Question #696253 on Yade changed:
https://answers.launchpad.net/yade/+question/696253

    Status: Open => Answered

Jan Stránský proposed the following answer:
Ok, probably you would need either
Ip2_FrictMat_PolyhedraMat_PolyhedraPhys
or
Ig2_Facet_Polyhedron_ScGeom
both not implemented. Ip2_FrictMat_PolyhedraMat_PolyhedraPhys should be easier 
(have a look on existing Ip2_FrictMat_PolyhedraMat_FrictPhys [3,4]).
Cheers
Jan

[3] https://gitlab.com/yade-dev/trunk/-/blob/master/pkg/dem/Polyhedra.hpp#L263
[4] https://gitlab.com/yade-dev/trunk/-/blob/master/pkg/dem/Polyhedra.cpp#L547

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