Modifying RobotML profile: state machine transitions and states

reference UML bahaviors instead of Algorithms.
The RobotML OARPS models were modified in order to be compliant with the
new version of the profile.

7 files changed, 711 insertions, 778 deletions

diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.di b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.di
index 9a5f9fcfab9..9fb07f4ec5d 100644
--- a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.di
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.di
@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="ASCII"?>
+<?xml version="1.0" encoding="UTF-8"?>
 <di:SashWindowsMngr xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:di="http://www.eclipse.org/papyrus/0.7.0/sashdi">
   <pageList>
     <availablePage>
@@ -107,6 +107,9 @@
         <children>
           <emfPageIdentifier href="RoboCab.notation#_OCVFkBwAEeGa5bH_RJFzBQ"/>
         </children>
+        <children>
+          <emfPageIdentifier href="RoboCab.notation#_EKbpcEK6EeGv-54Wm4mRWQ"/>
+        </children>
       </children>
     </windows>
   </sashModel>
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.notation b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.notation
index 3614ede3cd3..8c559b47f73 100644
--- a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.notation
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.notation
@@ -941,56 +941,6 @@
       <element xmi:type="uml:Class" href="RoboCab.uml#_ypiFMDUpEeG5pL_fpN2DgQ"/>
       <layoutConstraint xmi:type="notation:Bounds" xmi:id="_yp4DcTUpEeG5pL_fpN2DgQ" x="1930" y="30" width="166" height="121"/>
     </children>
-    <children xmi:type="notation:Shape" xmi:id="_g16zUGeiEeGWtaOO91qxRQ" type="2073" fontHeight="8" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_g16zUmeiEeGWtaOO91qxRQ" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_g16zU2eiEeGWtaOO91qxRQ" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_g16zVGeiEeGWtaOO91qxRQ" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_g16zVWeiEeGWtaOO91qxRQ" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_g16zVmeiEeGWtaOO91qxRQ" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_g16zV2eiEeGWtaOO91qxRQ" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_g2XfQGeiEeGWtaOO91qxRQ" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_g3jyEGeiEeGWtaOO91qxRQ" key="StereotypeWithQualifiedNameList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_g3jyEWeiEeGWtaOO91qxRQ" key="StereotypeList" value="RobotML::LidarSystem"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_g3jyEmeiEeGWtaOO91qxRQ" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_g3jyE2eiEeGWtaOO91qxRQ" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_g3jyFGeiEeGWtaOO91qxRQ" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_g16zWGeiEeGWtaOO91qxRQ" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_g16zWWeiEeGWtaOO91qxRQ" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_g16zWmeiEeGWtaOO91qxRQ"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_g16zW2eiEeGWtaOO91qxRQ"/>
-      </children>
-      <element xmi:type="uml:Class" href="RoboCab.uml#_g1eucGeiEeGWtaOO91qxRQ"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_g16zUWeiEeGWtaOO91qxRQ" x="338" y="313"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_hfWK0GeiEeGWtaOO91qxRQ" type="2073" fontHeight="8" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_hfWK0meiEeGWtaOO91qxRQ" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_hfWK02eiEeGWtaOO91qxRQ" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_hff70GeiEeGWtaOO91qxRQ" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_hff70WeiEeGWtaOO91qxRQ" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_hff70meiEeGWtaOO91qxRQ" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_hff702eiEeGWtaOO91qxRQ" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_hfy2wGeiEeGWtaOO91qxRQ" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_hg1YkGeiEeGWtaOO91qxRQ" key="StereotypeWithQualifiedNameList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_hg1YkWeiEeGWtaOO91qxRQ" key="StereotypeList" value="RobotML::GPSSystem"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_hg1YkmeiEeGWtaOO91qxRQ" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_hg1Yk2eiEeGWtaOO91qxRQ" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_hg1YlGeiEeGWtaOO91qxRQ" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_hff71GeiEeGWtaOO91qxRQ" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_hff71WeiEeGWtaOO91qxRQ" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_hff71meiEeGWtaOO91qxRQ"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_hff712eiEeGWtaOO91qxRQ"/>
-      </children>
-      <element xmi:type="uml:Class" href="RoboCab.uml#_hfDP4GeiEeGWtaOO91qxRQ"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_hfWK0WeiEeGWtaOO91qxRQ" x="505" y="314"/>
-    </children>
     <styles xmi:type="notation:DiagramStyle" xmi:id="_feP4-6k_EeCXqcRV-18f6Q"/>
     <element xmi:type="uml:Model" href="RoboCab.uml#_fdzJWak_EeCXqcRV-18f6Q"/>
   </notation:Diagram>
@@ -5102,13 +5052,13 @@
                 <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_13Le5EK8EeGv-54Wm4mRWQ" key="StereotypePropertyLocation" value="Compartment"/>
               </eAnnotations>
               <children xmi:type="notation:DecorationNode" xmi:id="_M9y8hkK6EeGv-54Wm4mRWQ" type="6001">
-                <layoutConstraint xmi:type="notation:Bounds" xmi:id="_IX0lAEK8EeGv-54Wm4mRWQ" width="191" height="81"/>
+                <layoutConstraint xmi:type="notation:Bounds" xmi:id="_IX0lAEK8EeGv-54Wm4mRWQ" width="191" height="73"/>
               </children>
               <children xmi:type="notation:DecorationNode" xmi:id="_M9y8h0K6EeGv-54Wm4mRWQ" type="6002">
-                <layoutConstraint xmi:type="notation:Bounds" xmi:id="_M9y8iEK6EeGv-54Wm4mRWQ" y="81" width="191" height="87"/>
+                <layoutConstraint xmi:type="notation:Bounds" xmi:id="_M9y8iEK6EeGv-54Wm4mRWQ" y="73" width="191" height="87"/>
               </children>
               <element xmi:type="uml:State" href="RoboCab.uml#_M9id0EK6EeGv-54Wm4mRWQ"/>
-              <layoutConstraint xmi:type="notation:Bounds" xmi:id="_M9yVcUK6EeGv-54Wm4mRWQ" x="35" y="262" width="191" height="168"/>
+              <layoutConstraint xmi:type="notation:Bounds" xmi:id="_M9yVcUK6EeGv-54Wm4mRWQ" x="35" y="262" width="191" height="160"/>
             </children>
             <children xmi:type="notation:Shape" xmi:id="_AsIEoEK8EeGv-54Wm4mRWQ" type="6000" fontName="UnBatang" lineColor="0">
               <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_AsIEokK8EeGv-54Wm4mRWQ" source="ShadowFigure">
@@ -5128,13 +5078,13 @@
                 <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uHIC9EK8EeGv-54Wm4mRWQ" key="StereotypePropertyLocation" value="Compartment"/>
               </eAnnotations>
               <children xmi:type="notation:DecorationNode" xmi:id="_AsIrtUK8EeGv-54Wm4mRWQ" type="6001">
