Logon to your ESX host and run the following command to map a physical disk to a rdm file in the folder where you VM is located:
vmkfstools -r /vmfs/devices/disks/naa.XXXXXXXXXXXXXXXXXXXXXXXXX rdm1.vmdk
Edit your VMX file to point to the newly created RDM disk:
scsi0:2.present = "TRUE"
scsi0:2.deviceType = "scsi-hardDisk"
scsi0:2.fileName = "rdm1.vmdk"
scsi0:2.mode = "independent-persistent"
scsi0:2.redo = ""