**Acknowledgements**

The research leading to these results has received funding from (i) RoboCity2030-DIH-CM Madrid Robotics Digital Innovation Hub ("Robótica aplicada a la mejora de la calidad de vida de los ciudadanos. fase IV"; S2018/NMT-4331), funded by "Programas de Actividades I+D en la Comunidad de Madrid" and cofunded by Structural Funds of the EU; (ii) the Agencia Estatal Consejo Superior de Investigaciones Científicas (CSIC) under the BMCrop project, Ref. 201750E089; and (iii) the Spanish Ministry of Economy, Industry and Competitiveness under Grant DPI2017-84253-C2-1-R.
