@inproceedings{escidoc:3400367,
  title = {Co-Optimizing Robot, Environment, and Tool Design via Joint Manipulation Planning},
  booktitle = {2021 IEEE International Conference on Robotics and Automation (ICRA 2021)},
  pages = {6600--6606},
  publisher = {IEEE},
  address = {Piscataway, NJ},
  year = {2021},
  slug = {escidoc-3400367},
  author = {Toussaint, Marc and Ha, Jung-Su and Oguz, Ozgur S.}
}