diff --git a/CHANGELOG.md b/CHANGELOG.md
index 56ba275..44e16a1 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -9,6 +9,12 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Added
 
+* Added tutorials.
+* Added examples.
+* Added documentation.
+* Added `from_brep` to `compas_dem.elements.Block`.
+* Added `is_support` assignment to `compas_dem.BlockModel.from_barrelvault`.
+
 ### Changed
 
 ### Removed
diff --git a/data/dem_crossvault.json b/data/dem_crossvault.json
new file mode 100644
index 0000000..2009b1b
--- /dev/null
+++ b/data/dem_crossvault.json
@@ -0,0 +1 @@
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diff --git a/data/dem_results.json b/data/dem_results.json
new file mode 100644
index 0000000..a8f9d03
--- /dev/null
+++ b/data/dem_results.json
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\ No newline at end of file
diff --git a/data/wall.obj b/data/wall.obj
new file mode 100644
index 0000000..5b3f783
--- /dev/null
+++ b/data/wall.obj
@@ -0,0 +1,576 @@
+# OBJ
+# COMPAS
+# version: 2.13.0
+# precision: 3
+# V F E: 304 228 456
+
+o Mesh_0
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+v 1.000 0.250 0.250
+v 0.000 0.250 0.250
+f 1 2 3 4
+f 1 4 6 5
+f 4 3 7 6
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diff --git a/docs/_images/dem_arch.png b/docs/_images/dem_arch.png
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diff --git a/docs/examples/dem_arch.py b/docs/examples/dem_arch.py
new file mode 100644
index 0000000..34ba52c
--- /dev/null
+++ b/docs/examples/dem_arch.py
@@ -0,0 +1,37 @@
+from compas_dem.models import BlockModel
+from compas_dem.templates import ArchTemplate
+from compas_dem.viewer import DEMViewer
+
+# =============================================================================
+# Template
+# =============================================================================
+
+template = ArchTemplate(rise=3, span=10, thickness=0.5, depth=0.5, n=50)
+
+# =============================================================================
+# Model
+# =============================================================================
+
+model = BlockModel.from_template(template)
+
+# =============================================================================
+# Interactions
+# =============================================================================
+
+model.compute_contacts(tolerance=0.001)
+
+# =============================================================================
+# Supports
+# =============================================================================
+
+for node in model.graph.nodes_where(degree=1):
+    model.graph.node_element(node).is_support = True  # type: ignore
+
+# =============================================================================
+# Viz
+# =============================================================================
+
+viewer = DEMViewer(model)
+
+viewer.setup()
+viewer.show()
diff --git a/docs/examples/dem_arch.rst b/docs/examples/dem_arch.rst
new file mode 100644
index 0000000..fa52197
--- /dev/null
+++ b/docs/examples/dem_arch.rst
@@ -0,0 +1,13 @@
+********************************************************************************
+DEM of an Arch
+********************************************************************************
+
+.. figure:: /_images/dem_arch.png
+
+.. rst-class:: lead
+
+In this example, we make a model from a simple arch of blocks.
+We then compute the contacts between the blocks, and the contact forces required for equilibrium.
+
+.. literalinclude:: dem_arch.py
+    :language: python
diff --git a/docs/examples/dem_armadillo.py b/docs/examples/dem_armadillo.py
new file mode 100644
index 0000000..5ff18c5
--- /dev/null
+++ b/docs/examples/dem_armadillo.py
@@ -0,0 +1,63 @@
+import pathlib
+
+from compas.datastructures import Mesh
+from compas.files import OBJ
+
+from compas_dem.models import BlockModel
+from compas_dem.elements import Block
+from compas_dem.viewer import DEMViewer
+
+# =============================================================================
+# Data
+# =============================================================================
+
+FILE = pathlib.Path(__file__).parent.parent.parent / "data" / "armadillo.obj"
+
+obj = OBJ(FILE)
+obj.read()
+
+meshes = []
+for name in obj.objects:  # type: ignore
+    vertices, faces = obj.objects[name]  # type: ignore
+    mesh: Mesh = Mesh.from_vertices_and_faces(vertices, faces)
+    mesh.scale(1, 1, 1)
+    mesh.translate([-10, -10, 0])
+    mesh.name = name
+    meshes.append(mesh)
+
+# =============================================================================
+# Model and interactions
+# =============================================================================
+
+model = BlockModel()
+for mesh in meshes:
+    element = Block.from_mesh(mesh)
+    model.add_element(element)
+
+model.compute_contacts(tolerance=0.1)
+
+# =============================================================================
+# Supports
+# =============================================================================
+
+for element in model.elements():
+    centroid = element.modelgeometry.centroid()
+
+    for v in element.modelgeometry.vertices():
+        p = element.modelgeometry.vertex_attribute(v, "z")
+        if p < 0.5:
+            element.is_support = True
+            break
+
+# Get Supports and Blocks Elements
+blocks = list(model.blocks())
+supports = list(model.supports())
+
+# =============================================================================
+# Viz
+# =============================================================================
+
+viewer = DEMViewer(model)
+
+viewer.setup()
+viewer.show()
diff --git a/docs/examples/dem_armadillo.rst b/docs/examples/dem_armadillo.rst
new file mode 100644
index 0000000..4374916
--- /dev/null
+++ b/docs/examples/dem_armadillo.rst
@@ -0,0 +1,12 @@
+********************************************************************************
+DEM of an Armadillo Vault
+********************************************************************************
+
+.. figure:: /_images/dem_armadillo.png
+
+.. rst-class:: lead
+
+In this example, we make a model from the Armadillo Vault.
