<ETHERNETKRL>
  <CONFIGURATION>
        <EXTERNAL>
          <IP>x.x.x.x</IP>
          <PORT>7000</PORT>
          <TYPE>Server</TYPE>
        </EXTERNAL>
        <INTERNAL>
          <BUFFERING Mode="FIFO" Limit="64"/>
          <BUFFSIZE Limit="65534"/>
          <ALIVE Set_Flag="997"/>
        </INTERNAL>
      </CONFIGURATION>
  <SEND>
    <XML>
      <ELEMENT Tag="req/node/rc_cadmatch" Type="STRING"/>
      <ELEMENT Tag="req/service/detect_object_extended" Type="STRING"/>
      <ELEMENT Tag="req/args/collision_detection/@gripper_id" Type="STRING"/>
      <ELEMENT Tag="req/args/collision_detection/pre_grasp_offset/@x" Type="REAL"/>
      <ELEMENT Tag="req/args/collision_detection/pre_grasp_offset/@y" Type="REAL"/>
      <ELEMENT Tag="req/args/collision_detection/pre_grasp_offset/@z" Type="REAL"/>
      <ELEMENT Tag="req/args/data_acquisition_mode" Type="STRING"/>
      <ELEMENT Tag="req/args/load_carrier_compartment/box/@x" Type="REAL"/>
      <ELEMENT Tag="req/args/load_carrier_compartment/box/@y" Type="REAL"/>
      <ELEMENT Tag="req/args/load_carrier_compartment/box/@z" Type="REAL"/>
      <ELEMENT Tag="req/args/load_carrier_compartment/pose/@X" Type="REAL"/>
      <ELEMENT Tag="req/args/load_carrier_compartment/pose/@Y" Type="REAL"/>
      <ELEMENT Tag="req/args/load_carrier_compartment/pose/@Z" Type="REAL"/>
      <ELEMENT Tag="req/args/load_carrier_compartment/pose/@A" Type="REAL"/>
      <ELEMENT Tag="req/args/load_carrier_compartment/pose/@B" Type="REAL"/>
      <ELEMENT Tag="req/args/load_carrier_compartment/pose/@C" Type="REAL"/>
      <ELEMENT Tag="req/args/load_carrier_id" Type="STRING"/>
      <ELEMENT Tag="req/args/pose_frame" Type="STRING"/>
      <ELEMENT Tag="req/args/pose_prior_ids/le" Type="STRING"/>
      <ELEMENT Tag="req/args/region_of_interest_id" Type="STRING"/>
      <ELEMENT Tag="req/args/robot_pose/@X" Type="REAL"/>
      <ELEMENT Tag="req/args/robot_pose/@Y" Type="REAL"/>
      <ELEMENT Tag="req/args/robot_pose/@Z" Type="REAL"/>
      <ELEMENT Tag="req/args/robot_pose/@A" Type="REAL"/>
      <ELEMENT Tag="req/args/robot_pose/@B" Type="REAL"/>
      <ELEMENT Tag="req/args/robot_pose/@C" Type="REAL"/>
      <ELEMENT Tag="req/args/template_id" Type="STRING"/>
      <ELEMENT Tag="req/end_of_request" Type="BOOL"/>
    </XML>
  </SEND>
  <RECEIVE>
    <XML>
      <ELEMENT Tag="res/grasps/le/collision_checked" Type="BOOL"/>
      <ELEMENT Tag="res/grasps/le/gripper_id" Type="STRING"/>
      <ELEMENT Tag="res/grasps/le/id" Type="STRING"/>
      <ELEMENT Tag="res/grasps/le/match/@pose_frame" Type="STRING"/>
      <ELEMENT Tag="res/grasps/le/match/@score" Type="REAL"/>
      <ELEMENT Tag="res/grasps/le/match/@template_id" Type="STRING"/>
      <ELEMENT Tag="res/grasps/le/match/@uuid" Type="STRING"/>
      <ELEMENT Tag="res/grasps/le/match/pose/@X" Type="REAL"/>
      <ELEMENT Tag="res/grasps/le/match/pose/@Y" Type="REAL"/>
