BrickSim: A Physics-Based Simulator for Manipulating Interlocking Brick Assemblies

• URL: http://arxiv.org/abs/2603.16853v1
• Date: Tue, 17 Mar 2026 17:56:53 GMT
• Title: BrickSim: A Physics-Based Simulator for Manipulating Interlocking Brick Assemblies
• Abstract summary: We present BrickSim, the first real-time physics-based simulator for interlocking brick assemblies.<n>On 150 real-world assemblies, BrickSim achieves 100% accuracy in static stability prediction with an average solve time of 5 ms.<n>BrickSim is open-source, and the code is available at https://github.com/intelligent-control-lab/BrickSim.
• Score: 15.809735682998303
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Interlocking brick assemblies provide a standardized yet challenging testbed for contact-rich and long-horizon robotic manipulation, but existing rigid-body simulators do not faithfully capture snap-fit mechanics. We present BrickSim, the first real-time physics-based simulator for interlocking brick assemblies. BrickSim introduces a compact force-based mechanics model for snap-fit connections and solves the resulting internal force distribution using a structured convex quadratic program. Combined with a hybrid architecture that delegates rigid-body dynamics to the underlying physics engine while handling snap-fit mechanics separately, BrickSim enables real-time, high-fidelity simulation of assembly, disassembly, and structural collapse. On 150 real-world assemblies, BrickSim achieves 100% accuracy in static stability prediction with an average solve time of 5 ms. In dynamic drop tests, it also faithfully reproduces real-world structural collapse, precisely mirroring both the occurrence of breakage and the specific breakage locations. Built on Isaac Sim, BrickSim further supports seamless integration with a wide variety of robots and existing pipelines. We demonstrate robotic construction of brick assemblies using BrickSim, highlighting its potential as a foundation for research in dexterous, long-horizon robotic manipulation. BrickSim is open-source, and the code is available at https://github.com/intelligent-control-lab/BrickSim.

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