+
+.. literalinclude:: dem_armadillo.py
+    :language: python
diff --git a/docs/examples/dem_dome.py b/docs/examples/dem_dome.py
new file mode 100644
index 0000000..5719659
--- /dev/null
+++ b/docs/examples/dem_dome.py
@@ -0,0 +1,68 @@
+from compas.datastructures import Mesh
+from compas.geometry import SphericalSurface
+
+from compas_dem.elements import Block
+from compas_dem.models import BlockModel
+from compas_dem.viewer import DEMViewer
+
+# =============================================================================
+# Geometry
+# =============================================================================
+
+surface = SphericalSurface(radius=5)
+patch = surface.to_polyhedron(nu=32, nv=12, du=[0, 1.0], dv=[0.1, 0.5])
+
+blocks = []
+for polygon in patch.polygons:
+    bottom = polygon.points
+    top = []
+    for point in bottom:
+        vector = point - surface.frame.point
+        direction = vector.unitized()
+        top.append(point + direction * 0.3)
+    vertices = bottom + top
+    faces = [[0, 3, 2, 1], [4, 5, 6, 7], [2, 3, 7, 6], [1, 2, 6, 5], [0, 1, 5, 4], [3, 0, 4, 7]]
+    blocks.append(Mesh.from_vertices_and_faces(vertices, faces))
+
+columns = [blocks[i : i + 12] for i in range(0, len(blocks), 12)]
+rows = list(zip(*columns))
+
+bricks = []
+for i in range(len(rows)):
+    for j in range(0, len(rows[0]), 2):
+        if i % 2 == 0:
+            a: Mesh = rows[i][j]
+            b: Mesh = rows[i][j + 1]
+        else:
+            a: Mesh = rows[i][j - 1]
+            b: Mesh = rows[i][j]
+        brick: Mesh = a.copy()
+        brick.join(b, True)
+        brick.attributes["is_support"] = i == len(rows) - 1
+        bricks.append(brick)
+
+# =============================================================================
+# Model and interactions
+# =============================================================================
+
+model = BlockModel()
+
+for brick in bricks:
+    element = Block.from_mesh(brick)
+    element.is_support = brick.attributes["is_support"]
+    model.add_element(element)
+
+model.compute_contacts(tolerance=0.001)
+
+# =============================================================================
+# Export
+# =============================================================================
+
+# =============================================================================
+# Viz
+# =============================================================================
+
+viewer = DEMViewer(model)
+
+viewer.setup()
+viewer.show()
diff --git a/docs/examples/dem_dome.rst b/docs/examples/dem_dome.rst
new file mode 100644
index 0000000..4c79cdb
--- /dev/null
+++ b/docs/examples/dem_dome.rst
@@ -0,0 +1,13 @@
+********************************************************************************
+DEM of a Dome
+********************************************************************************
+
+.. figure:: /_images/dem_dome.png
+
+.. rst-class:: lead
+
+In this example, we make a model from a simple dome of blocks.
+We then compute the contacts between the blocks, and the contact forces required for equilibrium.
+
+.. literalinclude:: dem_dome.py
+    :language: python
diff --git a/docs/examples/dem_vault_barrel.py b/docs/examples/dem_vault_barrel.py
new file mode 100644
index 0000000..f9450e1
--- /dev/null
+++ b/docs/examples/dem_vault_barrel.py
@@ -0,0 +1,26 @@
+from compas_dem.models import BlockModel
+from compas_dem.templates import BarrelVaultTemplate
+from compas_dem.viewer import DEMViewer
+
+# =============================================================================
+# Template
+# =============================================================================
+
+template = BarrelVaultTemplate()
+
+# =============================================================================
+# Model and interactions
+# =============================================================================
+
+model = BlockModel.from_barrelvault(template)
+
+model.compute_contacts(tolerance=0.001)
+
+# =============================================================================
+# Viz
+# =============================================================================
+
+viewer = DEMViewer(model)
+
+viewer.setup()
+viewer.show()
diff --git a/docs/examples/dem_vault_barrel.rst b/docs/examples/dem_vault_barrel.rst
new file mode 100644
index 0000000..f420c2b
--- /dev/null
+++ b/docs/examples/dem_vault_barrel.rst
@@ -0,0 +1,13 @@
+********************************************************************************
+DEM of a Barrel Vault
+********************************************************************************
+
+.. figure:: /_images/dem_vault_barrel.png
+
+.. rst-class:: lead
+
+In this example, we make a model from a simple barrel vault of blocks.
