PDF-A.ContactRegionApproximationInGraspIt!eachcontactisinitiallyconsidered

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2R0x21 2R00y23whereR0andR00aretherelativeradiiofcurvatureoftheobjectsincontactdependingonlyontheirlocalgeometryBPressureDistributionAfteracontactregionisdeterminedweconsiderhowtheforcesareforme

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