* Robotics and Automation Letters - Volume: 7 - Issue: 4 - October
2022 - Pages: 9921 - 9928 * This is a preprint version of the paper to appear at IEEE Robotics
and Automation Letters (RAL). The final journal version will be available at
https://doi.org/10.1109/LRA.2022.3192655 Access Paper or Ask Questions