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michal-milkowskimichal-milkowski
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Added all possible RTDE fileds.
Uncommented section contains typical fields representing robot state. Commented section contains all possible output values controller can provide.
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‎examples/record_configuration.xml‎

Lines changed: 318 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -21,7 +21,7 @@
2121
<field name="actual_execution_time" type="DOUBLE"/>
2222
<field name="robot_mode" type="INT32"/>
2323
<field name="joint_mode" type="VECTOR6INT32"/>
24-
<field name="safety_mode" type="INT32"/>
24+
<field name="safety_status" type="INT32"/>
2525
<field name="actual_tool_accelerometer" type="VECTOR3D"/>
2626
<field name="speed_scaling" type="DOUBLE"/>
2727
<field name="target_speed_fraction" type="DOUBLE"/>
@@ -32,12 +32,116 @@
3232
<field name="actual_joint_voltage" type="VECTOR6D"/>
3333
<field name="actual_digital_output_bits" type="UINT64"/>
3434
<field name="runtime_state" type="UINT32"/>
35+
<field name="joint_position_deviation_ratio" type="DOUBLE"/>
3536
<!--
3637
<field name="payload" type="DOUBLE"/>
3738
<field name="payload_cog" type="VECTOR3D"/>
39+
<field name="payload_inertia" type="VECTOR6D"/>
40+
<field name="ft_raw_wrench" type="VECTOR6D"/>
3841
<field name="script_control_line" type="UINT32"/>
42+
<field name="actual_current_window" type="VECTOR6D"/>
43+
<field name="elbow_position" type="VECTOR3D"/>
44+
<field name="elbow_velocity" type="VECTOR3D"/>
45+
<field name="robot_status_bits" type="UINT32"/>
46+
<field name="safety_status_bits" type="UINT32"/>
47+
<field name="safety_mode" type="INT32"/>
48+
<field name="io_current" type="DOUBLE"/>
49+
<field name="tool_mode" type="UINT32"/>
50+
<field name="tcp_force_scalar" type="DOUBLE"/>
51+
<field name="tcp_offset" type="VECTOR6D"/>
52+
53+
<field name="analog_io_types" type="UINT32"/>
54+
<field name="standard_analog_input0" type="DOUBLE"/>
55+
<field name="standard_analog_input1" type="DOUBLE"/>
56+
<field name="standard_analog_output0" type="DOUBLE"/>
57+
<field name="standard_analog_output1" type="DOUBLE"/>
58+
<field name="tool_analog_input_types" type="UINT32"/>
59+
<field name="tool_analog_input0" type="DOUBLE"/>
60+
<field name="tool_analog_input1" type="DOUBLE"/>
61+
<field name="tool_output_voltage" type="INT32"/>
62+
<field name="tool_output_current" type="DOUBLE"/>
63+
<field name="tool_temperature" type="DOUBLE"/>
64+
<field name="tool_output_mode" type="UINT8"/>
65+
<field name="tool_digital_output0_mode" type="UINT8"/>
66+
<field name="tool_digital_output1_mode" type="UINT8"/>
67+
68+
<field name="euromap67_input_bits" type="UINT32"/>
69+
<field name="euromap67_output_bits" type="UINT32"/>
70+
<field name="euromap67_24V_voltage" type="DOUBLE"/>
71+
<field name="euromap67_24V_current" type="DOUBLE"/>
72+
73+
<field name="actual_configurable_digital_input_bits" type="UINT64"/>
74+
<field name="actual_configurable_digital_output_bits" type="UINT64"/>
75+
76+
<field name="encoder0_raw" type="INT32"/>
77+
<field name="encoder1_raw" type="INT32"/>
78+
3979
<field name="output_bit_registers0_to_31" type="UINT32"/>
4080
<field name="output_bit_registers32_to_63" type="UINT32"/>
81+
<field name="output_bit_register_64" type="BOOL"/>
82+
<field name="output_bit_register_65" type="BOOL"/>
83+
<field name="output_bit_register_66" type="BOOL"/>
84+
<field name="output_bit_register_67" type="BOOL"/>
85+
<field name="output_bit_register_68" type="BOOL"/>
86+
<field name="output_bit_register_69" type="BOOL"/>
87+
<field name="output_bit_register_70" type="BOOL"/>
88+
<field name="output_bit_register_71" type="BOOL"/>
89+
<field name="output_bit_register_72" type="BOOL"/>
90+
<field name="output_bit_register_73" type="BOOL"/>
91+
<field name="output_bit_register_74" type="BOOL"/>
92+
<field name="output_bit_register_75" type="BOOL"/>