+We then compute the contacts between the blocks, and the contact forces required for equilibrium.
+
+.. literalinclude:: dem_vault_barrel.py
+    :language: python
diff --git a/docs/examples/dem_vault_cross.py b/docs/examples/dem_vault_cross.py
new file mode 100644
index 0000000..75857fe
--- /dev/null
+++ b/docs/examples/dem_vault_cross.py
@@ -0,0 +1,53 @@
+import pathlib
+
+from compas.datastructures import Mesh
+from compas.files import OBJ
+
+from compas_dem.models import BlockModel
+from compas_dem.elements import Block
+from compas_dem.viewer import DEMViewer
+
+# =============================================================================
+# Data
+# =============================================================================
+
+FILE = pathlib.Path(__file__).parent.parent.parent / "data" / "crossvault.obj"
+
+obj = OBJ(FILE)
+obj.read()
+
+meshes = []
+for name in obj.objects:  # type: ignore
+    vertices, faces = obj.objects[name]  # type: ignore
+    mesh: Mesh = Mesh.from_vertices_and_faces(vertices, faces)
+    mesh.scale(0.025, 0.025, 0.025)
+    mesh.name = name
+    meshes.append(mesh)
+
+# =============================================================================
+# Model and interactions
+# =============================================================================
+
+model = BlockModel()
+for mesh in meshes:
+    element = Block.from_mesh(mesh)
+    model.add_element(element)
+
+model.compute_contacts(tolerance=0.001)
+
+# =============================================================================
+# Supports
+# =============================================================================
+
+for element in model.elements():
+    if model.graph.degree(element.graphnode) == 1:
+        element.is_support = True
+
+# =============================================================================
+# Viz
+# =============================================================================
+
+viewer = DEMViewer(model)
+
+viewer.setup()
+viewer.show()
diff --git a/docs/examples/dem_vault_cross.rst b/docs/examples/dem_vault_cross.rst
new file mode 100644
index 0000000..851dcf8
--- /dev/null
+++ b/docs/examples/dem_vault_cross.rst
@@ -0,0 +1,13 @@
+********************************************************************************
+DEM of a Cross Vault
+********************************************************************************
+
+.. figure:: /_images/dem_vault_cross.png
+
+.. rst-class:: lead
+
+In this example, we make a model from a simple cross vault of blocks.
+We then compute the contacts between the blocks, and the contact forces required for equilibrium.
+
+.. literalinclude:: dem_vault_cross.py
+    :language: python
diff --git a/docs/examples/dem_wall.py b/docs/examples/dem_wall.py
new file mode 100644
index 0000000..0eeacd7
--- /dev/null
+++ b/docs/examples/dem_wall.py
@@ -0,0 +1,66 @@
+import pathlib
+
+from compas.datastructures import Mesh
+from compas.files import OBJ
+
+from compas_dem.models import BlockModel
+from compas_dem.elements import Block
+from compas_dem.viewer import DEMViewer
+import compas
+
+# =============================================================================
+# Data
+# =============================================================================
+
+FILE = pathlib.Path(__file__).parent.parent.parent / "data" / "wall.obj"
+
+obj = OBJ(FILE)
+obj.read()
+
+meshes = []
+for name in obj.objects:  # type: ignore
+    vertices, faces = obj.objects[name]  # type: ignore
+    mesh: Mesh = Mesh.from_vertices_and_faces(vertices, faces)
+    mesh.scale(2, 2, 2)
+    mesh.name = name
+    meshes.append(mesh)
+
+# =============================================================================
+# Model and interactions
+# =============================================================================
+
+model = BlockModel()
+for mesh in meshes:
+    element = Block.from_mesh(mesh)
+    model.add_element(element)
+
+model.compute_contacts(tolerance=0.001)
+
+# =============================================================================
+# Supports
+# =============================================================================
+
+for element in model.elements():
+    centroid = element.modelgeometry.centroid()
+    if centroid[2] < 0.5:
+        element.is_support = True
+
+# Get Supports and Blocks Elements
+blocks = list(model.blocks())
+supports = list(model.supports())
+
+
+# =============================================================================
+# Save model to json
+# =============================================================================
+
+model.to_json(pathlib.Path(__file__).parent.parent.parent / "data" / "dem_crossvault.json")
+
+# =============================================================================
+# Viz
+# =============================================================================
+
+viewer = DEMViewer(model)
+
+viewer.setup()
+viewer.show()
diff --git a/docs/examples/dem_wall.rst b/docs/examples/dem_wall.rst
new file mode 100644
index 0000000..6d4dd75
--- /dev/null
+++ b/docs/examples/dem_wall.rst
@@ -0,0 +1,13 @@
+********************************************************************************
+DEM of a Wall
+********************************************************************************
+
+.. figure:: /_images/dem_wall.png
+
+.. rst-class:: lead
+
+In this example, we make a model from a simple wall of blocks.
