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[Bruno Chareyre <bruno.chareyre@xxxxxxxxxxx>]

> Does someone have a suggestion how to make the computation "right"? Or 
> am I seeing an inconsistency where there is none?
You are right, it needs to adapt equations.
Simply write stress_ij = branch_i * force_j, with branch = 
(clumpReferencePoint - contactPoint).
clumpReferencePoint could be anything, no absolute need to make it 
center of gravity or anything else : just the same point for all spheres 
in the clump. Using a point inside the clump will probably minimize the 
effect of non-staticity however.

Bruno