control_loop_configuration.xml

<?xml version="1.0"?>
<rtde_config>
	<recipe key="state">
		<field name="runtime_state" type="UINT32"/>
		<field name="actual_q" type="VECTOR6D"/>
		<field name="actual_TCP_force" type="VECTOR6D"/>
		<field name="actual_TCP_pose" type="VECTOR6D"/>
		<field name="actual_TCP_speed" type="VECTOR6D"/>
		<field name="output_bit_registers0_to_31" type="UINT32"/>
		<field name="output_int_register_0" 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"/>
	</recipe>

	<recipe key="setp">
		<field name="input_double_register_0" type="DOUBLE"/>
		<field name="input_double_register_1" type="DOUBLE"/>
		<field name="input_double_register_2" type="DOUBLE"/>
		<field name="input_double_register_3" type="DOUBLE"/>
		<field name="input_double_register_4" type="DOUBLE"/>
		<field name="input_double_register_5" type="DOUBLE"/>
		<field name="input_bit_registers0_to_31" type="UINT32"/>
	</recipe>

	<recipe key="watchdog">
		<field name="input_int_register_0" type="INT32"/>
	</recipe>

</rtde_config>