BrickSim: A Physics-Based Simulator for Manipulating Interlocking Brick Assemblies
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arXiv
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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2026
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| _version_ | 1866910056452194304 |
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| author | Wen, Haowei Liu, Ruixuan Piao, Weiyi Li, Siyu Liu, Changliu |
| author_facet | Wen, Haowei Liu, Ruixuan Piao, Weiyi Li, Siyu Liu, Changliu |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_16853 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | BrickSim: A Physics-Based Simulator for Manipulating Interlocking Brick Assemblies Wen, Haowei Liu, Ruixuan Piao, Weiyi Li, Siyu Liu, Changliu Robotics Graphics 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. |
| title | BrickSim: A Physics-Based Simulator for Manipulating Interlocking Brick Assemblies |
| topic | Robotics Graphics |
| url | https://arxiv.org/abs/2603.16853 |