+We then compute the contacts between the blocks, and the contact forces required for equilibrium.
+
+.. literalinclude:: dem_wall.py
+    :language: python
diff --git a/docs/tutorial.rst b/docs/tutorial.rst
index 34e1184..4f7d9ff 100644
--- a/docs/tutorial.rst
+++ b/docs/tutorial.rst
@@ -1,3 +1,10 @@
 ********************************************************************************
 Tutorial
 ********************************************************************************
+
+.. toctree::
+   :maxdepth: 1
+   :titlesonly:
+   :glob:
+
+   tutorial/*
diff --git a/docs/tutorial/dem_datastructure_overview.py b/docs/tutorial/dem_datastructure_overview.py
new file mode 100644
index 0000000..d4b73ad
--- /dev/null
+++ b/docs/tutorial/dem_datastructure_overview.py
@@ -0,0 +1,63 @@
+from compas.geometry import Transformation
+from compas_dem.elements import Block
+from compas_dem.models import BlockModel
+from compas_dem.templates import ArchTemplate
+from compas_dem.viewer import DEMViewer
+
+# Data
+template = ArchTemplate(rise=3, span=10, thickness=0.5, depth=0.5, n=50)
+
+# Model
+model = BlockModel()
+for mesh in template.blocks():
+    element = Block.from_mesh(mesh)
+    model.add_element(element)
+
+elements = list(model.elements())
+
+# Supports
+for element in model.elements():
+    centroid = element.modelgeometry.centroid()
+    if centroid[2] < 0.3:
+        element.is_support = True
+
+# Transformation
+elements[25].transformation = Transformation.from_matrix(
+    [
+        [1, 0, 0, 0.0],
+        [0, 1, 0, 0.0],
+        [0, 0, 1, 1.0],
+        [0, 0, 0, 1],
+    ]
+)
+
+# Centroids
+centroids = []
+for el in elements:
+    coords = el.modelgeometry.centroid()
+    centroids.append(coords)
+
+# Vertices
+highlight = 40
+vertices = []
+mesh = elements[highlight].modelgeometry
+vertices, faces = mesh.to_vertices_and_faces()
+
+# Contacts
+model.compute_contacts(tolerance=0.001)
+
+contact_polygons = []
+for contact in model.contacts():
+    polygon = contact.polygon
+    contact_polygons.append(polygon)
+
+    for point in polygon:
+        print(point)
+
+# Interaction
+edge = model.add_interaction(elements[0], elements[1])
+
+# Visualization
+viewer = DEMViewer(model)
+viewer.setup()
+viewer.show()
diff --git a/docs/tutorial/dem_datastructure_overview.rst b/docs/tutorial/dem_datastructure_overview.rst
new file mode 100644
index 0000000..56c748b
--- /dev/null
+++ b/docs/tutorial/dem_datastructure_overview.rst
@@ -0,0 +1,233 @@
+********************************************************************************
+DEM Data Structure: Overview
+********************************************************************************
+
+.. rst-class:: lead
+
+A concise, step-by-step overview that builds a small block model from a template,
+computes contacts, inspects element data (centroids, vertices), applies a transformation,
+adds an interaction, converts meshes to BREP, and visualizes everything.
+
+
+Contents
+--------
+
+1. `Data`_: instantiate an :class:`compas_dem.templates.ArchTemplate` to generate simple block meshes.
+2. `Model`_: create a :class:`compas_dem.models.BlockModel` and add blocks via :meth:`compas_dem.elements.Block.from_mesh`.
+3. `Supports`_: set fixed elements.
+4. `Transformation`_: assign a transformation matrix to one element to move it.
+5. `Centroids`_: query element geometry centroids for each block.
+6. `Vertices`_: iterate element geometry vertices and read vertex coordinates.
+7. `Contacts`_: call :meth:`compas_dem.models.BlockModel.compute_contacts` then iterate :meth:`compas_dem.models.BlockModel.contacts`.
