* The first two authors have contributed equally to this work. This
work is to be published in the proceedings of the 2023 IEEE International
Conference on Robotics and Automation (ICRA) Access Paper or Ask Questions
* International Journal of Robotics Research, vol. 39, no. 10-11,
pp. 1326--1345, 2020 * arXiv admin note: text overlap with arXiv:1812.11315 Access Paper or Ask Questions