<ETHERNETKRL>
  <CONFIGURATION>
        <EXTERNAL>
          <IP>x.x.x.x</IP>
          <PORT>7000</PORT>
          <TYPE>Server</TYPE>
        </EXTERNAL>
        <INTERNAL>
          <BUFFERING Mode="FIFO" Limit="1"/>
          <BUFFSIZE Limit="65534"/>
          <ALIVE Set_Flag="997"/>
        </INTERNAL>
      </CONFIGURATION>
  <SEND>
    <XML>
      <ELEMENT Tag="req/node/rc_silhouettematch" Type="STRING"/>
      <ELEMENT Tag="req/parameters/check_collisions/@value" Type="BOOL"/>
      <ELEMENT Tag="req/parameters/check_collisions_during_retraction/@value" Type="BOOL"/>
      <ELEMENT Tag="req/parameters/check_collisions_with_base_plane/@value" Type="BOOL"/>
      <ELEMENT Tag="req/parameters/check_collisions_with_matches/@value" Type="BOOL"/>
      <ELEMENT Tag="req/parameters/check_collisions_with_point_cloud/@value" Type="BOOL"/>
      <ELEMENT Tag="req/parameters/edge_sensitivity/@value" Type="REAL"/>
      <ELEMENT Tag="req/parameters/match_max_distance/@value" Type="REAL"/>
      <ELEMENT Tag="req/parameters/match_percentile/@value" Type="REAL"/>
      <ELEMENT Tag="req/parameters/max_number_of_detected_objects/@value" Type="INT"/>
      <ELEMENT Tag="req/parameters/max_object_overlap/@value" Type="REAL"/>
      <ELEMENT Tag="req/parameters/only_highest_priority_grasps/@value" Type="BOOL"/>
      <ELEMENT Tag="req/parameters/point_cloud_enhancement/@value" Type="STRING"/>
      <ELEMENT Tag="req/parameters/quality/@value" Type="STRING"/>
      <ELEMENT Tag="req/end_of_request" Type="BOOL"/>
    </XML>
  </SEND>
  <RECEIVE>
    <XML>
      <ELEMENT Tag="res/parameters/check_collisions/@value" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/check_collisions/@default" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/check_collisions/@min" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/check_collisions/@max" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/check_collisions_during_retraction/@value" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/check_collisions_during_retraction/@default" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/check_collisions_during_retraction/@min" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/check_collisions_during_retraction/@max" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/check_collisions_with_base_plane/@value" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/check_collisions_with_base_plane/@default" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/check_collisions_with_base_plane/@min" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/check_collisions_with_base_plane/@max" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/check_collisions_with_matches/@value" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/check_collisions_with_matches/@default" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/check_collisions_with_matches/@min" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/check_collisions_with_matches/@max" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/check_collisions_with_point_cloud/@value" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/check_collisions_with_point_cloud/@default" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/check_collisions_with_point_cloud/@min" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/check_collisions_with_point_cloud/@max" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/edge_sensitivity/@value" Type="REAL"/>
      <ELEMENT Tag="res/parameters/edge_sensitivity/@default" Type="REAL"/>
      <ELEMENT Tag="res/parameters/edge_sensitivity/@min" Type="REAL"/>
      <ELEMENT Tag="res/parameters/edge_sensitivity/@max" Type="REAL"/>
      <ELEMENT Tag="res/parameters/match_max_distance/@value" Type="REAL"/>
      <ELEMENT Tag="res/parameters/match_max_distance/@default" Type="REAL"/>
      <ELEMENT Tag="res/parameters/match_max_distance/@min" Type="REAL"/>
      <ELEMENT Tag="res/parameters/match_max_distance/@max" Type="REAL"/>
      <ELEMENT Tag="res/parameters/match_percentile/@value" Type="REAL"/>
      <ELEMENT Tag="res/parameters/match_percentile/@default" Type="REAL"/>
      <ELEMENT Tag="res/parameters/match_percentile/@min" Type="REAL"/>
      <ELEMENT Tag="res/parameters/match_percentile/@max" Type="REAL"/>
      <ELEMENT Tag="res/parameters/max_number_of_detected_objects/@value" Type="INT"/>
      <ELEMENT Tag="res/parameters/max_number_of_detected_objects/@default" Type="INT"/>
      <ELEMENT Tag="res/parameters/max_number_of_detected_objects/@min" Type="INT"/>
      <ELEMENT Tag="res/parameters/max_number_of_detected_objects/@max" Type="INT"/>
      <ELEMENT Tag="res/parameters/max_object_overlap/@value" Type="REAL"/>
      <ELEMENT Tag="res/parameters/max_object_overlap/@default" Type="REAL"/>
      <ELEMENT Tag="res/parameters/max_object_overlap/@min" Type="REAL"/>
      <ELEMENT Tag="res/parameters/max_object_overlap/@max" Type="REAL"/>
      <ELEMENT Tag="res/parameters/only_highest_priority_grasps/@value" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/only_highest_priority_grasps/@default" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/only_highest_priority_grasps/@min" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/only_highest_priority_grasps/@max" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/point_cloud_enhancement/@value" Type="STRING"/>
      <ELEMENT Tag="res/parameters/point_cloud_enhancement/@default" Type="STRING"/>
      <ELEMENT Tag="res/parameters/point_cloud_enhancement/@min" Type="STRING"/>
      <ELEMENT Tag="res/parameters/point_cloud_enhancement/@max" Type="STRING"/>
      <ELEMENT Tag="res/parameters/quality/@value" Type="STRING"/>
      <ELEMENT Tag="res/parameters/quality/@default" Type="STRING"/>
      <ELEMENT Tag="res/parameters/quality/@min" Type="STRING"/>
      <ELEMENT Tag="res/parameters/quality/@max" Type="STRING"/>
      <ELEMENT Tag="res/return_code/@value" Type="INT"/>
      <ELEMENT Tag="res/return_code/@message" Type="STRING"/>
      <ELEMENT Tag="res" Set_Flag="998"/>
    </XML>
  </RECEIVE>
</ETHERNETKRL>
