Does a quasi-static support rule agree with a physics engine?
research/robofab-settle
MuJoCo settle tests of all 2,048 partial gearbox assemblies vs the quasi-static support rule: 95.6% agreement, 81 mutual-support false accepts and 10 bore-capture false rejects, valid-order count unchanged at 30,760. Stylised.
What it found
Validates the support rule of robofab-sequence against MuJoCo settle tests on all 2,048 partial assemblies of the printed gearbox. The rule agrees on 1,957 (95.6%): 81 states it accepts topple because a part can count as resting on a part that rests on it, and 10 it rejects hold because a gear bore captures the shaft. An acyclic-support variant reaches 99.5% (fitted on the same states). The count of valid orders is unchanged at 30,760 for three friction values, so this product's conclusions survive. Stylised boxes, static release, one product.
A figure from its own output
Paper, code and results
More in Robot manufacturing loops
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Produced with AI assistance (Claude). Results are from the code in this repository and are simulated or stylised unless the abstract says otherwise; nothing here implies affiliation with or endorsement by any lab, researcher or company cited. MIT licensed.