“…Most of the fundamental aspects of their behavior in many circumstances are now well known [9,14,21]. The behavior of systems made of highly deformable grains at high packing fraction has also been more and more studied [5,6,12,22,23], and at least for compaction, reliable models exist [24,25]. In between, even if they are very common materials, systems composed of grains with very different-soft and hard-rheologies, driven far above the jamming transition, have a bewildering but fascinating behavior that remains mostly misunderstood.…”