-                <layoutConstraint xmi:type="notation:Bounds" xmi:id="_NsoGgEK8EeGv-54Wm4mRWQ" width="196" height="81"/>
+                <layoutConstraint xmi:type="notation:Bounds" xmi:id="_NsoGgEK8EeGv-54Wm4mRWQ" width="196" height="73"/>
               </children>
               <children xmi:type="notation:DecorationNode" xmi:id="_AsIrtkK8EeGv-54Wm4mRWQ" type="6002">
-                <layoutConstraint xmi:type="notation:Bounds" xmi:id="_AsIrt0K8EeGv-54Wm4mRWQ" y="81" width="196" height="84"/>
+                <layoutConstraint xmi:type="notation:Bounds" xmi:id="_AsIrt0K8EeGv-54Wm4mRWQ" y="73" width="196" height="84"/>
               </children>
               <element xmi:type="uml:State" href="RoboCab.uml#_Ar40EEK8EeGv-54Wm4mRWQ"/>
-              <layoutConstraint xmi:type="notation:Bounds" xmi:id="_AsIEoUK8EeGv-54Wm4mRWQ" x="295" y="17" width="196" height="165"/>
+              <layoutConstraint xmi:type="notation:Bounds" xmi:id="_AsIEoUK8EeGv-54Wm4mRWQ" x="295" y="17" width="196" height="157"/>
             </children>
             <children xmi:type="notation:Shape" xmi:id="_Pv0GQEK8EeGv-54Wm4mRWQ" type="6000" fontName="Ubuntu" lineColor="0">
               <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Pv0GQkK8EeGv-54Wm4mRWQ" source="ShadowFigure">
@@ -5154,13 +5104,13 @@
                 <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_s3hcREK8EeGv-54Wm4mRWQ" key="StereotypePropertyLocation" value="Compartment"/>
               </eAnnotations>
               <children xmi:type="notation:DecorationNode" xmi:id="_Pv0GSEK8EeGv-54Wm4mRWQ" type="6001">
-                <layoutConstraint xmi:type="notation:Bounds" xmi:id="_kYurAEK8EeGv-54Wm4mRWQ" width="191" height="81"/>
+                <layoutConstraint xmi:type="notation:Bounds" xmi:id="_kYurAEK8EeGv-54Wm4mRWQ" width="191" height="73"/>
               </children>
               <children xmi:type="notation:DecorationNode" xmi:id="_Pv0tUEK8EeGv-54Wm4mRWQ" type="6002">
-                <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Pv0tUUK8EeGv-54Wm4mRWQ" y="81" width="191" height="91"/>
+                <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Pv0tUUK8EeGv-54Wm4mRWQ" y="73" width="191" height="91"/>
               </children>
               <element xmi:type="uml:State" href="RoboCab.uml#_PvjnkEK8EeGv-54Wm4mRWQ"/>
-              <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Pv0GQUK8EeGv-54Wm4mRWQ" x="545" y="262" width="191" height="172"/>
+              <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Pv0GQUK8EeGv-54Wm4mRWQ" x="545" y="262" width="191" height="164"/>
             </children>
             <children xmi:type="notation:Shape" xmi:id="_exomkGLwEeGQvv5wJEmGUQ" type="8000" fontHeight="8" lineColor="0">
               <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_exomkmLwEeGQvv5wJEmGUQ" source="ShadowFigure">
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.uml b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.uml
index 1ad731af7cc..0940a60e0af 100644
--- a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.uml
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.uml
@@ -1,207 +1,207 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <xmi:XMI xmi:version="2.1" xmlns:xmi="http://schema.omg.org/spec/XMI/2.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:Blocks="http://www.eclipse.org/papyrus/0.7.0/SysML/Blocks" xmlns:RobotML="http://Papyrus/RobotML/1" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:uml="http://www.eclipse.org/uml2/4.0.0/UML" xsi:schemaLocation="http://www.eclipse.org/papyrus/0.7.0/SysML/Blocks http://www.eclipse.org/papyrus/0.7.0/SysML#//blocks">
   <uml:Model xmi:id="_fdzI0Kk_EeCXqcRV-18f6Q" name="RoboCab">
-    <packageImport xmi:id="__Xbz4Kk_EeCYaYi0hzq5kg">
-      <importedPackage href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_dt_y4AHtEeCQQOKrhO_fIQ"/>
+    <packageImport xmi:type="uml:PackageImport" xmi:id="__Xbz4Kk_EeCYaYi0hzq5kg">
+      <importedPackage xmi:type="uml:Package" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_dt_y4AHtEeCQQOKrhO_fIQ"/>
     </packageImport>
     <packagedElement xmi:type="uml:Model" xmi:id="_fdzI0ak_EeCXqcRV-18f6Q" name="CoreModel">
       <packagedElement xmi:type="uml:Class" xmi:id="_fdzI0qk_EeCXqcRV-18f6Q" name="RoboCab">
-        <ownedAttribute xmi:id="_fdzI16k_EeCXqcRV-18f6Q" name="landis" visibility="public" type="_fdzJZ6k_EeCXqcRV-18f6Q" aggregation="composite">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzI16k_EeCXqcRV-18f6Q" name="landis" visibility="public" type="_fdzJZ6k_EeCXqcRV-18f6Q" aggregation="composite">
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzI2ak_EeCXqcRV-18f6Q" value="1"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzI2Kk_EeCXqcRV-18f6Q" value="1"/>
           <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzI2qk_EeCXqcRV-18f6Q">
             <value xsi:nil="true"/>
           </defaultValue>
         </ownedAttribute>
-        <ownedAttribute xmi:id="_BE-egKlmEeCLku4RFrI7uw" name="missionGenerator" type="_aG5SkKlgEeCYfbnxVSyZ9g"/>
-        <ownedAttribute xmi:id="_bsDDwKlmEeCLku4RFrI7uw" name="organizeSpace" type="_fdzJyKk_EeCXqcRV-18f6Q"/>
-        <ownedAttribute xmi:id="_kbbj0BwnEeGa5bH_RJFzBQ" name="challengerSpace" type="_fdzLHak_EeCXqcRV-18f6Q">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_BE-egKlmEeCLku4RFrI7uw" name="missionGenerator" type="_aG5SkKlgEeCYfbnxVSyZ9g"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_bsDDwKlmEeCLku4RFrI7uw" name="organizeSpace" type="_fdzJyKk_EeCXqcRV-18f6Q"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_kbbj0BwnEeGa5bH_RJFzBQ" name="challengerSpace" type="_fdzLHak_EeCXqcRV-18f6Q">
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_kbfOMBwnEeGa5bH_RJFzBQ" value="1"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_kbgcUBwnEeGa5bH_RJFzBQ" value="1"/>
         </ownedAttribute>
-        <ownedAttribute xmi:id="_7PWh8B8kEeG4gPCEznVNOA" name="stereoPair" type="_fdzJgak_EeCXqcRV-18f6Q"/>
-        <ownedAttribute xmi:id="_NJdXEB8lEeG4gPCEznVNOA" name="frontCamera" type="_ef5gsKlAEeCYaYi0hzq5kg"/>
-        <ownedAttribute xmi:id="_OENvIB8lEeG4gPCEznVNOA" name="rearCamera" type="_lHqboDUpEeG5pL_fpN2DgQ"/>
-        <ownedAttribute xmi:id="_94cOoB8lEeG4gPCEznVNOA" name="wideCam" type="_ypiFMDUpEeG5pL_fpN2DgQ"/>
-        <ownedAttribute xmi:id="_KdDxgB9BEeGetOLfkLNwfg" name="ublox" type="_fdzJdKk_EeCXqcRV-18f6Q"/>
-        <ownedAttribute xmi:id="_YLTDIB9BEeGetOLfkLNwfg" name="odometry" type="_5rrL4B8oEeG4gPCEznVNOA"/>
-        <ownedAttribute xmi:id="_A68QIB9DEeGetOLfkLNwfg" name="lms" type="_fdzJWqk_EeCXqcRV-18f6Q"/>
-        <ownedConnector xmi:id="_k82NkB9CEeGetOLfkLNwfg" name="Connector1">
