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for more info on the simulation code see:

V. Šmilauer, E. Catalano, B. Chareyre, S. Dorofeenko, J. Duriez, A. Gladky, J. Kozicki, C. Modenese, L. Scholtès, L. Sibille, J. Stránský, and K. Thoeni, Yade Documentation (V. Šmilauer, ed.), The Yade Project, 1st ed., 2010. http://yade-dem.org/doc/