KUKADASET2 is implemented on the KUKA manipulator. 1:7 joint positions 8:14 joint velocities 15:21 joint torques 22:28 joint positions (t+1) 29:35 joint velocities (t+1)

UR5PicknPlace5 & UR5PicknPlcaeSim5 are implemented on the UR5 manipulator. 1:6 Joint positions 6:12 Joint velocities 12:18 Joint torques 19:25 Joint velocity residual 26:32 Joint reference position 33:39 Joint reference velocity