93+
<field name="output_bit_register_76" type="BOOL"/>
94+
<field name="output_bit_register_77" type="BOOL"/>
95+
<field name="output_bit_register_78" type="BOOL"/>
96+
<field name="output_bit_register_79" type="BOOL"/>
97+
<field name="output_bit_register_80" type="BOOL"/>
98+
<field name="output_bit_register_81" type="BOOL"/>
99+
<field name="output_bit_register_82" type="BOOL"/>
100+
<field name="output_bit_register_83" type="BOOL"/>
101+
<field name="output_bit_register_84" type="BOOL"/>
102+
<field name="output_bit_register_85" type="BOOL"/>
103+
<field name="output_bit_register_86" type="BOOL"/>
104+
<field name="output_bit_register_87" type="BOOL"/>
105+
<field name="output_bit_register_88" type="BOOL"/>
106+
<field name="output_bit_register_89" type="BOOL"/>
107+
<field name="output_bit_register_90" type="BOOL"/>
108+
<field name="output_bit_register_91" type="BOOL"/>
109+
<field name="output_bit_register_92" type="BOOL"/>
110+
<field name="output_bit_register_93" type="BOOL"/>
111+
<field name="output_bit_register_94" type="BOOL"/>
112+
<field name="output_bit_register_95" type="BOOL"/>
113+
<field name="output_bit_register_96" type="BOOL"/>
114+
<field name="output_bit_register_97" type="BOOL"/>
115+
<field name="output_bit_register_98" type="BOOL"/>
116+
<field name="output_bit_register_99" type="BOOL"/>
117+
<field name="output_bit_register_100" type="BOOL"/>
118+
<field name="output_bit_register_101" type="BOOL"/>
119+
<field name="output_bit_register_102" type="BOOL"/>
120+
<field name="output_bit_register_103" type="BOOL"/>
121+
<field name="output_bit_register_104" type="BOOL"/>
122+
<field name="output_bit_register_105" type="BOOL"/>
123+
<field name="output_bit_register_106" type="BOOL"/>
124+
<field name="output_bit_register_107" type="BOOL"/>
125+
<field name="output_bit_register_108" type="BOOL"/>
126+
<field name="output_bit_register_109" type="BOOL"/>
127+
<field name="output_bit_register_110" type="BOOL"/>
128+
<field name="output_bit_register_111" type="BOOL"/>
129+
<field name="output_bit_register_112" type="BOOL"/>
130+
<field name="output_bit_register_113" type="BOOL"/>
131+
<field name="output_bit_register_114" type="BOOL"/>
132+
<field name="output_bit_register_115" type="BOOL"/>
133+
<field name="output_bit_register_116" type="BOOL"/>
134+
<field name="output_bit_register_117" type="BOOL"/>
135+
<field name="output_bit_register_118" type="BOOL"/>
136+
<field name="output_bit_register_119" type="BOOL"/>
137+
<field name="output_bit_register_120" type="BOOL"/>
138+
<field name="output_bit_register_121" type="BOOL"/>
139+
<field name="output_bit_register_122" type="BOOL"/>
140+
<field name="output_bit_register_123" type="BOOL"/>
141+
<field name="output_bit_register_124" type="BOOL"/>
142+
<field name="output_bit_register_125" type="BOOL"/>
143+
<field name="output_bit_register_126" type="BOOL"/>
144+
<field name="output_bit_register_127" type="BOOL"/>
41145
42146
<field name="output_int_register_0" type="INT32"/>
43147
<field name="output_int_register_1" type="INT32"/>
@@ -63,6 +167,30 @@
63167
<field name="output_int_register_21" type="INT32"/>
64168
<field name="output_int_register_22" type="INT32"/>
65169
<field name="output_int_register_23" type="INT32"/>
170+
<field name="output_int_register_24" type="INT32"/>
171+
<field name="output_int_register_25" type="INT32"/>
172+
<field name="output_int_register_26" type="INT32"/>
173+
<field name="output_int_register_27" type="INT32"/>
174+
<field name="output_int_register_28" type="INT32"/>
175+
<field name="output_int_register_29" type="INT32"/>
176+
<field name="output_int_register_30" type="INT32"/>
177+
<field name="output_int_register_31" type="INT32"/>
178+
<field name="output_int_register_32" type="INT32"/>
179+
<field name="output_int_register_33" type="INT32"/>
180+
<field name="output_int_register_34" type="INT32"/>
181+
<field name="output_int_register_35" type="INT32"/>
