Question #293247 on Yade changed:
https://answers.launchpad.net/yade/+question/293247

Jonathan Pergoli posted a new comment:
What about this:
gravel=FrictMat(density=1700,frictionAngle=.9188,label="gravel")
O.materials.append(gravel)
MLI=FrictMat(density=1280,frictionAngle=0.1489,label="MLI")
O.materials.append(MLI)
...
O.engines=[

        ForceResetter(),
        InsertionSortCollider([Bo1_Sphere_Aabb(),Bo1_Box_Aabb()]),
        InteractionLoop(
                [Ig2_Sphere_Sphere_ScGeom(),Ig2_Box_Sphere_ScGeom()],
                
[Ip2_FrictMat_FrictMat_MindlinPhys(en=MatchMaker(matches=((gravel,MLI,.6),(gravel,gravel,.55))))],
                [Law2_ScGeom_MindlinPhys_Mindlin(includeMoment=True)]
        ),
        NewtonIntegrator(gravity=(0,0,-9.81),damping=0.1)
]

It gives me this error:
No registered converter was able to produce a C++ rvalue of type 
Eigen::Matrix<double, 3, 1, 0, 3, 1> from this Python object of type tuple

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