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AGENTS.md

@@ -68,6 +68,40 @@ 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.
 
+For thin rod, rack, grid, shelf, and slot-like structures where convex hulls may bridge functional gaps, prefer primitive collision proxies:
+
+```text
+assets/<source>/derived/primitive_collision_proxies/<category>/<asset_id>_<variant>/
+```
+
+Preferred generator:
+
+```bash
+python scripts/run_primitive_collision_proxy.py assets/<source>/raw/<asset_type>/<category>/<asset_id> --mesh <relative_obj_path> --variant primitive_boxes_v1
+```
+
+Primitive proxy source of truth:
+
+```text
+proxy/primitive_collision_proxy.json
+```
+
+Generated downstream fragments:
+
+```text
+mjcf/primitive_geoms_include.xml       # include inside the target body
+mjcf/primitive_collision_include.xml   # standalone wrapper for preview/convenience
+curobo/primitive_world.yml             # cuRobo cuboid fragment from forbidden cuboids
+```
+
+Use primitive proxies only after inspecting that boxes do not bridge task-critical gaps. For temporary trials, do not use `--register-manifest`.
+
+Detailed rules are in:
+
+```text
+docs/primitive_collision_proxy_spec.md
+```
+
 Whenever a source is reorganized during import, record the original upstream layout and the current layout in:
 
 ```text
@@ -80,7 +114,7 @@ Do not change source paths without recording the correspondence.
 ## Naming rules
 
 - `source`: lowercase snake_case, for example `robocasa`, `discoverse`, `tinyforge`, `hunter`, `third_party`.
-- `asset_type`: lowercase snake_case plural when it represents a collection, for example `fixtures`, `objects`, `scenes`, `textures`, `robots`, `environments`.
+- `asset_type`: lowercase snake_case plural when it represents a collection, for example `fixtures`, `objects`, `scenes`, `textures`, `robots`, `environments`, `convex_decompositions`, `primitive_collision_proxies`.
 - `category`: lowercase snake_case, usually preserving common upstream category wording, for example `dishwashers`, `cabinets`, `cups`.
 - `asset_id`: preserve upstream IDs when they are stable and meaningful, for example `Dishwasher031`.
 - Global `asset_id`: `<source>.<asset_type>.<category>.<upstream_id>`.