182+
<field name="output_int_register_36" type="INT32"/>
183+
<field name="output_int_register_37" type="INT32"/>
184+
<field name="output_int_register_38" type="INT32"/>
185+
<field name="output_int_register_39" type="INT32"/>
186+
<field name="output_int_register_40" type="INT32"/>
187+
<field name="output_int_register_41" type="INT32"/>
188+
<field name="output_int_register_42" type="INT32"/>
189+
<field name="output_int_register_43" type="INT32"/>
190+
<field name="output_int_register_44" type="INT32"/>
191+
<field name="output_int_register_45" type="INT32"/>
192+
<field name="output_int_register_46" type="INT32"/>
193+
<field name="output_int_register_47" type="INT32"/>
66194
67195
<field name="output_double_register_0" type="DOUBLE"/>
68196
<field name="output_double_register_1" type="DOUBLE"/>
@@ -88,6 +216,195 @@
88216
<field name="output_double_register_21" type="DOUBLE"/>
89217
<field name="output_double_register_22" type="DOUBLE"/>
90218
<field name="output_double_register_23" type="DOUBLE"/>
219+
<field name="output_double_register_24" type="DOUBLE"/>
220+
<field name="output_double_register_25" type="DOUBLE"/>
221+
<field name="output_double_register_26" type="DOUBLE"/>
222+
<field name="output_double_register_27" type="DOUBLE"/>
223+
<field name="output_double_register_28" type="DOUBLE"/>
224+
<field name="output_double_register_29" type="DOUBLE"/>
225+
<field name="output_double_register_30" type="DOUBLE"/>
226+
<field name="output_double_register_31" type="DOUBLE"/>
227+
<field name="output_double_register_32" type="DOUBLE"/>
228+
<field name="output_double_register_33" type="DOUBLE"/>
229+
<field name="output_double_register_34" type="DOUBLE"/>
230+
<field name="output_double_register_35" type="DOUBLE"/>
231+
<field name="output_double_register_36" type="DOUBLE"/>
232+
<field name="output_double_register_37" type="DOUBLE"/>
233+
<field name="output_double_register_38" type="DOUBLE"/>
234+
<field name="output_double_register_39" type="DOUBLE"/>
235+
<field name="output_double_register_40" type="DOUBLE"/>
236+
<field name="output_double_register_41" type="DOUBLE"/>
237+
<field name="output_double_register_42" type="DOUBLE"/>
238+
<field name="output_double_register_43" type="DOUBLE"/>
239+
<field name="output_double_register_44" type="DOUBLE"/>
240+
<field name="output_double_register_45" type="DOUBLE"/>
241+
<field name="output_double_register_46" type="DOUBLE"/>
242+
<field name="output_double_register_47" type="DOUBLE"/>
243+
244+
<field name="input_bit_registers0_to_31" type="UINT32"/>
245+
<field name="input_bit_registers32_to_63" type="UINT32"/>
246+
<field name="input_bit_register_64" type="BOOL"/>
247+
<field name="input_bit_register_65" type="BOOL"/>
248+
<field name="input_bit_register_66" type="BOOL"/>
249+
<field name="input_bit_register_67" type="BOOL"/>
250+
<field name="input_bit_register_68" type="BOOL"/>
251+
<field name="input_bit_register_69" type="BOOL"/>
252+
<field name="input_bit_register_70" type="BOOL"/>
253+
<field name="input_bit_register_71" type="BOOL"/>
254+
<field name="input_bit_register_72" type="BOOL"/>
255+
<field name="input_bit_register_73" type="BOOL"/>
256+
<field name="input_bit_register_74" type="BOOL"/>
257+
<field name="input_bit_register_75" type="BOOL"/>
258+
<field name="input_bit_register_76" type="BOOL"/>
259+
<field name="input_bit_register_77" type="BOOL"/>
260+
<field name="input_bit_register_78" type="BOOL"/>
261+
<field name="input_bit_register_79" type="BOOL"/>
262+
<field name="input_bit_register_80" type="BOOL"/>
263+
<field name="input_bit_register_81" type="BOOL"/>
264+
<field name="input_bit_register_82" type="BOOL"/>
265+
<field name="input_bit_register_83" type="BOOL"/>
266+
<field name="input_bit_register_84" type="BOOL"/>
267+
<field name="input_bit_register_85" type="BOOL"/>
268+
<field name="input_bit_register_86" type="BOOL"/>
269+
<field name="input_bit_register_87" type="BOOL"/>
