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 # C++ library for Task Control of Unmanned Aerial Manipulators (UAM)
 
-This library provides the robot kinematics as well as a framework to compute several task errors and Jacobians. 
+This library provides the robot kinematics as well as a framework to compute several task errors and Jacobians. The differences from the original [repository](https://gitlab.iri.upc.edu/asantamaria/uam_task_ctrl) is that this one contains some tasks to specifically worj with the [kinton_arm_lmi_lexicographic_task_opt](https://gitlab.iri.upc.edu/jmarti/kinton_arm_lmi_lexicographic_task_opt) ROS node.
 
 **Related publications:**