**Author details**

Yiyi Wei, Stéphane Cotin, Jérémie Dequidt, Christian Duriez, Jérémie Allard *Shacra Team, INRIA, France*

Erwan Kerrien *Magrit Team, INRIA, France*

### **8. References**


24 Will-be-set-by-IN-TECH

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