mjfit: open-source convex decomposition for tight-clearance parts, 10x faster than SDF
yacineMTB · x · 2026-10-20
- Researchers released mjfit, an open-source tool for simulating tight-clearance assembly parts (pegs, threads, gears) in robotics simulation.
- Off-the-shelf solutions fail: SDF is slow and hard to tune, while V-HACD/CoACD convex decomposition fills the clearance, jamming parts that should fit.
- mjfit decomposes common assembly parts into convex pieces that preserve designed clearance exactly, running an order of magnitude faster than SDF. Code is open source.
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