-          <end xmi:id="_k82NkR9CEeGetOLfkLNwfg" partWithPort="_BE-egKlmEeCLku4RFrI7uw" role="_cPiaEKlgEeCYfbnxVSyZ9g">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_7PWh8B8kEeG4gPCEznVNOA" name="stereoPair" type="_fdzJgak_EeCXqcRV-18f6Q"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_NJdXEB8lEeG4gPCEznVNOA" name="frontCamera" type="_ef5gsKlAEeCYaYi0hzq5kg"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_OENvIB8lEeG4gPCEznVNOA" name="rearCamera" type="_lHqboDUpEeG5pL_fpN2DgQ"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_94cOoB8lEeG4gPCEznVNOA" name="wideCam" type="_ypiFMDUpEeG5pL_fpN2DgQ"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_KdDxgB9BEeGetOLfkLNwfg" name="ublox" type="_fdzJdKk_EeCXqcRV-18f6Q"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_YLTDIB9BEeGetOLfkLNwfg" name="odometry" type="_5rrL4B8oEeG4gPCEznVNOA"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_A68QIB9DEeGetOLfkLNwfg" name="lms" type="_fdzJWqk_EeCXqcRV-18f6Q"/>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k82NkB9CEeGetOLfkLNwfg" name="Connector1">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k82NkR9CEeGetOLfkLNwfg" partWithPort="_BE-egKlmEeCLku4RFrI7uw" role="_cPiaEKlgEeCYfbnxVSyZ9g">
             <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k82Nkx9CEeGetOLfkLNwfg" value="1"/>
             <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k82Nkh9CEeGetOLfkLNwfg" value="1"/>
           </end>
-          <end xmi:id="_k820oB9CEeGetOLfkLNwfg" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_fdzLNqk_EeCXqcRV-18f6Q">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k820oB9CEeGetOLfkLNwfg" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_fdzLNqk_EeCXqcRV-18f6Q">
             <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k820oh9CEeGetOLfkLNwfg" value="1"/>
             <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k820oR9CEeGetOLfkLNwfg" value="1"/>
           </end>
         </ownedConnector>
-        <ownedConnector xmi:id="_myDbsB9CEeGetOLfkLNwfg" name="Connector2">
-          <end xmi:id="_myDbsR9CEeGetOLfkLNwfg" partWithPort="_BE-egKlmEeCLku4RFrI7uw" role="_cPiaEKlgEeCYfbnxVSyZ9g">
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_myDbsB9CEeGetOLfkLNwfg" name="Connector2">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_myDbsR9CEeGetOLfkLNwfg" partWithPort="_BE-egKlmEeCLku4RFrI7uw" role="_cPiaEKlgEeCYfbnxVSyZ9g">
             <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_myDbsx9CEeGetOLfkLNwfg" value="1"/>
             <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_myDbsh9CEeGetOLfkLNwfg" value="1"/>
           </end>
-          <end xmi:id="_myECwB9CEeGetOLfkLNwfg" partWithPort="_bsDDwKlmEeCLku4RFrI7uw" role="_00caYB8sEeG4gPCEznVNOA">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_myECwB9CEeGetOLfkLNwfg" partWithPort="_bsDDwKlmEeCLku4RFrI7uw" role="_00caYB8sEeG4gPCEznVNOA">
             <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_myECwh9CEeGetOLfkLNwfg" value="1"/>
             <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_myECwR9CEeGetOLfkLNwfg" value="1"/>
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+          <end xmi:type="uml:ConnectorEnd" xmi:id="_ovKQVDU1EeG5pL_fpN2DgQ" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_3wKcQDUzEeG5pL_fpN2DgQ">
             <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_ovKQVjU1EeG5pL_fpN2DgQ" value="1"/>
             <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_ovKQVTU1EeG5pL_fpN2DgQ" value="1"/>
           </end>
         </ownedConnector>
-        <ownedConnector xmi:id="_1kW5UEHnEeGGXpGscpkjdg" name="Connector20">
-          <end xmi:id="_1kXgYEHnEeGGXpGscpkjdg" partWithPort="_OENvIB8lEeG4gPCEznVNOA" role="_lpqYsKlAEeCYaYi0hzq5kg">
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_1kW5UEHnEeGGXpGscpkjdg" name="Connector20">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_1kXgYEHnEeGGXpGscpkjdg" partWithPort="_OENvIB8lEeG4gPCEznVNOA" role="_lpqYsKlAEeCYaYi0hzq5kg">
             <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_1kXgYkHnEeGGXpGscpkjdg" value="1"/>
             <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_1kXgYUHnEeGGXpGscpkjdg" value="1"/>
           </end>
-          <end xmi:id="_1kYHcEHnEeGGXpGscpkjdg" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_WC5TkB8-EeGetOLfkLNwfg">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_1kYHcEHnEeGGXpGscpkjdg" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_WC5TkB8-EeGetOLfkLNwfg">
             <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_1kYHckHnEeGGXpGscpkjdg" value="1"/>
             <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_1kYHcUHnEeGGXpGscpkjdg" value="1"/>
           </end>
         </ownedConnector>
-        <ownedConnector xmi:id="_3mcF0EHnEeGGXpGscpkjdg" name="Connector21">
-          <end xmi:id="_3mcs4EHnEeGGXpGscpkjdg" partWithPort="_94cOoB8lEeG4gPCEznVNOA" role="_lpqYsKlAEeCYaYi0hzq5kg">
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_3mcF0EHnEeGGXpGscpkjdg" name="Connector21">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_3mcs4EHnEeGGXpGscpkjdg" partWithPort="_94cOoB8lEeG4gPCEznVNOA" role="_lpqYsKlAEeCYaYi0hzq5kg">
             <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_3mcs4kHnEeGGXpGscpkjdg" value="1"/>
             <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_3mcs4UHnEeGGXpGscpkjdg" value="1"/>
           </end>
-          <end xmi:id="_3mcs40HnEeGGXpGscpkjdg" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_a8AXkB8-EeGetOLfkLNwfg">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_3mcs40HnEeGGXpGscpkjdg" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_a8AXkB8-EeGetOLfkLNwfg">
             <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_3mcs5UHnEeGGXpGscpkjdg" value="1"/>
             <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_3mcs5EHnEeGGXpGscpkjdg" value="1"/>
           </end>
@@ -209,59 +209,59 @@
       </packagedElement>
       <packagedElement xmi:type="uml:Model" xmi:id="_fdzJQak_EeCXqcRV-18f6Q" name="RoboCab Datatypes">
         <packagedElement xmi:type="uml:DataType" xmi:id="_pf4OwKlgEeCYfbnxVSyZ9g" name="Goal">
-          <ownedAttribute xmi:id="_rg65cKlgEeCYfbnxVSyZ9g" name="position">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_rg65cKlgEeCYfbnxVSyZ9g" name="position">
             <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_lZ5bYKlhEeC0sZu-_Vgeyw"/>
           </ownedAttribute>
-          <ownedAttribute xmi:id="_YvxcsKliEeCLku4RFrI7uw" name="position_err">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_YvxcsKliEeCLku4RFrI7uw" name="position_err">
             <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotmlPlatformLibraries.uml#_lZ5bYKlhEeC0sZu-_Vgeyw"/>
           </ownedAttribute>
         </packagedElement>
         <packagedElement xmi:type="uml:DataType" xmi:id="_0y-5sKlrEeCLku4RFrI7uw" name="PathDeviation">
-          <ownedAttribute xmi:id="_36grUKlrEeCLku4RFrI7uw" name="lateral">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_36grUKlrEeCLku4RFrI7uw" name="lateral">
             <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
           </ownedAttribute>
