csv b/assets/robocasa/derived/convex_decompositions/dishwashers/Dishwasher031_rack1_coacd_viz_v1/logs/parts_summary.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4f18704745d4f7ff245a99f833b609d71fc97d18
--- /dev/null
+++ b/assets/robocasa/derived/convex_decompositions/dishwashers/Dishwasher031_rack1_coacd_viz_v1/logs/parts_summary.csv
@@ -0,0 +1,129 @@
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