Brick pour

Many contacts

Pour toy bricks from a jar down three chutes.

Play0.00 s

¼×½×1×2×

Loop

The steel preset (the default), recordedon an NVIDIA RTX PRO 6000 Blackwell.

Run it

cd examples
# the default preset (steel), then the others
uv run shelf play brick_pour
# change solver settings live
uv run shelf tune brick_pour

Source: examples/shelf/02_many_contacts/brick_pour/ · ported from steel-webgpu assets/scenes/brick_pour (hero_montage export) @ ad03e49

Presets

Preset	Solver	Status	Checked
steeldefault	steel	works	2026-11-10, newton f6fc82a8b, NVIDIA RTX PRO 6000 Blackwell Server Edition

Solvers with no row are untested on this example. The full settings are inpresets.toml.

Code

example.py

examples/shelf/02_many_contacts/brick_pour/example.py

# SPDX-FileCopyrightText: Copyright (c) 2026 Skild AI and the Steel contributors
# SPDX-License-Identifier: Apache-2.0
# Direct source: steel-webgpu; see presets.toml and THIRD_PARTY.md.
# Modified for Steel Shelf: preset-driven execution and shared runner integration.

###########################################################################
# Example Brick pour
#
# The arm tips a jar of studded toy bricks; they tumble out and slide down three collection chutes.
#
# Rebuilt from steel-webgpu's exported scene (assets/scenes/brick_pour: scene.json
# and scene.bin, copied next to this file); see common/exported_scene.py. The
# visual meshes draw when a steel-webgpu checkout sits next to the shelf.
#
# Command: python -m shelf run brick_pour
#
###########################################################################

import newton.examples
from common.exported_scene import ExportedSceneExample


class Example(ExportedSceneExample):
    file = __file__


if __name__ == "__main__":
    parser = Example.create_parser()
    viewer, args = newton.examples.init(parser)
    newton.examples.run(Example(viewer, args), args)

example.py on GitHub

presets.toml

examples/shelf/02_many_contacts/brick_pour/presets.toml

example = "brick_pour"
source = "steel-webgpu assets/scenes/brick_pour (hero_montage export) @ ad03e49"
default = "steel"

[check]
# Arguments `python -m shelf check` passes in test mode.
args = []

[gallery]
short = "Pour toy bricks from a jar down three chutes."
title = "Brick pour"
frame = 420

[xpbd]
status = "untested"

[vbd]
status = "untested"

[mujoco]
status = "untested"

[featherstone]
status = "untested"

[semi_implicit]
status = "untested"

[feather_pgs]
status = "untested"

[steel]
status = "works"
# 4 substeps x 4 iterations: all 18 bricks slide down into the middle chute's bin, as in an 8 x 20 run, with
# 3.8/0.066 mm peak/mean penetration (8 x 20: 1.3/0.008) at 10.5 ms. The port's 3 x 10 also pours them but runs
# 12.7 ms with 9.1/0.21 mm (studs of resting bricks stay wedged 1-2 mm into each other); fewer substeps
# (2 x 4: 7.0 ms, 3 x 3: 9.0 ms) triple the mean. Joint limits on: the arm's path stays inside them anyway.
sim = { fps = 60, substeps = 4 }
solver = { solve_mode = "matrix_free", iterations = 4, articulated_contact_response = "propagation_colored", enable_joint_velocity_limits = true, enable_joint_limits = true, free_body_constraint_max = 8192, articulation_constraint_max = 1024, propagation_constraint_max = 16384 }
checked = "2026-11-10, newton f6fc82a8b, NVIDIA RTX PRO 6000 Blackwell Server Edition"

[kamino]
status = "untested"

[implicit_mpm]
status = "untested"

[style3d]
status = "untested"

presets.toml on GitHub

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