270+
<field name="input_bit_register_88" type="BOOL"/>
271+
<field name="input_bit_register_89" type="BOOL"/>
272+
<field name="input_bit_register_90" type="BOOL"/>
273+
<field name="input_bit_register_91" type="BOOL"/>
274+
<field name="input_bit_register_92" type="BOOL"/>
275+
<field name="input_bit_register_93" type="BOOL"/>
276+
<field name="input_bit_register_94" type="BOOL"/>
277+
<field name="input_bit_register_95" type="BOOL"/>
278+
<field name="input_bit_register_96" type="BOOL"/>
279+
<field name="input_bit_register_97" type="BOOL"/>
280+
<field name="input_bit_register_98" type="BOOL"/>
281+
<field name="input_bit_register_99" type="BOOL"/>
282+
<field name="input_bit_register_100" type="BOOL"/>
283+
<field name="input_bit_register_101" type="BOOL"/>
284+
<field name="input_bit_register_102" type="BOOL"/>
285+
<field name="input_bit_register_103" type="BOOL"/>
286+
<field name="input_bit_register_104" type="BOOL"/>
287+
<field name="input_bit_register_105" type="BOOL"/>
288+
<field name="input_bit_register_106" type="BOOL"/>
289+
<field name="input_bit_register_107" type="BOOL"/>
290+
<field name="input_bit_register_108" type="BOOL"/>
291+
<field name="input_bit_register_109" type="BOOL"/>
292+
<field name="input_bit_register_110" type="BOOL"/>
293+
<field name="input_bit_register_111" type="BOOL"/>
294+
<field name="input_bit_register_112" type="BOOL"/>
295+
<field name="input_bit_register_113" type="BOOL"/>
296+
<field name="input_bit_register_114" type="BOOL"/>
297+
<field name="input_bit_register_115" type="BOOL"/>
298+
<field name="input_bit_register_116" type="BOOL"/>
299+
<field name="input_bit_register_117" type="BOOL"/>
300+
<field name="input_bit_register_118" type="BOOL"/>
301+
<field name="input_bit_register_119" type="BOOL"/>
302+
<field name="input_bit_register_120" type="BOOL"/>
303+
<field name="input_bit_register_121" type="BOOL"/>
304+
<field name="input_bit_register_122" type="BOOL"/>
305+
<field name="input_bit_register_123" type="BOOL"/>
306+
<field name="input_bit_register_124" type="BOOL"/>
307+
<field name="input_bit_register_125" type="BOOL"/>
308+
<field name="input_bit_register_126" type="BOOL"/>
309+
<field name="input_bit_register_127" type="BOOL"/>
310+
311+
<field name="input_int_register_0" type="INT32"/>
312+
<field name="input_int_register_1" type="INT32"/>
313+
<field name="input_int_register_2" type="INT32"/>
314+
<field name="input_int_register_3" type="INT32"/>
315+
<field name="input_int_register_4" type="INT32"/>
316+
<field name="input_int_register_5" type="INT32"/>
317+
<field name="input_int_register_6" type="INT32"/>
318+
<field name="input_int_register_7" type="INT32"/>
319+
<field name="input_int_register_8" type="INT32"/>
320+
<field name="input_int_register_9" type="INT32"/>
321+
<field name="input_int_register_10" type="INT32"/>
322+
<field name="input_int_register_11" type="INT32"/>
323+
<field name="input_int_register_12" type="INT32"/>
324+
<field name="input_int_register_13" type="INT32"/>
325+
<field name="input_int_register_14" type="INT32"/>
326+
<field name="input_int_register_15" type="INT32"/>
327+
<field name="input_int_register_16" type="INT32"/>
328+
<field name="input_int_register_17" type="INT32"/>
329+
<field name="input_int_register_18" type="INT32"/>
330+
<field name="input_int_register_19" type="INT32"/>
331+
<field name="input_int_register_20" type="INT32"/>
332+
<field name="input_int_register_21" type="INT32"/>
333+
<field name="input_int_register_22" type="INT32"/>
334+
<field name="input_int_register_23" type="INT32"/>
335+
<field name="input_int_register_24" type="INT32"/>
336+
<field name="input_int_register_25" type="INT32"/>
337+
<field name="input_int_register_26" type="INT32"/>
338+
<field name="input_int_register_27" type="INT32"/>
339+
<field name="input_int_register_28" type="INT32"/>
340+
<field name="input_int_register_29" type="INT32"/>
341+
<field name="input_int_register_30" type="INT32"/>
