求翻译：The aim of each contact subroutine is to compute the contact mechanical wrench between the two parts knowing their relative position and relative kinematic The aim of each contact subroutine is to compute the contact mechanical wrench between the two parts knowing their relative position and relative kinemati twist. The basic case of contact between the sphere and the plane is presented here in detail. The geometric parameters required for this calculus are presented in Fig. 7.是什么意思？

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