Question #690234 on Yade changed:
https://answers.launchpad.net/yade/+question/690234

Jan Stránský proposed the following answer:
Hi,

@Robert
###
O.bodies.append((sphere((0,0,0),1),sphere((1,0,0),1)))
O.engines = [
   ForceResetter(),
   InsertionSortCollider([Bo1_Sphere_Aabb()]),
   InteractionLoop(
      [Ig2_Sphere_Sphere_ScGeom()],
      [],
      [],
   ),
   NewtonIntegrator(),
]
O.step()
###
terminate called after throwing an instance of 'std::runtime_error'
  what():  Undefined or ambiguous IPhys dispatch for types FrictMat and 
FrictMat.
Aborted (core dumped)

@Vincent
in general it would be possible, but I don't think easily with current 
implementation (haven't tried, thought). E.g. Interactions without IPhys are 
normally treated as non-real, I am not sure with consequences for your use 
case..
Would setting zero stiffness to materials be ok for you? Then the force 
computed would be zero and forces would be applied exclusively from what is set 
to O.forces..

cheers
Jan

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