-          <ownedAttribute xmi:id="_8L9SYKlrEeCLku4RFrI7uw" name="angular">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_8L9SYKlrEeCLku4RFrI7uw" name="angular">
             <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
           </ownedAttribute>
         </packagedElement>
         <packagedElement xmi:type="uml:DataType" xmi:id="_m-wp8KltEeCLku4RFrI7uw" name="PathDefinition">
-          <ownedAttribute xmi:id="_uMjGUKltEeCLku4RFrI7uw" name="origine">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_uMjGUKltEeCLku4RFrI7uw" name="origine">
             <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_lZ5bYKlhEeC0sZu-_Vgeyw"/>
           </ownedAttribute>
-          <ownedAttribute xmi:id="_5CNBQKltEeCLku4RFrI7uw" name="curvature">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_5CNBQKltEeCLku4RFrI7uw" name="curvature">
             <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
           </ownedAttribute>
         </packagedElement>
         <packagedElement xmi:type="uml:DataType" xmi:id="_rye5YB8mEeG4gPCEznVNOA" name="CarLikeOdometry">
-          <ownedAttribute xmi:id="_9y7AAB8mEeG4gPCEznVNOA" name="rearLeftWheel">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_9y7AAB8mEeG4gPCEznVNOA" name="rearLeftWheel">
             <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
             <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_9zBtsB8mEeG4gPCEznVNOA" value="1"/>
             <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_9zDi4B8mEeG4gPCEznVNOA" value="1"/>
           </ownedAttribute>
-          <ownedAttribute xmi:id="_LR0OEB8nEeG4gPCEznVNOA" name="rearRightWheel">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_LR0OEB8nEeG4gPCEznVNOA" name="rearRightWheel">
             <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
             <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_LR2DQB8nEeG4gPCEznVNOA" value="1"/>
             <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_LR34cB8nEeG4gPCEznVNOA" value="1"/>
           </ownedAttribute>
-          <ownedAttribute xmi:id="_QKiQgB8nEeG4gPCEznVNOA" name="motorSpeed">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_QKiQgB8nEeG4gPCEznVNOA" name="motorSpeed">
             <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
             <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_QKkswB8nEeG4gPCEznVNOA" value="1"/>
             <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_QKl64B8nEeG4gPCEznVNOA" value="1"/>
           </ownedAttribute>
-          <ownedAttribute xmi:id="_V1xVAB8nEeG4gPCEznVNOA" name="steeringAngle">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_V1xVAB8nEeG4gPCEznVNOA" name="steeringAngle">
             <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
             <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_V1zxQB8nEeG4gPCEznVNOA" value="1"/>
             <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_V11mcB8nEeG4gPCEznVNOA" value="1"/>
           </ownedAttribute>
         </packagedElement>
         <packagedElement xmi:type="uml:DataType" xmi:id="_n122UB8nEeG4gPCEznVNOA" name="CarLikeCommand">
-          <ownedAttribute xmi:id="_uKPlgB8nEeG4gPCEznVNOA" name="velocity">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_uKPlgB8nEeG4gPCEznVNOA" name="velocity">
             <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
             <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_uKSBwB8nEeG4gPCEznVNOA" value="1"/>
             <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_uKT28B8nEeG4gPCEznVNOA" value="1"/>
             <defaultValue xmi:type="uml:LiteralInteger" xmi:id="_CpreIB8oEeG4gPCEznVNOA" name="defaultSpeed"/>
           </ownedAttribute>
-          <ownedAttribute xmi:id="_u0I3EB8nEeG4gPCEznVNOA" name="steeringAngle">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_u0I3EB8nEeG4gPCEznVNOA" name="steeringAngle">
             <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
             <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_u0KsQB8nEeG4gPCEznVNOA" value="1"/>
             <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_u0MhcB8nEeG4gPCEznVNOA" value="1"/>
@@ -269,34 +269,34 @@
           </ownedAttribute>
         </packagedElement>
         <packagedElement xmi:type="uml:DataType" xmi:id="_TKz3sDUtEeG5pL_fpN2DgQ" name="MultiLayerLidarScan">
-          <ownedAttribute xmi:id="_xUCqMDUvEeG5pL_fpN2DgQ" name="layers" type="_G0xAsDUwEeG5pL_fpN2DgQ"/>
-          <ownedAttribute xmi:id="_Ku_6QDUzEeG5pL_fpN2DgQ" name="nbLayer">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_xUCqMDUvEeG5pL_fpN2DgQ" name="layers" type="_G0xAsDUwEeG5pL_fpN2DgQ"/>
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_Ku_6QDUzEeG5pL_fpN2DgQ" name="nbLayer">
             <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_6NJfkAKnEeCQReIOIWJ0nA"/>
           </ownedAttribute>
         </packagedElement>
         <packagedElement xmi:type="uml:DataType" xmi:id="_G0xAsDUwEeG5pL_fpN2DgQ" name="ExtentedLidarScan">
-          <ownedAttribute xmi:id="_K0p9sDUwEeG5pL_fpN2DgQ" name="scan">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_K0p9sDUwEeG5pL_fpN2DgQ" name="scan">
             <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_zdwdIAKsEeCQReIOIWJ0nA"/>
           </ownedAttribute>
-          <ownedAttribute xmi:id="_PcJGMDUwEeG5pL_fpN2DgQ" name="layerId">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_PcJGMDUwEeG5pL_fpN2DgQ" name="layerId">
             <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_6NJfkAKnEeCQReIOIWJ0nA"/>
           </ownedAttribute>
-          <ownedAttribute xmi:id="_YIP6sDUwEeG5pL_fpN2DgQ" name="layerAngle">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_YIP6sDUwEeG5pL_fpN2DgQ" name="layerAngle">
             <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_quXmAAH6EeC_ZLzLQhW-TQ"/>
           </ownedAttribute>
         </packagedElement>
       </packagedElement>
       <packagedElement xmi:type="uml:Model" xmi:id="_fdzJTKk_EeCXqcRV-18f6Q" name="RoboCab Internal Interfaces">
-        <profileApplication xmi:id="_uh_Z4EHTEeGzzenJt5yQtw">
-          <eAnnotations xmi:id="_uiz5QEHTEeGzzenJt5yQtw" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_uh_Z4EHTEeGzzenJt5yQtw">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_uiz5QEHTEeGzzenJt5yQtw" source="http://www.eclipse.org/uml2/2.0.0/UML">
             <references xmi:type="ecore:EPackage" href="http://Papyrus/RobotML/1#/"/>
           </eAnnotations>
-          <appliedProfile href="pathmap://Robotml_PROFILES/RobotMLProfile.profile.uml#_3QOHEPcEEd-J06U5HM_o-Q"/>
+          <appliedProfile xmi:type="uml:Profile" href="pathmap://Robotml_PROFILES/RobotMLProfile.profile.uml#_3QOHEPcEEd-J06U5HM_o-Q"/>
         </profileApplication>
       </packagedElement>
       <packagedElement xmi:type="uml:Model" xmi:id="_fdzJWak_EeCXqcRV-18f6Q" name="RoboCab Sensors">
