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CRISP: Contact-Rich Robotic Simulation Platform with Extensive Geometries and Contact Solvers

arXiv · AI, language, vision and robotics · article · Sep 18, 2026 · UTC

We present CRISP (Contact-RIch Simulation Platform), a high-fidelity physics engine tailored for complex multi-contact simulations such as tight-tolerance robotic manipulation. Achieving high physical fidelity in robotic simulation requires both expressive modeling of geometry and contact interactions, as well as accurate numerical resolution via robust collision detection and contact solvers. However, existing simulators often either rely on limited support for geometric representations and simplified modeling of contact interactions, or employ numerical resolution methods whose accuracy or r

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