@techreport{Schaal__2009, title = {The SL simulation and real-time control software package}, author = {Schaal, S.}, publisher = {University of Southern California}, address = {Los Angeles, CA}, year = {2009}, note = {clmc}, doi = {}, crossref = {p10330}, url = {http://www-clmc.usc.edu/publications/S/schaal-TRSL.pdf} }