+8. `Interaction`_: connect two elements via :meth:`compas_dem.models.BlockModel.add_interaction`.
+9. `Mesh to Brep`_: convert meshes to Brep geometry using COMPAS functions.
+10. `Visualization`_: use :class:`compas_dem.viewer.DEMViewer` to add model groups (supports, blocks, contacts, interactions) and overlay centroids/vertices/BREPs.
+
+
+Imports
+^^^^^^^
+
+.. literalinclude:: dem_datastructure_overview.py
+    :language: python
+    :end-before: # Data
+
+
+Data
+^^^^
+
+A model is created from a collection of solid Mesh or BRep objects. Most vault and arch topologies are written as templates to automate the geometry generation process. In this tutorial, we use the :class:`compas_dem.templates.ArchTemplate` to generate a vault topology.
+
+.. literalinclude:: dem_datastructure_overview.py
+    :language: python
+    :start-after: # Data
+    :end-before: # Model
+
+
+.. figure:: ../_images/dem_datastructure_overview_data.png
+   :align: center
+
+   Arch template.
+
+.. tip::
+   You can also load geometry from an obj file:
+
+.. code-block:: python
+
+    from compas.files import OBJ
+    import pathlib
+
+    PATH = pathlib.Path(__file__).parent.parent.parent / "data" /
+    FILE = "wall.obj"
+
+    obj = OBJ(PATH / FILE)
+    obj.read()
+
+    meshes = []
+    for name in obj.objects:
+        vertices, faces = obj.objects[name]
+        mesh: Mesh = Mesh.from_vertices_and_faces(vertices, faces)
+        mesh.scale(2, 2, 2)
+        mesh.name = name
+        meshes.append(mesh)
+
+
+Model
+^^^^^
+
+Then we create a :class:`compas_dem.models.BlockModel` and add blocks via :meth:`compas_dem.elements.Block.from_mesh`. The :class:`compas_dem.models.BlockModel` class represents a general model of hierarchically organized elements with interactions. It contains additional data structures such as a tree and a graph. At this step, the model and initial geometry are the same.
+
+.. literalinclude:: dem_datastructure_overview.py
+    :language: python
+    :start-after: # Model
+    :end-before: # Supports
+
+.. tip::
+   Check constructor overloads of :class:`compas_dem.elements.Block` to create blocks from different geometries.
+
+.. code-block:: python
+
+    Block.from_box()
+    Block.from_mesh()
+    Block.from_brep()
+
+.. tip::
+   Check constructor overloads of :class:`compas_dem.models.BlockModel` to create models from various templates.
+
+.. code-block:: python
+
+    BlockModel.from_arch()
+    BlockModel.from_barrelvault()
+    BlockModel.from_crossvault()
+    BlockModel.from_fanvault()
+    BlockModel.from_pavilionvault()
+    BlockModel.from_triangulation_dual()
+    BlockModel.from_meshpattern()
+
+Supports
+^^^^^^^^
+
+Elements are fixed by assigning the boolean atribute of the support.
+
+.. literalinclude:: dem_datastructure_overview.py
+    :language: python
+    :start-after: # Supports
+    :end-before: # Transformation
+
+.. figure:: ../_images/dem_datastructure_overview_supports.png
+   :align: center
+
+   Supports.
+
+
+Transformation
+^^^^^^^^^^^^^^
+
+When we assign the transformation matrix to an element, we can change its orientation. If a tree hierarchy is used, the transformations will affect the sub-elements.
+
+.. literalinclude:: dem_datastructure_overview.py
+    :language: python
+    :start-after: # Transformation
+    :end-before: # Centroids
+
+
+.. figure:: ../_images/dem_datastructure_overview_transformation.png
+   :align: center
+
+   Transformed block.
+
+
+Centroids
+^^^^^^^^^
+
+We can get the centroids of the blocks:
+
+.. literalinclude:: dem_datastructure_overview.py
+    :language: python
+    :start-after: # Centroids
+    :end-before: # Vertices
+
+.. figure:: ../_images/dem_datastructure_overview_centroids.png
+   :align: center
+
+   Centroids.
+
+
+Vertices
+^^^^^^^^
+
+We can extract vertices and faces, where vertices are stored as a list of 3 floats and faces are stored as a list of 3 or n integers.
+
+.. literalinclude:: dem_datastructure_overview.py
+    :language: python
+    :start-after: # Vertices
+    :end-before: # Contacts
+
+.. figure:: ../_images/dem_datastructure_overview_vertices.png
+   :align: center
+
+   Vertices.
+
+
+Contacts
+^^^^^^^^
+
+We can compute contacts between blocks using the :meth:`compas_dem.models.BlockModel.compute_contacts` method. Contacts are stored as a list of contact objects. The detected contacts are highlighted in light blue color and stored as polygons. We can access the contact polygon by iterating :meth:`compas_dem.models.BlockModel.contacts` and accessing the polygon attribute.
