<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_itempick" Type="STRING"/>
      <ELEMENT Tag="req/parameters/allow_any_grasp_pose/@value" Type="BOOL"/>
      <ELEMENT Tag="req/parameters/allow_any_grasp_z_rotation/@value" Type="BOOL"/>
      <ELEMENT Tag="req/parameters/check_collisions_with_point_cloud/@value" Type="BOOL"/>
      <ELEMENT Tag="req/parameters/cluster_max_curvature/@value" Type="REAL"/>
      <ELEMENT Tag="req/parameters/cluster_max_dimension/@value" Type="REAL"/>
      <ELEMENT Tag="req/parameters/clustering_discontinuity_factor/@value" Type="REAL"/>
      <ELEMENT Tag="req/parameters/clustering_max_surface_rmse/@value" Type="REAL"/>
      <ELEMENT Tag="req/parameters/clustering_patch_size/@value" Type="INT"/>
      <ELEMENT Tag="req/parameters/grasp_filter_orientation_threshold/@value" Type="REAL"/>
      <ELEMENT Tag="req/parameters/max_grasps/@value" Type="INT"/>
      <ELEMENT Tag="req/end_of_request" Type="BOOL"/>
    </XML>
  </SEND>
  <RECEIVE>
    <XML>
      <ELEMENT Tag="res/parameters/allow_any_grasp_pose/@value" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/allow_any_grasp_pose/@default" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/allow_any_grasp_pose/@min" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/allow_any_grasp_pose/@max" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/allow_any_grasp_z_rotation/@value" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/allow_any_grasp_z_rotation/@default" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/allow_any_grasp_z_rotation/@min" Type="BOOL"/>
      <ELEMENT Tag="res/parameters/allow_any_grasp_z_rotation/@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/cluster_max_curvature/@value" Type="REAL"/>
      <ELEMENT Tag="res/parameters/cluster_max_curvature/@default" Type="REAL"/>
      <ELEMENT Tag="res/parameters/cluster_max_curvature/@min" Type="REAL"/>
      <ELEMENT Tag="res/parameters/cluster_max_curvature/@max" Type="REAL"/>
      <ELEMENT Tag="res/parameters/cluster_max_dimension/@value" Type="REAL"/>
      <ELEMENT Tag="res/parameters/cluster_max_dimension/@default" Type="REAL"/>
      <ELEMENT Tag="res/parameters/cluster_max_dimension/@min" Type="REAL"/>
      <ELEMENT Tag="res/parameters/cluster_max_dimension/@max" Type="REAL"/>
      <ELEMENT Tag="res/parameters/clustering_discontinuity_factor/@value" Type="REAL"/>
      <ELEMENT Tag="res/parameters/clustering_discontinuity_factor/@default" Type="REAL"/>
      <ELEMENT Tag="res/parameters/clustering_discontinuity_factor/@min" Type="REAL"/>
      <ELEMENT Tag="res/parameters/clustering_discontinuity_factor/@max" Type="REAL"/>
      <ELEMENT Tag="res/parameters/clustering_max_surface_rmse/@value" Type="REAL"/>
      <ELEMENT Tag="res/parameters/clustering_max_surface_rmse/@default" Type="REAL"/>
      <ELEMENT Tag="res/parameters/clustering_max_surface_rmse/@min" Type="REAL"/>
      <ELEMENT Tag="res/parameters/clustering_max_surface_rmse/@max" Type="REAL"/>
      <ELEMENT Tag="res/parameters/clustering_patch_size/@value" Type="INT"/>
      <ELEMENT Tag="res/parameters/clustering_patch_size/@default" Type="INT"/>
      <ELEMENT Tag="res/parameters/clustering_patch_size/@min" Type="INT"/>
      <ELEMENT Tag="res/parameters/clustering_patch_size/@max" Type="INT"/>
      <ELEMENT Tag="res/parameters/grasp_filter_orientation_threshold/@value" Type="REAL"/>
      <ELEMENT Tag="res/parameters/grasp_filter_orientation_threshold/@default" Type="REAL"/>
      <ELEMENT Tag="res/parameters/grasp_filter_orientation_threshold/@min" Type="REAL"/>
      <ELEMENT Tag="res/parameters/grasp_filter_orientation_threshold/@max" Type="REAL"/>
      <ELEMENT Tag="res/parameters/max_grasps/@value" Type="INT"/>
      <ELEMENT Tag="res/parameters/max_grasps/@default" Type="INT"/>
      <ELEMENT Tag="res/parameters/max_grasps/@min" Type="INT"/>
      <ELEMENT Tag="res/parameters/max_grasps/@max" Type="INT"/>
      <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>
