Question #699589 on Yade changed:
https://answers.launchpad.net/yade/+question/699589

Jan Stránský proposed the following answer:
a) see documentation [2]
b) have a try yourself
Cheers
Jan

[2] https://yade-
dem.org/doc/yade.wrapper.html#yade.wrapper.FrictPhys.normalForce

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