         <packagedElement xmi:type="uml:Class" xmi:id="_fdzJWqk_EeCXqcRV-18f6Q" name="LIDAR3D">
-          <ownedAttribute xmi:id="_fdzJW6k_EeCXqcRV-18f6Q" name="frequency" visibility="public">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJW6k_EeCXqcRV-18f6Q" name="frequency" visibility="public">
             <type xmi:type="uml:PrimitiveType" href="pathmap://UML_METAMODELS/Ecore.metamodel.uml#EDouble"/>
             <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJXak_EeCXqcRV-18f6Q" value="1"/>
             <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJXKk_EeCXqcRV-18f6Q" value="1"/>
@@ -304,7 +304,7 @@
               <value xsi:nil="true"/>
             </defaultValue>
           </ownedAttribute>
-          <ownedAttribute xmi:id="_fdzJX6k_EeCXqcRV-18f6Q" name="accuracy" visibility="public">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJX6k_EeCXqcRV-18f6Q" name="accuracy" visibility="public">
             <type xmi:type="uml:PrimitiveType" href="pathmap://UML_METAMODELS/Ecore.metamodel.uml#EDouble"/>
             <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJYak_EeCXqcRV-18f6Q" value="1"/>
             <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJYKk_EeCXqcRV-18f6Q" value="1"/>
@@ -321,7 +321,7 @@
           </ownedAttribute>
         </packagedElement>
         <packagedElement xmi:type="uml:Class" xmi:id="_fdzJZ6k_EeCXqcRV-18f6Q" name="RTK_GPS_IMU">
-          <ownedAttribute xmi:id="_fdzJaKk_EeCXqcRV-18f6Q" name="accuracy" visibility="public">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJaKk_EeCXqcRV-18f6Q" name="accuracy" visibility="public">
             <type xmi:type="uml:PrimitiveType" href="pathmap://UML_METAMODELS/Ecore.metamodel.uml#EDouble"/>
             <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJaqk_EeCXqcRV-18f6Q" value="1"/>
             <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJaak_EeCXqcRV-18f6Q" value="1"/>
@@ -329,7 +329,7 @@
               <value xsi:nil="true"/>
             </defaultValue>
           </ownedAttribute>
-          <ownedAttribute xmi:id="_fdzJbKk_EeCXqcRV-18f6Q" name="frequency" visibility="public">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJbKk_EeCXqcRV-18f6Q" name="frequency" visibility="public">
             <type xmi:type="uml:PrimitiveType" href="pathmap://UML_METAMODELS/Ecore.metamodel.uml#EDouble"/>
             <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJbqk_EeCXqcRV-18f6Q" value="1"/>
             <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJbak_EeCXqcRV-18f6Q" value="1"/>
@@ -353,10 +353,10 @@
           </ownedAttribute>
         </packagedElement>
         <packagedElement xmi:type="uml:Class" xmi:id="_fdzJdKk_EeCXqcRV-18f6Q" name="MetricGPS">
-          <ownedComment xmi:id="_ZM4u8KlAEeCYaYi0hzq5kg">
+          <ownedComment xmi:type="uml:Comment" xmi:id="_ZM4u8KlAEeCYaYi0hzq5kg">
             <body>Low Cost GPS</body>
           </ownedComment>
-          <ownedAttribute xmi:id="_fdzJdak_EeCXqcRV-18f6Q" name="frequency" visibility="public">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJdak_EeCXqcRV-18f6Q" name="frequency" visibility="public">
             <type xmi:type="uml:PrimitiveType" href="pathmap://UML_METAMODELS/Ecore.metamodel.uml#EDouble"/>
             <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJd6k_EeCXqcRV-18f6Q" value="1"/>
             <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJdqk_EeCXqcRV-18f6Q" value="1"/>
@@ -364,7 +364,7 @@
               <value xsi:nil="true"/>
             </defaultValue>
           </ownedAttribute>
-          <ownedAttribute xmi:id="_fdzJeak_EeCXqcRV-18f6Q" name="accuracy" visibility="public">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJeak_EeCXqcRV-18f6Q" name="accuracy" visibility="public">
             <type xmi:type="uml:PrimitiveType" href="pathmap://UML_METAMODELS/Ecore.metamodel.uml#EDouble"/>
             <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJe6k_EeCXqcRV-18f6Q" value="1"/>
             <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJeqk_EeCXqcRV-18f6Q" value="1"/>
@@ -385,7 +385,7 @@
           </ownedAttribute>
         </packagedElement>
         <packagedElement xmi:type="uml:Class" xmi:id="_fdzJgak_EeCXqcRV-18f6Q" name="StereoVision">
-          <ownedAttribute xmi:id="_fdzJgqk_EeCXqcRV-18f6Q" name="resolution" visibility="public">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJgqk_EeCXqcRV-18f6Q" name="resolution" visibility="public">
             <type xmi:type="uml:PrimitiveType" href="pathmap://UML_METAMODELS/Ecore.metamodel.uml#EDouble"/>
             <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJhKk_EeCXqcRV-18f6Q" value="1"/>
             <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJg6k_EeCXqcRV-18f6Q" value="1"/>
@@ -393,7 +393,7 @@
               <value xsi:nil="true"/>
             </defaultValue>
           </ownedAttribute>
-          <ownedAttribute xmi:id="_fdzJhqk_EeCXqcRV-18f6Q" name="frequencyMax" visibility="public">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJhqk_EeCXqcRV-18f6Q" name="frequencyMax" visibility="public">
             <type xmi:type="uml:PrimitiveType" href="pathmap://UML_METAMODELS/Ecore.metamodel.uml#EDouble"/>
             <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJiKk_EeCXqcRV-18f6Q" value="1"/>
             <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJh6k_EeCXqcRV-18f6Q" value="1"/>
@@ -401,7 +401,7 @@
               <value xsi:nil="true"/>
             </defaultValue>
           </ownedAttribute>
-          <ownedAttribute xmi:id="_fdzJiqk_EeCXqcRV-18f6Q" name="focal" visibility="public">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJiqk_EeCXqcRV-18f6Q" name="focal" visibility="public">
             <type xmi:type="uml:PrimitiveType" href="pathmap://UML_METAMODELS/Ecore.metamodel.uml#EDouble"/>
             <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJjKk_EeCXqcRV-18f6Q" value="1"/>
             <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJi6k_EeCXqcRV-18f6Q" value="1"/>
@@ -409,8 +409,8 @@
               <value xsi:nil="true"/>
             </defaultValue>
           </ownedAttribute>
-          <ownedAttribute xmi:id="_ZBvoIDUoEeG5pL_fpN2DgQ" name="leftCam" type="_ef5gsKlAEeCYaYi0hzq5kg"/>
-          <ownedAttribute xmi:id="_Zo_1YDUoEeG5pL_fpN2DgQ" name="rightCam" type="_ef5gsKlAEeCYaYi0hzq5kg"/>
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_ZBvoIDUoEeG5pL_fpN2DgQ" name="leftCam" type="_ef5gsKlAEeCYaYi0hzq5kg"/>
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_Zo_1YDUoEeG5pL_fpN2DgQ" name="rightCam" type="_ef5gsKlAEeCYaYi0hzq5kg"/>
           <ownedAttribute xmi:type="uml:Port" xmi:id="_zEf_YDUoEeG5pL_fpN2DgQ" name="rightFrame" aggregation="composite">
             <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
           </ownedAttribute>
@@ -437,8 +437,6 @@
             <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
           </ownedAttribute>
         </packagedElement>