+
+.. literalinclude:: dem_datastructure_overview.py
+    :language: python
+    :start-after: # Contacts
+    :end-before: # Interaction
+
+.. figure:: ../_images/dem_datastructure_overview_contacts.png
+   :align: center
+
+   Contacts.
+
+When contacts are detected, the interaction graph displays the connectivity of the elements by lines drawn from the centroids of blocks.
+
+.. figure:: ../_images/dem_datastructure_overview_graph.png
+   :align: center
+
+   Graph edges.
+
+
+Interaction
+^^^^^^^^^^^
+
+While contacts are specific interactions between blocks, interactions are more general and can be used to connect any two elements. By calling the :meth:`compas_dem.models.BlockModel.add_interaction` function, we add an edge to the model graph. Optionally, we can specify a modifier class to define how the second element is modified by the first element. Most often, we use modifiers to define solid Boolean operations between meshes or breps.
+
+.. literalinclude:: dem_datastructure_overview.py
+    :language: python
+    :start-after: # Interaction
+    :end-before: # Visualization
+
+.. figure:: ../_images/dem_datastructure_overview_interaction.png
+   :align: center
+
+   Interaction.
+
+
+Mesh to Brep
+^^^^^^^^^^^^
+
+For using BRep outside Rhino, please insteal compas_occ package and import Brep from compas_occ.geometry. We can convert meshes to breps using COMPAS geometry functions. Breps are stored as a list of Brep objects. Or if we start from breps, we convert them to meshes by extracting polygons from brep faces.
+
+.. code-block:: python
+
+    from compas.geometry import Brep
+    breps = []
+    for el in elements:
+        brep = Brep.from_mesh(el.modelgeometry)
+        breps.append(brep)
+        # polygons = brep.to_polygons()
+        # mesh = Mesh.from_polygons(polygons)
+
+
+Visualization
+^^^^^^^^^^^^^
+
+We can visualize the model using the :class:`compas_dem.viewer.DEMViewer` class. The viewer adds model groups (supports, blocks, contacts, interactions) on the left side of the screen. At the top of the screen, there is an additional button called "COMPAS_DEM" with options: "Show Blocks", "Show Contacts", and "Show Interactions". 
+
+.. literalinclude:: dem_datastructure_overview.py
+    :language: python
+    :start-after: # Visualization
diff --git a/docs/tutorial/dem_datastructure_raw_data_extraction.py b/docs/tutorial/dem_datastructure_raw_data_extraction.py
new file mode 100644
index 0000000..dc4c565
--- /dev/null
+++ b/docs/tutorial/dem_datastructure_raw_data_extraction.py
@@ -0,0 +1,37 @@
+from compas_dem.templates import ArchTemplate
+from compas_dem.models import BlockModel
+import numpy as np
+from typing import List, Tuple
+
+# Model
+template: ArchTemplate = ArchTemplate(rise=3, span=10, thickness=0.5, depth=0.5, n=50)
+model: BlockModel = BlockModel.from_template(template)
+elements: List = list(model.elements())
+model.compute_contacts(tolerance=0.001)
+
+# Meshes to Numpy Arrays
+numpy_vertices: List[np.ndarray] = []
+numpy_faces: List[np.ndarray] = []
+for element in elements:
+    V, F = element.modelgeometry.to_vertices_and_faces()
+    numpy_vertices.append(np.asarray(V, dtype=np.float64))
+    numpy_faces.append(np.asarray(F, dtype=np.int32))
+
+# Centroids
+centroids: List = []
+for element in elements:
+    centroids.append(element.modelgeometry.centroid())
+numpy_centroids: np.ndarray = np.asarray(centroids, dtype=np.float64)
+
+# Contact Polygons
+numpy_contact_polygons: List[np.ndarray] = []
+for contact in model.contacts():
+    numpy_contact_polygons.append(np.asarray(contact.polygon, dtype=np.float64))
+
+# Contact Indices
+contact_indices: List[Tuple[int, int]] = []
+for edge in model.graph.edges():
+    contacts = model.graph.edge_attribute(edge, name="contacts")
+    if contacts:
+        contact_indices.append(edge)
+numpy_contact_indices: np.ndarray = np.asarray(contact_indices, dtype=np.int32)
diff --git a/docs/tutorial/dem_datastructure_raw_data_extraction.rst b/docs/tutorial/dem_datastructure_raw_data_extraction.rst
new file mode 100644
index 0000000..e1cd2e4
--- /dev/null
+++ b/docs/tutorial/dem_datastructure_raw_data_extraction.rst
@@ -0,0 +1,86 @@
+********************************************************************************
+DEM Data Structure: Raw Data Extraction
+********************************************************************************
+
+.. rst-class:: lead
+
+A practical guide to extracting raw numerical data from DEM models for external processing,
+analysis, or visualization. Learn how to convert geometry, centroids, contacts, and connectivity 
+information into NumPy arrays for computational workflows.
