打造首个实时模拟积木拼接的物理引擎，精准复现组装与倒塌过程。
BrickSim: A Physics-Based Simulator for Manipulating Interlocking Brick Assemblies
- 用紧凑的力模型捕捉卡扣连接机制，通过凸二次规划求解内力分布。
- 静态稳定预测准确率达100%，平均求解仅需5毫秒；动态跌落测试还原真实断裂位置。
- 支持机器人集成，适合研究复杂长周期机械操作任务。
卡扣式积木结构为接触密集且长时程的机器人操作提供了标准化但具挑战性的测试平台，但现有刚体仿真器无法准确模拟卡扣连接机制。本文提出BrickSim，首个面向卡扣积木结构的实时物理仿真器。BrickSim引入一种紧凑的基于力的卡扣力学模型，并通过结构化凸二次规划求解内部受力分布。结合混合架构——将刚体动力学交由底层物理引擎处理，而独立处理卡扣力学——实现了装配、拆解及结构坍塌的实时高保真仿真。在150个真实积木结构上，其静态稳定性预测准确率达100%，平均求解时间仅为5毫秒。在动态跌落测试中，能精确复现真实世界的结构破坏现象，包括断裂发生时机与具体位置。基于Isaac Sim构建，BrickSim可无缝集成多种机器人与现有工作流。我们展示了基于BrickSim的机器人积木搭建应用，凸显其在精细、长周期机器人操作研究中的潜力。代码开源，详见https://github.com/intelligent-control-lab/BrickSim。
原文摘要 · Abstract (English)
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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