-        <packagedElement xmi:type="uml:Class" xmi:id="_g1eucGeiEeGWtaOO91qxRQ" name="LidarSystem1"/>
-        <packagedElement xmi:type="uml:Class" xmi:id="_hfDP4GeiEeGWtaOO91qxRQ" name="GPSSystem1"/>
       </packagedElement>
       <packagedElement xmi:type="uml:Model" xmi:id="_fdzJn6k_EeCXqcRV-18f6Q" name="RoboCab Actuators">
         <packagedElement xmi:type="uml:Class" xmi:id="_fdzJoKk_EeCXqcRV-18f6Q" name="Brake">
@@ -461,25 +459,25 @@
         </packagedElement>
       </packagedElement>
       <packagedElement xmi:type="uml:Model" xmi:id="_fdzJx6k_EeCXqcRV-18f6Q" name="RoboCab Subsystems">
-        <packageImport xmi:id="_BOvG8GOAEeG9e5HjMGBgnQ">
+        <packageImport xmi:type="uml:PackageImport" xmi:id="_BOvG8GOAEeG9e5HjMGBgnQ">
           <importedPackage xmi:type="uml:Model" href="pathmap://Papyrus_Alf_LIBRARIES/alflibrary.uml#_0bBI4Hy5EeCKy5kSqd4eVw"/>
         </packageImport>
         <packagedElement xmi:type="uml:Class" xmi:id="_fdzJyKk_EeCXqcRV-18f6Q" name="OrganizerSystem">
-          <ownedComment xmi:id="_UJCjIKlXEeCYfbnxVSyZ9g">
+          <ownedComment xmi:type="uml:Comment" xmi:id="_UJCjIKlXEeCYfbnxVSyZ9g">
             <body></body>
           </ownedComment>
-          <ownedComment xmi:id="_WVHZIKlXEeCYfbnxVSyZ9g">
+          <ownedComment xmi:type="uml:Comment" xmi:id="_WVHZIKlXEeCYfbnxVSyZ9g">
             <body></body>
           </ownedComment>
-          <ownedAttribute xmi:id="_fdzJzak_EeCXqcRV-18f6Q" name="navigationSafety" visibility="public" type="_fdzKoKk_EeCXqcRV-18f6Q" aggregation="composite">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJzak_EeCXqcRV-18f6Q" name="navigationSafety" visibility="public" type="_fdzKoKk_EeCXqcRV-18f6Q" aggregation="composite">
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             <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJzqk_EeCXqcRV-18f6Q" value="1"/>
             <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzJ0Kk_EeCXqcRV-18f6Q">
               <value xsi:nil="true"/>
             </defaultValue>
           </ownedAttribute>
-          <ownedAttribute xmi:id="_Gde_kB8rEeG4gPCEznVNOA" name="controller" type="_KqA8UB8pEeG4gPCEznVNOA"/>
-          <ownedAttribute xmi:id="_qKrmYB8sEeG4gPCEznVNOA" name="challengerEvaluation" type="_kdlWIB8rEeG4gPCEznVNOA"/>
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_Gde_kB8rEeG4gPCEznVNOA" name="controller" type="_KqA8UB8pEeG4gPCEznVNOA"/>
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_qKrmYB8sEeG4gPCEznVNOA" name="challengerEvaluation" type="_kdlWIB8rEeG4gPCEznVNOA"/>
           <ownedAttribute xmi:type="uml:Port" xmi:id="_tRMrYB8sEeG4gPCEznVNOA" name="ChallengerInput" type="_n122UB8nEeG4gPCEznVNOA" aggregation="composite"/>
           <ownedAttribute xmi:type="uml:Port" xmi:id="_00caYB8sEeG4gPCEznVNOA" name="mission" type="_pf4OwKlgEeCYfbnxVSyZ9g" aggregation="composite"/>
           <ownedAttribute xmi:type="uml:Port" xmi:id="_vP_roDUrEeG5pL_fpN2DgQ" name="rtk_pos" aggregation="composite">
@@ -491,89 +489,89 @@
           <ownedAttribute xmi:type="uml:Port" xmi:id="__vhZIDUrEeG5pL_fpN2DgQ" name="rtk_vel" aggregation="composite">
             <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qJmK4KlEEeCDX-R4upxIpg"/>
           </ownedAttribute>
-          <ownedConnector xmi:id="_cbA78B8tEeG4gPCEznVNOA" name="Connector11">
-            <end xmi:id="_cbA78R8tEeG4gPCEznVNOA" role="_00caYB8sEeG4gPCEznVNOA">
+          <ownedConnector xmi:type="uml:Connector" xmi:id="_cbA78B8tEeG4gPCEznVNOA" name="Connector11">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_cbA78R8tEeG4gPCEznVNOA" role="_00caYB8sEeG4gPCEznVNOA">
               <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_cbA78x8tEeG4gPCEznVNOA" value="1"/>
               <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_cbA78h8tEeG4gPCEznVNOA" value="1"/>
             </end>
-            <end xmi:id="_cbA79B8tEeG4gPCEznVNOA" partWithPort="_qKrmYB8sEeG4gPCEznVNOA" role="_01c8cB8rEeG4gPCEznVNOA">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_cbA79B8tEeG4gPCEznVNOA" partWithPort="_qKrmYB8sEeG4gPCEznVNOA" role="_01c8cB8rEeG4gPCEznVNOA">
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               <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_cbA79R8tEeG4gPCEznVNOA" value="1"/>
             </end>
           </ownedConnector>
-          <ownedConnector xmi:id="_UOGS8B8vEeG4gPCEznVNOA" name="Connector14">
-            <end xmi:id="_UOGS8R8vEeG4gPCEznVNOA" role="_00caYB8sEeG4gPCEznVNOA">
+          <ownedConnector xmi:type="uml:Connector" xmi:id="_UOGS8B8vEeG4gPCEznVNOA" name="Connector14">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_UOGS8R8vEeG4gPCEznVNOA" role="_00caYB8sEeG4gPCEznVNOA">
               <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_UOG6AR8vEeG4gPCEznVNOA" value="1"/>
               <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_UOG6AB8vEeG4gPCEznVNOA" value="1"/>
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+            <end xmi:type="uml:ConnectorEnd" xmi:id="_UOG6Ah8vEeG4gPCEznVNOA" partWithPort="_fdzJzak_EeCXqcRV-18f6Q" role="_fdzK36k_EeCXqcRV-18f6Q">
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               <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_UOG6Ax8vEeG4gPCEznVNOA" value="1"/>
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-            <end xmi:id="_VcOS8R8vEeG4gPCEznVNOA" role="_tRMrYB8sEeG4gPCEznVNOA">
+          <ownedConnector xmi:type="uml:Connector" xmi:id="_VcOS8B8vEeG4gPCEznVNOA" name="Connector15">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_VcOS8R8vEeG4gPCEznVNOA" role="_tRMrYB8sEeG4gPCEznVNOA">
               <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_VcOS8x8vEeG4gPCEznVNOA" value="1"/>
               <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_VcOS8h8vEeG4gPCEznVNOA" value="1"/>
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+            <end xmi:type="uml:ConnectorEnd" xmi:id="_VcO6AB8vEeG4gPCEznVNOA" partWithPort="_fdzJzak_EeCXqcRV-18f6Q" role="_6oOzYB8rEeG4gPCEznVNOA">
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               <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_VcO6AR8vEeG4gPCEznVNOA" value="1"/>
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+          <ownedConnector xmi:type="uml:Connector" xmi:id="_XoXaYB8vEeG4gPCEznVNOA" name="Connector18">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_XoXaYR8vEeG4gPCEznVNOA" partWithPort="_fdzJzak_EeCXqcRV-18f6Q" role="_6VYv4B8rEeG4gPCEznVNOA">
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+            <end xmi:type="uml:ConnectorEnd" xmi:id="_XoXaZB8vEeG4gPCEznVNOA" partWithPort="_Gde_kB8rEeG4gPCEznVNOA" role="_PhiE4B8pEeG4gPCEznVNOA">
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               <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_XoXaZR8vEeG4gPCEznVNOA" value="1"/>
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-            <end xmi:id="_LtOhQDUsEeG5pL_fpN2DgQ" role="__UwIsDUrEeG5pL_fpN2DgQ">