+
+
+Contents
+--------
+
+1. `Model Setup`_: create a :class:`compas_dem.models.BlockModel` from :class:`compas_dem.templates.ArchTemplate` and compute contacts.
+2. `Mesh Data`_: extract vertices and faces as NumPy arrays from element geometries.
+3. `Centroids`_: convert element centroids to a structured NumPy array.
+4. `Contact Polygons`_: extract contact geometry as a list of NumPy arrays.
+5. `Contact Indices`_: get connectivity information as element index pairs.
+
+
+Imports
+^^^^^^^
+
+.. literalinclude:: dem_datastructure_raw_data_extraction.py
+    :language: python
+    :end-before: # Model
+
+
+Model Setup
+^^^^^^^^^^^
+
+We start by creating a model from an :class:`compas_dem.templates.ArchTemplate` and computing contacts using :meth:`compas_dem.models.BlockModel.compute_contacts`. This provides the foundation data structure for raw data extraction.
+
+.. literalinclude:: dem_datastructure_raw_data_extraction.py
+    :language: python
+    :start-after: # Model
+    :end-before: # Meshes to Numpy Arrays
+
+
+Mesh Data
+^^^^^^^^^
+
+Extract vertices and faces from each element's geometry and convert them to NumPy arrays. Vertices are stored as float64 arrays containing 3D coordinates, while faces are stored as int32 arrays containing vertex indices.
+
+.. literalinclude:: dem_datastructure_raw_data_extraction.py
+    :language: python
+    :start-after: # Meshes to Numpy Arrays
+    :end-before: # Centroids
+
+.. note::
+   The resulting ``numpy_vertices`` and ``numpy_faces`` are lists of variable-sized arrays, as each element can have a different number of vertices and faces.
+
+Centroids
+^^^^^^^^^
+
+Element centroids are extracted and converted to a single NumPy array for efficient processing. Each row represents the 3D centroid coordinates (3 floats per row) of one element.
+
+.. literalinclude:: dem_datastructure_raw_data_extraction.py
+    :language: python
+    :start-after: # Centroids
+    :end-before: # Contact Polygons
+
+
+Contact Polygons
+^^^^^^^^^^^^^^^^
+
+Contact polygons represent the geometric interfaces between elements. Each contact is converted to a NumPy array containing the polygon vertices.
+
+.. literalinclude:: dem_datastructure_raw_data_extraction.py
+    :language: python
+    :start-after: # Contact Polygons
+    :end-before: # Contact Indices
+
+.. note::
+   The ``numpy_contact_polygons`` list contains variable-sized arrays, as contact polygons can have different numbers of vertices.
+
+
+Contact Indices
+^^^^^^^^^^^^^^^
+
+Extract connectivity information (2 integers per row) as pairs of element indices that are in contact. This provides the graph structure of the assembly.
+
+.. literalinclude:: dem_datastructure_raw_data_extraction.py
+    :language: python
+    :start-after: # Contact Indices
\ No newline at end of file
diff --git a/docs/tutorial/dem_datastructure_results.py b/docs/tutorial/dem_datastructure_results.py
new file mode 100644
index 0000000..4852b00
--- /dev/null
+++ b/docs/tutorial/dem_datastructure_results.py
@@ -0,0 +1,50 @@
+from compas_dem.templates import ArchTemplate
+from compas_dem.models import BlockModel
+from compas_viewer import Viewer
+from compas.colors import Color
+import compas
+import pathlib
+
+# Model
+template = ArchTemplate(rise=5, span=10, thickness=0.5, depth=0.5, n=20)
+model = BlockModel.from_template(template)
+model.compute_contacts(tolerance=0.001)
+
+# Load results
+results = compas.json_load(pathlib.Path(__file__).parent.parent.parent / "data" / "dem_results.json")
+
+# Store results in contacts
+for idx, contact in enumerate(model.contacts()):
+    contact.forces = {
+        "resultant_compression_by_interface": results["resultant_compression_by_interface"][idx],
+        "resultant_tension_by_interface": results["resultant_tension_by_interface"][idx],
+        "nodal_normal_compression_by_interface": results["nodal_normal_compression_by_interface"][idx],
+        "nodal_normal_tension_by_interface": results["nodal_normal_tension_by_interface"][idx],
+        "nodal_tangential_by_interface": results["nodal_tangential_by_interface"][idx],
+    }
+
+# Visualization
+viewer = Viewer()
+
+# Add elements
+for element in model.elements():
+    viewer.scene.add(element.modelgeometry, show_faces=False)
+
+# Add contacts and forces
+force_types = [
+    ("resultant_compression_by_interface", 3, Color(0, 0.3, 0)),
