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

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.