@techreport{Schaal__2009,
author = "Schaal, S.",
year = "2009",
title = "the sl simulation and real-time control software package",
key = "simulation environment, documentation, real-time control envirionment, motor control",
URL = "http://www-clmc.usc.edu/publications/S/schaal-TRSL.pdf",
publisher = "university of southern california",
crossref = "p10259"
}
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