+          <ownedConnector xmi:type="uml:Connector" xmi:id="_LtN6MDUsEeG5pL_fpN2DgQ" name="Connector19">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_LtOhQDUsEeG5pL_fpN2DgQ" role="__UwIsDUrEeG5pL_fpN2DgQ">
               <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_LtOhQjUsEeG5pL_fpN2DgQ" value="1"/>
               <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_LtOhQTUsEeG5pL_fpN2DgQ" value="1"/>
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+            <end xmi:type="uml:ConnectorEnd" xmi:id="_LtOhQzUsEeG5pL_fpN2DgQ" partWithPort="_qKrmYB8sEeG4gPCEznVNOA" role="_xHBi4B8rEeG4gPCEznVNOA">
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               <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_LtOhRDUsEeG5pL_fpN2DgQ" value="1"/>
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           </ownedConnector>
-          <ownedConnector xmi:id="_RCtYMDUsEeG5pL_fpN2DgQ" name="Connector20">
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+          <ownedConnector xmi:type="uml:Connector" xmi:id="_RCtYMDUsEeG5pL_fpN2DgQ" name="Connector20">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_RCtYMTUsEeG5pL_fpN2DgQ" partWithPort="_qKrmYB8sEeG4gPCEznVNOA" role="_vQPAYB8rEeG4gPCEznVNOA">
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               <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_RCtYMjUsEeG5pL_fpN2DgQ" value="1"/>
             </end>
-            <end xmi:id="_RCtYNDUsEeG5pL_fpN2DgQ" role="_vP_roDUrEeG5pL_fpN2DgQ">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_RCtYNDUsEeG5pL_fpN2DgQ" role="_vP_roDUrEeG5pL_fpN2DgQ">
               <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_RCtYNjUsEeG5pL_fpN2DgQ" value="1"/>
               <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_RCtYNTUsEeG5pL_fpN2DgQ" value="1"/>
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-            <end xmi:id="_RxvocDUsEeG5pL_fpN2DgQ" role="__vhZIDUrEeG5pL_fpN2DgQ">
+          <ownedConnector xmi:type="uml:Connector" xmi:id="_RxvBYDUsEeG5pL_fpN2DgQ" name="Connector21">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_RxvocDUsEeG5pL_fpN2DgQ" role="__vhZIDUrEeG5pL_fpN2DgQ">
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               <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_RxvocTUsEeG5pL_fpN2DgQ" value="1"/>
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-            <end xmi:id="_RxvoczUsEeG5pL_fpN2DgQ" partWithPort="_fdzJzak_EeCXqcRV-18f6Q" role="_GJzrUKlbEeCYfbnxVSyZ9g">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_RxvoczUsEeG5pL_fpN2DgQ" partWithPort="_fdzJzak_EeCXqcRV-18f6Q" role="_GJzrUKlbEeCYfbnxVSyZ9g">
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               <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_RxvodDUsEeG5pL_fpN2DgQ" value="1"/>
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           </ownedConnector>
-          <ownedConnector xmi:id="_SZiBMDUsEeG5pL_fpN2DgQ" name="Connector22">
-            <end xmi:id="_SZioQDUsEeG5pL_fpN2DgQ" role="_vP_roDUrEeG5pL_fpN2DgQ">
+          <ownedConnector xmi:type="uml:Connector" xmi:id="_SZiBMDUsEeG5pL_fpN2DgQ" name="Connector22">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_SZioQDUsEeG5pL_fpN2DgQ" role="_vP_roDUrEeG5pL_fpN2DgQ">
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               <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_SZioQTUsEeG5pL_fpN2DgQ" value="1"/>
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-            <end xmi:id="_SZioQzUsEeG5pL_fpN2DgQ" partWithPort="_fdzJzak_EeCXqcRV-18f6Q" role="_fdzK06k_EeCXqcRV-18f6Q">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_SZioQzUsEeG5pL_fpN2DgQ" partWithPort="_fdzJzak_EeCXqcRV-18f6Q" role="_fdzK06k_EeCXqcRV-18f6Q">
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               <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_SZioRDUsEeG5pL_fpN2DgQ" value="1"/>
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           </ownedConnector>
         </packagedElement>
         <packagedElement xmi:type="uml:Class" xmi:id="_fdzKIqk_EeCXqcRV-18f6Q" name="PathPlannerModule">
-          <ownedComment xmi:id="_X4PBoKlrEeCLku4RFrI7uw">
+          <ownedComment xmi:type="uml:Comment" xmi:id="_X4PBoKlrEeCLku4RFrI7uw">
             <body>Le pathplanner genere un chemin et une vitesse de consigne </body>
           </ownedComment>
           <ownedAttribute xmi:type="uml:Port" xmi:id="_fdzKI6k_EeCXqcRV-18f6Q" name="mission" visibility="public" type="_pf4OwKlgEeCYfbnxVSyZ9g" aggregation="composite">
@@ -686,18 +684,18 @@
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           <ownedBehavior xmi:type="uml:StateMachine" xmi:id="_P2-PUEHZEeG8nvjGjD0Mrg" name="LocalisationFSM">
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-            <connectionPoint xmi:id="_a-YMIEHaEeG8nvjGjD0Mrg" name="Measurements" kind="entryPoint"/>
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+            <connectionPoint xmi:type="uml:Pseudostate" xmi:id="_QFIKoEHaEeG8nvjGjD0Mrg" name="EstimatedState" kind="exitPoint"/>
+            <connectionPoint xmi:type="uml:Pseudostate" xmi:id="_YlaJoEHaEeG8nvjGjD0Mrg" name="Input" kind="entryPoint"/>
+            <connectionPoint xmi:type="uml:Pseudostate" xmi:id="_a-YMIEHaEeG8nvjGjD0Mrg" name="Measurements" kind="entryPoint"/>
+            <region xmi:type="uml:Region" xmi:id="_Qv-68EHZEeG8nvjGjD0Mrg" name="Region1">
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+              <transition xmi:type="uml:Transition" xmi:id="_ihyTMEHaEeG8nvjGjD0Mrg" name="Transition1" source="_lC9E4EHZEeG8nvjGjD0Mrg" target="_YlaJoEHaEeG8nvjGjD0Mrg"/>
+              <transition xmi:type="uml:Transition" xmi:id="_mejDsEHaEeG8nvjGjD0Mrg" name="Transition2" source="_thXboEHZEeG8nvjGjD0Mrg" target="_QFIKoEHaEeG8nvjGjD0Mrg"/>
+              <transition xmi:type="uml:Transition" xmi:id="_0QZ9EG6oEeGqrd__B0yUNA" name="Transition4" source="_todYsG6oEeGqrd__B0yUNA" target="_lC9E4EHZEeG8nvjGjD0Mrg"/>
+              <transition xmi:type="uml:Transition" xmi:id="_bziJEG6pEeGqrd__B0yUNA" name="Transition5" source="_lC9E4EHZEeG8nvjGjD0Mrg" target="_lC9E4EHZEeG8nvjGjD0Mrg"/>
+              <transition xmi:type="uml:Transition" xmi:id="_RCtOUG6qEeGqrd__B0yUNA" name="Transition6" source="_thXboEHZEeG8nvjGjD0Mrg" target="_ubR8wG6oEeGqrd__B0yUNA"/>
+              <transition xmi:type="uml:Transition" xmi:id="_iWLPUG6sEeGqrd__B0yUNA" name="Transition7" source="_lC9E4EHZEeG8nvjGjD0Mrg" target="_ubR8wG6oEeGqrd__B0yUNA"/>
               <subvertex xmi:type="uml:State" xmi:id="_lC9E4EHZEeG8nvjGjD0Mrg" name="KalmanFilter"/>
               <subvertex xmi:type="uml:State" xmi:id="_thXboEHZEeG8nvjGjD0Mrg" name="ComputePathDeviation"/>
               <subvertex xmi:type="uml:Pseudostate" xmi:id="_M4zYkEHaEeG8nvjGjD0Mrg" name="Initial0"/>
@@ -705,30 +703,30 @@
               <subvertex xmi:type="uml:FinalState" xmi:id="_ubR8wG6oEeGqrd__B0yUNA" name="FinalState"/>
