Replacing sphere with cylinder in my simulation

We have written a code to plot "friction versus displacement of plate" at the interface between : single spherical particle(with constant load on it) and plate moving with constant velocity.

####################
from yade import plot
MaterialS=O.materials.append(FrictMat(young=70e6,poisson=.23,frictionAngle=radians(30))) #material of sphere
MaterialP=O.materials.append(FrictMat(young=700e6,poisson=0.23,frictionAngle=radians(30))) #material of plate
sp=sphere((0,0,0),1,material=MaterialS) #creating sphere
plate=utils.wall(-1,axis=2,material=MaterialP) #creating plate
plateID=O.bodies.append(plate) #plateID=0
spID=O.bodies.append(sp) #spID=1
O.forces.setPermF(1,(0,0,-1)) # 1 mag. force on sphere in -ve z direction
plate.state.vel =(0,.0000167,0) #plate given const. velocity in y direction

#engine
O.engines=[
    ForceResetter(),
    InsertionSortCollider([Bo1_Sphere_Aabb(),Bo1_Wall_Aabb()]),
    InteractionLoop(
     [Ig2_Wall_Sphere_ScGeom()],
     #[Ip2_CpmMat_CpmMat_CpmPhys()],
     #[Law2_ScGeom_CpmPhys_Cpm(Fs)],
     [Ip2_FrictMat_FrictMat_FrictPhys()],
     [Law2_ScGeom_FrictPhys_CundallStrack()]
    ),
    NewtonIntegrator(gravity=(0,0,0),damping=0),
    PyRunner(command='addPlotData()',iterPeriod=1000)
]

def addPlotData():
    plot.addData(t=O.iter,FrictionForce=O.forces.f(0)[1],Displacement=O.bodies[0].state.pos[1])
plot.plots={'Displacement':('FrictionForce')}
plot.plot()
O.dt=.5e-4*PWaveTimeStep()
O.saveTmp()
################

Now we want to replace spherical particle with cylindrical particle.
Kindly help us to generate code for cylindrical particle and and to plot its result.