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+This repository is dedicated to use the TALOS robot with the stack-of-tasks.
+
+Specific data were generated to account to some specific problems when generating/planning motion
+with the SoT.
+
+For instance in order to avoid using xacro (with ROS) plain URDF were recorded.
+
+Some dummy data were added (rotor inertia) to help the dynamic regularization.
+
+For initial and data validated by PAL-Robotics please see the http://github.com/pal-robotics/talos_robot
+repository.