+    ("resultant_tension_by_interface", 8, Color(0.8, 0, 0)),
+    ("nodal_normal_compression_by_interface", 3, Color.from_hex("#00468b")),
+    ("nodal_normal_tension_by_interface", 5, Color(1, 0, 0)),
+    ("nodal_tangential_by_interface", 5, Color(1.0, 0.5, 0.0)),
+]
+
+for contact in model.contacts():
+    viewer.scene.add(contact.polygon, facecolor=Color.cyan().lightened(50))
+
+    for force_type, linewidth, color in force_types:
+        group = viewer.scene.add_group(force_type)
+        for line in contact.forces[force_type]:
+            group.add(line, linewidth=linewidth, linecolor=color)
+
+viewer.show()
diff --git a/docs/tutorial/dem_datastructure_results.rst b/docs/tutorial/dem_datastructure_results.rst
new file mode 100644
index 0000000..e4ec554
--- /dev/null
+++ b/docs/tutorial/dem_datastructure_results.rst
@@ -0,0 +1,68 @@
+********************************************************************************
+DEM Data Structure: Results
+********************************************************************************
+
+.. rst-class:: lead
+
+A practical guide to add results from DEM analysis to the data structure for visualization.
+Learn how to load analysis results and visualize force vectors on contact interfaces.
+
+
+.. figure:: ../_images/dem_datastructure_results.png
+   :align: center
+
+   DEM model with analysis results showing force vectors on contact interfaces.
+
+
+Contents
+--------
+
+1. `Model Setup`_: create a :class:`compas_dem.models.BlockModel` and compute contacts.
+2. `Load Results`_: import analysis results from JSON file.
+3. `Store Results`_: attach force data to contact objects.
+4. `Visualization`_: display elements, contacts, and force vectors with different colors.
+
+
+Model Setup
+^^^^^^^^^^^
+
+Create a model from an :class:`compas_dem.templates.ArchTemplate` and compute contacts to establish the foundation for result visualization.
+
+.. literalinclude:: dem_datastructure_results.py
+    :language: python
+    :start-after: # Model
+    :end-before: # Load results
+
+
+Load Results
+^^^^^^^^^^^^
+
+Load analysis results from a JSON file containing force data for each contact interface.
+
+.. literalinclude:: dem_datastructure_results.py
+    :language: python
+    :start-after: # Load results
+    :end-before: # Store results in contacts
+
+
+Store Results
+^^^^^^^^^^^^^
+
+Attach the loaded force data to each contact object for easy access during visualization.
+
+.. literalinclude:: dem_datastructure_results.py
+    :language: python
+    :start-after: # Store results in contacts
+    :end-before: # Visualization
+
+
+Visualization
+^^^^^^^^^^^^^
+
+Visualize the model with elements, contact polygons, and force vectors using different colors and line widths to distinguish force types.
+
+.. literalinclude:: dem_datastructure_results.py
+    :language: python
+    :start-after: # Visualization
+
+
diff --git a/src/compas_dem/elements/block.py b/src/compas_dem/elements/block.py
index d208afc..644ef1f 100644
--- a/src/compas_dem/elements/block.py
+++ b/src/compas_dem/elements/block.py
@@ -118,6 +118,22 @@ def from_mesh(cls, mesh: Mesh, **kwargs) -> "Block":
         """
         return cls(geometry=mesh.copy(cls=Mesh), **kwargs)
 
+    @classmethod
+    def from_brep(cls, brep, **kwargs) -> "Block":
+        """Construct a block element from a brep.
+
+        Parameters
+        ----------
+        brep : :class:`compas.geometry.Brep`
+            A brep.
+
+        Returns
+        -------
+        :class:`Block`
+
+        """
+        return cls(geometry=brep, **kwargs)
+
     # =============================================================================
     # Implementations of abstract methods
     # =============================================================================
diff --git a/src/compas_dem/models/blockmodel.py b/src/compas_dem/models/blockmodel.py
index e0ac63a..2b4adaf 100644
--- a/src/compas_dem/models/blockmodel.py
+++ b/src/compas_dem/models/blockmodel.py
@@ -229,6 +229,7 @@ def from_barrelvault(cls, template: BarrelVaultTemplate) -> "BlockModel":
         model = cls()
         for mesh in template.blocks():
             block: Block = Block.from_mesh(mesh)
+            block.is_support = mesh.attributes["is_support"]
             model.add_element(block)
         return model