Question #205137 on Yade changed:
https://answers.launchpad.net/yade/+question/205137

mer samuel posted a new comment:
As suggested by Jan here comes some more details of my code

material affectation:

        O.materials.append(FrictMat(label='wallmat'))
        O.materials.append(FrictMat(label='spheremat'))
        O.materials.append(FrictMat(label='impactmat'))

        wallMatIds=[]
        upperWallMatIds=[]
        sphereMatIds=[]
        impactMatIds=[]

        for i in O.materials:
                if (i.label=='wallmat'):
                        wallMatIds.append(i.id)
                        
i.young=wYoung;i.poisson=wPoisson;i.density=wDensity;i.frictionAngle=wFrictionAngleDepot;
                elif (i.label=='spheremat'):
                        sphereMatIds.append(i.id)
                        
i.young=sYoung;i.poisson=sPoisson;i.density=sDensity;i.frictionAngle=sFrictionAngleDepot;i.normalCohesion=sNormalCohesion;
 i.shearCohesion=sShearCohesion;i.momentRotationLaw=True;
                elif (i.label=='impactmat'):
                        impactMatIds.append(i.id)
                        
i.young=sYoung;i.poisson=sPoisson;i.density=sDensity;i.frictionAngle=sFrictionAngleDepot;i.normalCohesion=sNormalCohesion;
 i.shearCohesion=sShearCohesion;i.momentRotationLaw=True;

initial conditions:

######Positions########
        rMed=(rMax+rMin)/2

        dxb=0

        xb = 0

        yb = dyBox/2

        zb = dzBox + 2*rMed

        print 'nouvelles positions initiales', dxb, xb, yb, zb

######speed
        vxb= 1.6*math.sqrt(9.8*2*(rMax+rMin)/2)*cos(60*3.1416/180)
        vyb = 0.
        vzb = -1.6*math.sqrt(9.8*2*(rMax+rMin)/2)*sin(60*3.1416/180)


engines:
O.engines=[
        ForceResetter(),                                        # on remet a 
zeros les forces de cohesion entre les differents corps du système
        InsertionSortCollider([                                 # on definie 
les types d'element du systeme
                Bo1_Sphere_Aabb(),
                Bo1_Box_Aabb(),
                Bo1_Facet_Aabb(),Bo1_Wall_Aabb()
        ]),
        InteractionLoop(                                        # on definie 
les interactions entre elements du systeme
                [Ig2_Sphere_Sphere_ScGeom(), Ig2_Facet_Sphere_ScGeom(), 
Ig2_Box_Sphere_ScGeom()],
                [Ip2_FrictMat_FrictMat_FrictPhys()], 
                [Law2_ScGeom_FrictPhys_CundallStrack()]
        ),
        GravityEngine(gravity=[0,0,-9.8],label='gravity'),      # on implemente 
les force qui s'appliquent au système (gravité)
        NewtonIntegrator(damping=0.0,label='Integrator'),       # On met a jour 
les positions en utilisant l'integrateur de Newton
        ]

I hope this can give you a good enough overview of the program.
Samuel

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