<ETHERNETKRL>
  <CONFIGURATION>
        <EXTERNAL>
          <IP>x.x.x.x</IP>
          <PORT>7000</PORT>
          <TYPE>Server</TYPE>
        </EXTERNAL>
        <INTERNAL>
          <BUFFERING Mode="FIFO" Limit="32"/>
          <BUFFSIZE Limit="65534"/>
          <ALIVE Set_Flag="997"/>
        </INTERNAL>
      </CONFIGURATION>
  <SEND>
    <XML>
      <ELEMENT Tag="req/node/rc_gripper_db" Type="STRING"/>
      <ELEMENT Tag="req/service/get_grippers_schunk" Type="STRING"/>
      <ELEMENT Tag="req/args/gripper_ids/le" Type="STRING"/>
      <ELEMENT Tag="req/end_of_request" Type="BOOL"/>
    </XML>
  </SEND>
  <RECEIVE>
    <XML>
      <ELEMENT Tag="res/grippers/le/base_position" Type="INT"/>
      <ELEMENT Tag="res/grippers/le/cog/@x" Type="REAL"/>
      <ELEMENT Tag="res/grippers/le/cog/@y" Type="REAL"/>
      <ELEMENT Tag="res/grippers/le/cog/@z" Type="REAL"/>
      <ELEMENT Tag="res/grippers/le/custom_fingers/@type" Type="STRING"/>
      <ELEMENT Tag="res/grippers/le/custom_fingers/box/@x" Type="REAL"/>
      <ELEMENT Tag="res/grippers/le/custom_fingers/box/@y" Type="REAL"/>
      <ELEMENT Tag="res/grippers/le/custom_fingers/box/@z" Type="REAL"/>
      <ELEMENT Tag="res/grippers/le/custom_fingers/cylinder/@height" Type="REAL"/>
      <ELEMENT Tag="res/grippers/le/custom_fingers/cylinder/@radius" Type="REAL"/>
      <ELEMENT Tag="res/grippers/le/fingers" Type="STRING"/>
      <ELEMENT Tag="res/grippers/le/flange_radius" Type="REAL"/>
      <ELEMENT Tag="res/grippers/le/gripping_direction" Type="STRING"/>
      <ELEMENT Tag="res/grippers/le/id" Type="STRING"/>
      <ELEMENT Tag="res/grippers/le/payload" Type="REAL"/>
      <ELEMENT Tag="res/grippers/le/projector" Type="STRING"/>
      <ELEMENT Tag="res/grippers/le/quick_change" Type="STRING"/>
      <ELEMENT Tag="res/grippers/le/sensor_mounting" Type="STRING"/>
      <ELEMENT Tag="res/grippers/le/stroke_m" Type="REAL"/>
      <ELEMENT Tag="res/grippers/le/tcp_offset_z" Type="REAL"/>
      <ELEMENT Tag="res/grippers/le/tcp_pose_flange/@X" Type="REAL"/>
      <ELEMENT Tag="res/grippers/le/tcp_pose_flange/@Y" Type="REAL"/>
      <ELEMENT Tag="res/grippers/le/tcp_pose_flange/@Z" Type="REAL"/>
      <ELEMENT Tag="res/grippers/le/tcp_pose_flange/@A" Type="REAL"/>
      <ELEMENT Tag="res/grippers/le/tcp_pose_flange/@B" Type="REAL"/>
      <ELEMENT Tag="res/grippers/le/tcp_pose_flange/@C" Type="REAL"/>
      <ELEMENT Tag="res/grippers/le/tip_position" Type="INT"/>
      <ELEMENT Tag="res/return_code/@message" Type="STRING"/>
      <ELEMENT Tag="res/return_code/@value" Type="INT"/>
      <ELEMENT Tag="res" Set_Flag="998"/>
    </XML>
  </RECEIVE>
</ETHERNETKRL>