342+
<field name="input_int_register_31" type="INT32"/>
343+
<field name="input_int_register_32" type="INT32"/>
344+
<field name="input_int_register_33" type="INT32"/>
345+
<field name="input_int_register_34" type="INT32"/>
346+
<field name="input_int_register_35" type="INT32"/>
347+
<field name="input_int_register_36" type="INT32"/>
348+
<field name="input_int_register_37" type="INT32"/>
349+
<field name="input_int_register_38" type="INT32"/>
350+
<field name="input_int_register_39" type="INT32"/>
351+
<field name="input_int_register_40" type="INT32"/>
352+
<field name="input_int_register_41" type="INT32"/>
353+
<field name="input_int_register_42" type="INT32"/>
354+
<field name="input_int_register_43" type="INT32"/>
355+
<field name="input_int_register_44" type="INT32"/>
356+
<field name="input_int_register_45" type="INT32"/>
357+
<field name="input_int_register_46" type="INT32"/>
358+
<field name="input_int_register_47" type="INT32"/>
359+
360+
<field name="input_double_register_0" type="DOUBLE"/>
361+
<field name="input_double_register_1" type="DOUBLE"/>
362+
<field name="input_double_register_2" type="DOUBLE"/>
363+
<field name="input_double_register_3" type="DOUBLE"/>
364+
<field name="input_double_register_4" type="DOUBLE"/>
365+
<field name="input_double_register_5" type="DOUBLE"/>
366+
<field name="input_double_register_6" type="DOUBLE"/>
367+
<field name="input_double_register_7" type="DOUBLE"/>
368+
<field name="input_double_register_8" type="DOUBLE"/>
369+
<field name="input_double_register_9" type="DOUBLE"/>
370+
<field name="input_double_register_10" type="DOUBLE"/>
371+
<field name="input_double_register_11" type="DOUBLE"/>
372+
<field name="input_double_register_12" type="DOUBLE"/>
373+
<field name="input_double_register_13" type="DOUBLE"/>
374+
<field name="input_double_register_14" type="DOUBLE"/>
375+
<field name="input_double_register_15" type="DOUBLE"/>
376+
<field name="input_double_register_16" type="DOUBLE"/>
377+
<field name="input_double_register_17" type="DOUBLE"/>
378+
<field name="input_double_register_18" type="DOUBLE"/>
379+
<field name="input_double_register_19" type="DOUBLE"/>
380+
<field name="input_double_register_20" type="DOUBLE"/>
381+
<field name="input_double_register_21" type="DOUBLE"/>
382+
<field name="input_double_register_22" type="DOUBLE"/>
383+
<field name="input_double_register_23" type="DOUBLE"/>
384+
<field name="input_double_register_24" type="DOUBLE"/>
385+
<field name="input_double_register_25" type="DOUBLE"/>
386+
<field name="input_double_register_26" type="DOUBLE"/>
387+
<field name="input_double_register_27" type="DOUBLE"/>
388+
<field name="input_double_register_28" type="DOUBLE"/>
389+
<field name="input_double_register_29" type="DOUBLE"/>
390+
<field name="input_double_register_30" type="DOUBLE"/>
391+
<field name="input_double_register_31" type="DOUBLE"/>
392+
<field name="input_double_register_32" type="DOUBLE"/>
393+
<field name="input_double_register_33" type="DOUBLE"/>
394+
<field name="input_double_register_34" type="DOUBLE"/>
395+
<field name="input_double_register_35" type="DOUBLE"/>
396+
<field name="input_double_register_36" type="DOUBLE"/>
397+
<field name="input_double_register_37" type="DOUBLE"/>
398+
<field name="input_double_register_38" type="DOUBLE"/>
399+
<field name="input_double_register_39" type="DOUBLE"/>
400+
<field name="input_double_register_40" type="DOUBLE"/>
401+
<field name="input_double_register_41" type="DOUBLE"/>
402+
<field name="input_double_register_42" type="DOUBLE"/>
403+
<field name="input_double_register_43" type="DOUBLE"/>
404+
<field name="input_double_register_44" type="DOUBLE"/>
405+
<field name="input_double_register_45" type="DOUBLE"/>
406+
<field name="input_double_register_46" type="DOUBLE"/>
407+
<field name="input_double_register_47" type="DOUBLE"/>
91408
-->
92409
</recipe>
93410
</rtde_config>

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