You can probably take notes from the tutorial that @dokken mentioned above https://github.com/michalhabera/dolfiny/tree/master/demo/plasticity in which both the surfaces are displaced in opposite directions using Dirichlet BCs.
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You find an example here too: Von Mises elasto-plasticity — FEniCSx Fracture Mechanics
It is stil in preliminary version. Any feedback is welcome.
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