<?xml version=“1.0”?> <rtde_config>
<recipe key="speed"> <field name="speed_slider_mask" type="UINT32"/> <field name="speed_slider_fraction" type="DOUBLE"/> </recipe> <recipe key="out"> <field name="timestamp" type="DOUBLE"/> <field name="target_q" type="VECTOR6D"/> <field name="target_qd" type="VECTOR6D"/> <field name="target_qdd" type="VECTOR6D"/> <field name="target_current" type="VECTOR6D"/> <field name="target_moment" type="VECTOR6D"/> <field name="actual_q" type="VECTOR6D"/> <field name="actual_qd" type="VECTOR6D"/> <field name="actual_current" type="VECTOR6D"/> <field name="joint_control_output" type="VECTOR6D"/> <field name="actual_TCP_pose" type="VECTOR6D"/> <field name="actual_TCP_speed" type="VECTOR6D"/> <field name="actual_TCP_force" type="VECTOR6D"/> <field name="target_TCP_pose" type="VECTOR6D"/> <field name="target_TCP_speed" type="VECTOR6D"/> <field name="actual_digital_input_bits" type="UINT64"/> <field name="joint_temperatures" type="VECTOR6D"/> <field name="actual_execution_time" type="DOUBLE"/> <field name="robot_mode" type="INT32"/> <field name="joint_mode" type="VECTOR6INT32"/> <field name="safety_mode" type="INT32"/> <field name="actual_tool_accelerometer" type="VECTOR3D"/> <field name="speed_scaling" type="DOUBLE"/> <field name="target_speed_fraction" type="DOUBLE"/> <field name="actual_momentum" type="DOUBLE"/> <field name="actual_main_voltage" type="DOUBLE"/> <field name="actual_robot_voltage" type="DOUBLE"/> <field name="actual_robot_current" type="DOUBLE"/> <field name="actual_joint_voltage" type="VECTOR6D"/> <field name="actual_digital_output_bits" type="UINT64"/> <field name="runtime_state" type="UINT32"/> <!-- field name="output_bit_registers0_to_31" type="UINT32"/--> <!-- field name="output_bit_registers32_to_63" type="UINT32"/--> <!-- field name="output_int_register_0" type="INT32"/--> <!-- field name="output_int_register_1" type="INT32"/--> <!-- field name="output_int_register_2" type="INT32"/--> <!-- field name="output_int_register_3" type="INT32"/--> <!-- field name="output_int_register_4" type="INT32"/--> <!-- field name="output_int_register_5" type="INT32"/--> <!-- field name="output_int_register_6" type="INT32"/--> <!-- field name="output_int_register_7" type="INT32"/--> <!-- field name="output_int_register_8" type="INT32"/--> <!-- field name="output_int_register_9" type="INT32"/--> <!-- field name="output_int_register_10" type="INT32"/--> <!-- field name="output_int_register_11" type="INT32"/--> <!-- field name="output_int_register_12" type="INT32"/--> <!-- field name="output_int_register_13" type="INT32"/--> <!-- field name="output_int_register_14" type="INT32"/--> <!-- field name="output_int_register_15" type="INT32"/--> <!-- field name="output_int_register_16" type="INT32"/--> <!-- field name="output_int_register_17" type="INT32"/--> <!-- field name="output_int_register_18" type="INT32"/--> <!-- field name="output_int_register_19" type="INT32"/--> <!-- field name="output_int_register_20" type="INT32"/--> <!-- field name="output_int_register_21" type="INT32"/--> <!-- field name="output_int_register_22" type="INT32"/--> <!-- field name="output_int_register_23" type="INT32"/--> <!-- field name="output_double_register_0" type="DOUBLE"/--> <!-- field name="output_double_register_1" type="DOUBLE"/--> <!-- field name="output_double_register_2" type="DOUBLE"/--> <!-- field name="output_double_register_3" type="DOUBLE"/--> <!-- field name="output_double_register_4" type="DOUBLE"/--> <!-- field name="output_double_register_5" type="DOUBLE"/--> <!-- field name="output_double_register_6" type="DOUBLE"/--> <!-- field name="output_double_register_7" type="DOUBLE"/--> <!-- field name="output_double_register_8" type="DOUBLE"/--> <!-- field name="output_double_register_9" type="DOUBLE"/--> <!-- field name="output_double_register_10" type="DOUBLE"/--> <!-- field name="output_double_register_11" type="DOUBLE"/--> <!-- field name="output_double_register_12" type="DOUBLE"/--> <!-- field name="output_double_register_13" type="DOUBLE"/--> <!-- field name="output_double_register_14" type="DOUBLE"/--> <!-- field name="output_double_register_15" type="DOUBLE"/--> <!-- field name="output_double_register_16" type="DOUBLE"/--> <!-- field name="output_double_register_17" type="DOUBLE"/--> <!-- field name="output_double_register_18" type="DOUBLE"/--> <!-- field name="output_double_register_19" type="DOUBLE"/--> <!-- field name="output_double_register_20" type="DOUBLE"/--> <!-- field name="output_double_register_21" type="DOUBLE"/--> <!-- field name="output_double_register_22" type="DOUBLE"/--> <!-- field name="output_double_register_23" type="DOUBLE"/--> </recipe>
</rtde_config>