      <ELEMENT Tag="res/grasps/le/match/pose/@Z" Type="REAL"/>
      <ELEMENT Tag="res/grasps/le/match/pose/@A" Type="REAL"/>
      <ELEMENT Tag="res/grasps/le/match/pose/@B" Type="REAL"/>
      <ELEMENT Tag="res/grasps/le/match/pose/@C" Type="REAL"/>
      <ELEMENT Tag="res/grasps/le/pose/@X" Type="REAL"/>
      <ELEMENT Tag="res/grasps/le/pose/@Y" Type="REAL"/>
      <ELEMENT Tag="res/grasps/le/pose/@Z" Type="REAL"/>
      <ELEMENT Tag="res/grasps/le/pose/@A" Type="REAL"/>
      <ELEMENT Tag="res/grasps/le/pose/@B" Type="REAL"/>
      <ELEMENT Tag="res/grasps/le/pose/@C" Type="REAL"/>
      <ELEMENT Tag="res/grasps/le/pose_frame" Type="STRING"/>
      <ELEMENT Tag="res/grasps/le/priority" Type="INT"/>
      <ELEMENT Tag="res/grasps/le/stroke_per_finger_approach_mm" Type="REAL"/>
      <ELEMENT Tag="res/grasps/le/stroke_per_finger_grasp_mm" Type="REAL"/>
      <ELEMENT Tag="res/grasps/le/tcp_id" Type="STRING"/>
      <ELEMENT Tag="res/grasps/le/timestamp/@sec" Type="INT"/>
      <ELEMENT Tag="res/grasps/le/timestamp/@nsec" Type="INT"/>
      <ELEMENT Tag="res/grasps/le/uuid" Type="STRING"/>
      <ELEMENT Tag="res/load_carriers/le/height_open_side" Type="REAL"/>
      <ELEMENT Tag="res/load_carriers/le/id" Type="STRING"/>
      <ELEMENT Tag="res/load_carriers/le/inner_dimensions/@x" Type="REAL"/>
      <ELEMENT Tag="res/load_carriers/le/inner_dimensions/@y" Type="REAL"/>
      <ELEMENT Tag="res/load_carriers/le/inner_dimensions/@z" Type="REAL"/>
      <ELEMENT Tag="res/load_carriers/le/outer_dimensions/@x" Type="REAL"/>
      <ELEMENT Tag="res/load_carriers/le/outer_dimensions/@y" Type="REAL"/>
      <ELEMENT Tag="res/load_carriers/le/outer_dimensions/@z" Type="REAL"/>
      <ELEMENT Tag="res/load_carriers/le/overfilled" Type="BOOL"/>
      <ELEMENT Tag="res/load_carriers/le/pose/@X" Type="REAL"/>
      <ELEMENT Tag="res/load_carriers/le/pose/@Y" Type="REAL"/>
      <ELEMENT Tag="res/load_carriers/le/pose/@Z" Type="REAL"/>
      <ELEMENT Tag="res/load_carriers/le/pose/@A" Type="REAL"/>
      <ELEMENT Tag="res/load_carriers/le/pose/@B" Type="REAL"/>
      <ELEMENT Tag="res/load_carriers/le/pose/@C" Type="REAL"/>
      <ELEMENT Tag="res/load_carriers/le/pose_frame" Type="STRING"/>
      <ELEMENT Tag="res/load_carriers/le/rim_ledge/@x" Type="REAL"/>
      <ELEMENT Tag="res/load_carriers/le/rim_ledge/@y" Type="REAL"/>
      <ELEMENT Tag="res/load_carriers/le/rim_step_height" Type="REAL"/>
      <ELEMENT Tag="res/load_carriers/le/rim_thickness/@x" Type="REAL"/>
      <ELEMENT Tag="res/load_carriers/le/rim_thickness/@y" Type="REAL"/>
      <ELEMENT Tag="res/load_carriers/le/type" Type="STRING"/>
      <ELEMENT Tag="res/return_code/@message" Type="STRING"/>
      <ELEMENT Tag="res/return_code/@value" Type="INT"/>
      <ELEMENT Tag="res/timestamp/@sec" Type="INT"/>
      <ELEMENT Tag="res/timestamp/@nsec" Type="INT"/>
      <ELEMENT Tag="res" Set_Flag="998"/>
    </XML>
  </RECEIVE>
</ETHERNETKRL>
