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

2026-09-18

AI Summary

为解决复杂多接触模拟中几何表示和接触交互建模不准确的问题，开发了CRISP平台，采用优化的碰撞检测和鲁棒接触求解器。

Abstract

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 robustness is inherently constrained. Accordingly, we develop a new simulator that supports diverse geometric representations with accurate optimization-based collision detection, and combines contact modeling with robust augmented Lagrangian-based contact solvers. This integration enables efficient and consistent detection of contact information across complex geometries while accurately resolving multi-contact constraints without problematic relaxations, which is essential for simulating contact-intensive and sharp interactions. We validate the physical fidelity of our simulator against state-of-the-art platforms and further demonstrate its capabilities through complex robotic manipulation scenarios. CRISP is publicly available at https://github.com/INRoL/crisp.

Problem

• robotic simulation
• contact interactions
• geometric representations
• collision detection
• contact solvers

Innovation

• Contact-Rich Simulation
• Geometric Representations
• Collision Detection
• Augmented Lagrangian
• Multi-Contact Constraints