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@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 =		 "p10330"
}

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