# Midas: A Multi-Joint Robotics Simulator with Intersection-Free Frictional Contact

arXiv: https://arxiv.org/abs/2210.00130 · HTML: https://mlsanity.com/paper/2210.00130/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 30 Sep 2022.

## Built on by (most cited first, 1 of 1)

- [Jade: A Differentiable Physics Engine for Articulated Rigid Bodies with Intersection-Free Frictional Contact](https://mlsanity.com/paper/2309.04710/) (2023)

## Abstract (arXiv)

We introduce Midas, a robotics simulation framework based on the Incremental Potential Contact (IPC) model. Our simulator guarantees intersection-free, stable, and accurate resolution of frictional contact. We demonstrate the efficacy of our framework with experimental validations on high-precision tasks and through comparisons with Bullet physics. A reinforcement learning pipeline using Midas is also developed and tested to perform intersection-free peg-in-hole tasks.