CRISP is a physics engine for contact-rich robotic assembly. It uses expressive collision geometries and robust contact solvers to simulate multibody dynamics with frictional contact.
We release CRISP with two example scenarios—peg insertion and gear assembly—that use mesh and SDF-based collision geometries with CANAL and SubADMM contact solvers.
Run the examples ↗Watch each scenario and compare its rendered surfaces with the detected contact points.
CRISP supports primitives, convex shapes, triangle meshes, signed distance fields, and differentiable support functions. This lets each part use a representation suited to its shape and expected contacts—from imported mesh surfaces to parameterized curved profiles, bores, and gear teeth.
Geometry and model construction ↗CRISP resolves frictional contact, joint limits, and joint friction together with multibody dynamics. CANAL combines outer augmented-Lagrangian updates with inner Newton iterations for accurate and robust resolution of dense contacts; SubADMM uses subsystem-based variable splitting to reduce solve cost. Performance and convergence depend on the model size and contact configuration.
Solver methods and settings ↗Build and run the two C++ examples to inspect assembly motion and detected contact points in the viewer. Their source code defines each model’s collision geometry, actuators, solver settings, and joint targets.
Build and run ↗Academic & non-commercial research · License
./build/examples/peg_insertion
./build/examples/gear_assembly