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diff --git a/examples/python/Friction/cube.obj b/examples/python/Friction/cube.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb979f490c48f1ad9faca6074500230bdb0e17b0
--- /dev/null
+++ b/examples/python/Friction/cube.obj
@@ -0,0 +1,24 @@
+# Blender 4.3.0
+# www.blender.org
+o Cube
+v 0.100000 0.100000 -0.100000
+v 0.100000 -0.100000 -0.100000
+v 0.100000 0.100000 0.100000
+v 0.100000 -0.100000 0.100000
+v -0.100000 0.100000 -0.100000
+v -0.100000 -0.100000 -0.100000
+v -0.100000 0.100000 0.100000
+v -0.100000 -0.100000 0.100000
+s 0
+f 5 3 1
+f 3 8 4
+f 7 6 8
+f 2 8 6
+f 1 4 2
+f 5 2 6
+f 5 7 3
+f 3 7 8
+f 7 5 6
+f 2 4 8
+f 1 3 4
+f 5 1 2
diff --git a/examples/python/Friction/friction.py b/examples/python/Friction/friction.py
new file mode 100644
index 0000000000000000000000000000000000000000..4dff3dd57704784c7159ae0b383b7bf21d8795e9
--- /dev/null
+++ b/examples/python/Friction/friction.py
@@ -0,0 +1,88 @@
+import sys
+import numpy as np
+import meshio
+import polyscope as ps
+
+import pymandos
+
+def create_model():
+    model = pymandos.Model()
+
+    # Load the slope as a fix rigid body and attach an SDF
+    slope = model.add_rigidbody(name="Slope")
+    slope.x = np.zeros(6)
+    slope.v = np.zeros(6)
+    slope.disable_gravity()
+    slope.mass = 1
+    slope.inertiaTensor = np.diag([1.0, 1.0, 1.0])
+    slope.fix()
+
+    m = meshio.read("slope.obj")
+    slope_mesh = pymandos.SurfaceMesh()
+    slope_mesh.x = m.points
+    slope_mesh.indices = m.cells_dict["triangle"]
+    slope_sdf = slope.add_sdf(slope_mesh, 0.001, nb_voxels=512)
+
+    # Load two cubes that will slide on the slope
+    mesh = meshio.read("cube.msh")
+    npoints = mesh.points.shape[0]
+
+    cube0 = model.add_deformable_3d(name="Cube0")
+    cube0.size = npoints
+    cube0.x = mesh.points
+    cube0.v = np.zeros((npoints, 3))
+
+    cube1 = model.add_deformable_3d(name="Cube1")
+    cube1.size = npoints
+    cube1.x = mesh.points
+    cube1.v = np.zeros((npoints, 3))
+
+    mass = 0.01 * np.ones(npoints)
+    cube0.particle_mass = mass
+    cube1.particle_mass = mass
+
+    snh0 = cube0.snh
+    snh1 = cube1.snh
+
+    tetras = mesh.get_cells_type("tetra")
+    for tet in tetras:
+      snh0.add_element(tet, pymandos.energies.StableNeoHookean.ParameterSet(x0=mesh.points[tet, :], l=1000.0, mu=1000.0))
+      snh1.add_element(tet, pymandos.energies.StableNeoHookean.ParameterSet(x0=mesh.points[tet, :], l=1000.0, mu=1000.0))
+
+    cube0_collider = cube0.add_sphere_cloud(0.001)
+    cube1_collider = cube1.add_sphere_cloud(0.001)
+
+    collision_particles = model.add_collision_pair(slope_sdf, cube0_collider, stiffness=500)
+    collision_particles2 = model.add_collision_pair(slope_sdf, cube1_collider, stiffness=500)
+
+    model.compute_dag()
+
+    ps.register_volume_mesh("Cube0", cube0.x, tets=tetras)
+    ps.register_volume_mesh("Cube1", cube1.x, tets=tetras)
+    ps.register_surface_mesh("Slope", slope_mesh.x, m.cells_dict["triangle"])
+    return model
+
+def simulate_callback(model):
+    step_parameters = pymandos.StepParameters()
+    step_parameters.h = 0.002
+    step_parameters.newton_iterations =50
+    step_parameters.cg_iterations = 20
+    step_parameters.cg_error = 1e-4
+    step_parameters.grad_norm = 1e-2
+    step_parameters.line_search_iterations = 5
+    print(pymandos.step(model, step_parameters))
+
+    cube0 = model.get_deformable3d("Cube0")
+    cube1 = model.get_deformable3d("Cube1")
+
+    ps.get_volume_mesh("Cube0").update_vertex_positions(cube0.x)
+    ps.get_volume_mesh("Cube1").update_vertex_positions(cube1.x)
+
+if __name__ == "__main__":
+    ps.init()
+    model = create_model()
+    ps.set_user_callback(lambda: simulate_callback(model))
+
+    ps.show()
+        
+    
diff --git a/examples/python/Friction/slope.mtl b/examples/python/Friction/slope.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..83313f476a53978ba77f97e1638063640f0aaf5e
--- /dev/null
+++ b/examples/python/Friction/slope.mtl
@@ -0,0 +1,2 @@
+# Blender 4.3.0 MTL File: 'None'
+# www.blender.org
diff --git a/examples/python/Friction/slope.obj b/examples/python/Friction/slope.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17778037a2439348392f71b493fe7f9976581cad
--- /dev/null
+++ b/examples/python/Friction/slope.obj
@@ -0,0 +1,19 @@
+# Blender 4.3.0
+# www.blender.org
+mtllib slope.mtl
+o Plane
+v -1.000000 0.000000 1.000000
+v 1.000000 0.000000 1.000000
+v -1.000000 0.000000 -1.000000
+v 1.000000 0.000000 -1.000000
+v -1.000000 1.000000 1.000000
+v -1.000000 1.000000 -1.000000
+s 0
+f 2 3 1
+f 3 5 1
+f 5 4 2
+f 1 5 2
+f 3 4 6
+f 2 4 3
+f 3 6 5
+f 5 6 4