Although it is not contemporary the most significant philosophical poem is probably 'De Rerum Natura', by Lucretius, Rome-99-55 BC. His work is considered to be something of a restatement and also something of an advance on the philosophy of Epicurus, Samos 371-240 BC.
This from Lucretius;
"The fall of dropping water wears away the Stone.
The drops of rain make a hole in the stone, not by violence, but by oft falling.
Pleasant it is, when over a great sea the winds trouble the waters, to gaze from shore upon another's great tribulation; not because any man's troubles are a delectable joy, but because to perceive you are free of them yourself is pleasant."
This from Epicurus;
"We do not so much need the help of our friends as the confidence of their help in need.
the wealth required by nature is limited and is easy to produce; but the wealth required by vain ideals extend…
Nothing is enough for the man to whom enough is too little."
As for contemporary poetry intended to "attempt to convey difficult to grasp concepts";
In my just published fourth book on Spinoza's "Ethics", Spinoza's Strange Symbiosis- Where Emotion and thought Conjoin, [download free at charlessaunders5.academia.edu]. I wrote one poem for the preliminary comments section. It is intended to trace the path of the earnest pilgrim who submits to the challenge of the trial urged by Spinoza to become free from the bondage imposed on humans because of our lack of understanding and control over our own psychology with its emotional peaks and valleys. Following that I wrote, The Schemata of the Symbiosis. This is a diagrammatic chart of the same path as in the poem intended to serve as a complement and reflection of that poem.
It Begins as a Whisper
[On the Emotions]
It comes and goes silently like first light
At the outset that’s all it is, but just enough
To trigger that earliest urge
“I know I’m real”
But no, I do not even know what real is
At least, not yet, not now
Now I’m lost again,
my pulse, my heart, my hands, my legs
All searching, seeking out the world,
A world that speaks to me only in tongues
Everything a babel; a tower to my ignorance and doubts
What drives me on?
Propelled, not by my conscious will but by unseen desire
An appetite wells up within me
Hunger to devour everything and everyone
Am I a beast?
“I know I’m real”
Becoming flesh taught only by other flesh, not my own
Feeding my thoughts which huddle in confusion
The more I am fed by bodies the less I think I know
Is there a key, some light, some guide?
A voice, any path, someone
But no, alone I am and sure
That only I can know
To know, yet to know I know not yet
Certainty comes and goes like winter chill
A breath of solace here a wisp of wisdom there
Until that far-off day when pain and joy will merge
And serenity will rule my mind
That thirst and hunger slaked
Through Acquiescence and the Divine.
And the schemata;
The Schemata of the Symbiosis
Where Emotion converts to Thought
Human Mind - Self-consciously Aware of Potential
Conducts Intuitionally driven Search for Understanding
Emotion triggers Thought
Association always Present as a Person or Thing
Internal [body] or External Source→ Converts to Thought [Idea]
Affections = Emotions
Active= Pleasure or Passive= Pain
Increased Agency or Decreased Agency
Adequate Idea or Inadequate Idea
Understanding or Imagination
Love – Hate
Joy – Sorrow
Pleasure – Pain
Conatus sese conservendi = Self-assertive Impulse
Reason = Reflective Knowledge
Scientia Intuitiva = Intuitive Understanding
Mind’s Potential Eternity
Grows through Diversity of Experience
Knowledge Increases Exponentially
Agency Increases over Time
Understanding melts Affect of Emotion
Inward Mental Repose
Acquiescence of Mind
Amor Die Intellectus
Regards, Charles M. Saunders [The formatting in the piece you are reading scrambled my layout on the poem and the schemata, sorry]