diff --git a/include/ur_client_library/ur/ur_driver.h b/include/ur_client_library/ur/ur_driver.h
index 15a4fd25..a78b196c 100644
--- a/include/ur_client_library/ur/ur_driver.h
+++ b/include/ur_client_library/ur/ur_driver.h
@@ -52,10 +52,12 @@ namespace urcl
  */
 struct UrDriverConfiguration
 {
-  std::string robot_ip;            //!< IP-address under which the robot is reachable.
-  std::string script_file;         //!< URScript file that should be sent to the robot.
-  std::string output_recipe_file;  //!< Filename where the output recipe is stored in.
-  std::string input_recipe_file;   //!< Filename where the input recipe is stored in.
+  std::string robot_ip;                    //!< IP-address under which the robot is reachable.
+  std::string script_file;                 //!< URScript file that should be sent to the robot.
+  std::string output_recipe_file;          //!< Filename where the output recipe is stored in.
+  std::string input_recipe_file;           //!< Filename where the input recipe is stored in.
+  std::vector<std::string> output_recipe;  //!< Vector with the output recipe fields.
+  std::vector<std::string> input_recipe;   //!< Vector with the input recipe fields.
 
   /*!
    * \brief Function handle to a callback on program state changes.
diff --git a/src/ur/ur_driver.cpp b/src/ur/ur_driver.cpp
index e860722e..9fc63601 100644
--- a/src/ur/ur_driver.cpp
+++ b/src/ur/ur_driver.cpp
@@ -76,8 +76,11 @@ void UrDriver::init(const UrDriverConfiguration& config)
 
   URCL_LOG_DEBUG("Initializing urdriver");
   URCL_LOG_DEBUG("Initializing RTDE client");
-  rtde_client_.reset(
-      new rtde_interface::RTDEClient(robot_ip_, notifier_, config.output_recipe_file, config.input_recipe_file));
+  if (config.output_recipe_file.empty() && config.input_recipe_file.empty())
+    rtde_client_.reset(new rtde_interface::RTDEClient(robot_ip_, notifier_, config.output_recipe, config.input_recipe));
+  else
+    rtde_client_.reset(
+        new rtde_interface::RTDEClient(robot_ip_, notifier_, config.output_recipe_file, config.input_recipe_file));
 
   primary_client_.reset(new urcl::primary_interface::PrimaryClient(robot_ip_, notifier_));