             </region>
           </ownedBehavior>
-          <ownedOperation xmi:id="_5lDGgG6oEeGqrd__B0yUNA" name="allSensorsDataReceived">
-            <ownedParameter xmi:id="_KbAXAG6pEeGqrd__B0yUNA" direction="out">
+          <ownedOperation xmi:type="uml:Operation" xmi:id="_5lDGgG6oEeGqrd__B0yUNA" name="allSensorsDataReceived">
+            <ownedParameter xmi:type="uml:Parameter" xmi:id="_KbAXAG6pEeGqrd__B0yUNA" direction="out">
               <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
             </ownedParameter>
           </ownedOperation>
-          <ownedOperation xmi:id="_5FqmYG6pEeGqrd__B0yUNA" name="positionChanged">
-            <ownedParameter xmi:id="_AxZjAG6qEeGqrd__B0yUNA" direction="out">
+          <ownedOperation xmi:type="uml:Operation" xmi:id="_5FqmYG6pEeGqrd__B0yUNA" name="positionChanged">
+            <ownedParameter xmi:type="uml:Parameter" xmi:id="_AxZjAG6qEeGqrd__B0yUNA" direction="out">
               <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
             </ownedParameter>
           </ownedOperation>
-          <ownedOperation xmi:id="_cWKfkG6qEeGqrd__B0yUNA" name="sensorDataReceived">
-            <ownedParameter xmi:id="_iyBvwG6qEeGqrd__B0yUNA" direction="out">
+          <ownedOperation xmi:type="uml:Operation" xmi:id="_cWKfkG6qEeGqrd__B0yUNA" name="sensorDataReceived">
+            <ownedParameter xmi:type="uml:Parameter" xmi:id="_iyBvwG6qEeGqrd__B0yUNA" direction="out">
               <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
             </ownedParameter>
           </ownedOperation>
-          <ownedOperation xmi:id="_1FtigG6qEeGqrd__B0yUNA" name="shutDownSignalReceived">
-            <ownedParameter xmi:id="_ZuvfcG6sEeGqrd__B0yUNA" direction="out">
+          <ownedOperation xmi:type="uml:Operation" xmi:id="_1FtigG6qEeGqrd__B0yUNA" name="shutDownSignalReceived">
+            <ownedParameter xmi:type="uml:Parameter" xmi:id="_ZuvfcG6sEeGqrd__B0yUNA" direction="out">
               <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
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           </ownedOperation>
         </packagedElement>
         <packagedElement xmi:type="uml:Class" xmi:id="_fdzLHak_EeCXqcRV-18f6Q" name="ChallengerSystem">
-          <ownedAttribute xmi:id="_fdzLIqk_EeCXqcRV-18f6Q" name="mappingSystem" type="_07AcABwkEeGa5bH_RJFzBQ"/>
-          <ownedAttribute xmi:id="_fdzLJ6k_EeCXqcRV-18f6Q" name="oDSystem" visibility="public" type="_MaVUkBwiEeGa5bH_RJFzBQ">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzLIqk_EeCXqcRV-18f6Q" name="mappingSystem" type="_07AcABwkEeGa5bH_RJFzBQ"/>
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzLJ6k_EeCXqcRV-18f6Q" name="oDSystem" visibility="public" type="_MaVUkBwiEeGa5bH_RJFzBQ">
             <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzLKak_EeCXqcRV-18f6Q" value="1"/>
             <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzLKKk_EeCXqcRV-18f6Q" value="1"/>
             <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzLKqk_EeCXqcRV-18f6Q">
@@ -742,21 +740,21 @@
               <value xsi:nil="true"/>
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           </ownedAttribute>
-          <ownedAttribute xmi:id="_fdzLQqk_EeCXqcRV-18f6Q" name="pathPlanner" visibility="public" type="_fdzKIqk_EeCXqcRV-18f6Q" aggregation="composite">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzLQqk_EeCXqcRV-18f6Q" name="pathPlanner" visibility="public" type="_fdzKIqk_EeCXqcRV-18f6Q" aggregation="composite">
             <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzLRKk_EeCXqcRV-18f6Q" value="1"/>
             <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzLQ6k_EeCXqcRV-18f6Q" value="1"/>
             <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzLRak_EeCXqcRV-18f6Q">
               <value xsi:nil="true"/>
             </defaultValue>
           </ownedAttribute>
-          <ownedAttribute xmi:id="_fdzLRqk_EeCXqcRV-18f6Q" name="control" visibility="public" type="_fdzKVKk_EeCXqcRV-18f6Q" aggregation="composite">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzLRqk_EeCXqcRV-18f6Q" name="control" visibility="public" type="_fdzKVKk_EeCXqcRV-18f6Q" aggregation="composite">
             <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzLSKk_EeCXqcRV-18f6Q" value="1"/>
             <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzLR6k_EeCXqcRV-18f6Q" value="1"/>
             <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzLSak_EeCXqcRV-18f6Q">
               <value xsi:nil="true"/>
             </defaultValue>
           </ownedAttribute>
-          <ownedAttribute xmi:id="_fdzLSqk_EeCXqcRV-18f6Q" name="localisation" visibility="public" type="_fdzK5Kk_EeCXqcRV-18f6Q" aggregation="composite">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzLSqk_EeCXqcRV-18f6Q" name="localisation" visibility="public" type="_fdzK5Kk_EeCXqcRV-18f6Q" aggregation="composite">
             <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzLTKk_EeCXqcRV-18f6Q" value="1"/>
             <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzLS6k_EeCXqcRV-18f6Q" value="1"/>
             <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzLTak_EeCXqcRV-18f6Q">
@@ -801,114 +799,114 @@
           <ownedAttribute xmi:type="uml:Port" xmi:id="_3wKcQDUzEeG5pL_fpN2DgQ" name="rtk_acc" aggregation="composite">
             <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qJmK4KlEEeCDX-R4upxIpg"/>
           </ownedAttribute>
-          <ownedConnector xmi:id="_fdzLVqk_EeCXqcRV-18f6Q" name="Connector2">
-            <end xmi:id="_fdzLV6k_EeCXqcRV-18f6Q" partWithPort="_fdzLQqk_EeCXqcRV-18f6Q" role="_fdzKK6k_EeCXqcRV-18f6Q"/>
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+          <ownedConnector xmi:type="uml:Connector" xmi:id="_fdzLVqk_EeCXqcRV-18f6Q" name="Connector2">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_fdzLV6k_EeCXqcRV-18f6Q" partWithPort="_fdzLQqk_EeCXqcRV-18f6Q" role="_fdzKK6k_EeCXqcRV-18f6Q"/>
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_fdzLWKk_EeCXqcRV-18f6Q" partWithPort="_fdzLSqk_EeCXqcRV-18f6Q" role="_fdzK9ak_EeCXqcRV-18f6Q"/>
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-          <ownedConnector xmi:id="_fdzLWak_EeCXqcRV-18f6Q" name="Connector7">
-            <end xmi:id="_fdzLWqk_EeCXqcRV-18f6Q" partWithPort="_fdzLRqk_EeCXqcRV-18f6Q" role="_fdzKZak_EeCXqcRV-18f6Q"/>
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+          <ownedConnector xmi:type="uml:Connector" xmi:id="_fdzLWak_EeCXqcRV-18f6Q" name="Connector7">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_fdzLWqk_EeCXqcRV-18f6Q" partWithPort="_fdzLRqk_EeCXqcRV-18f6Q" role="_fdzKZak_EeCXqcRV-18f6Q"/>
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_fdzLW6k_EeCXqcRV-18f6Q" partWithPort="_fdzLSqk_EeCXqcRV-18f6Q" role="_fdzK-ak_EeCXqcRV-18f6Q"/>
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+          <ownedConnector xmi:type="uml:Connector" xmi:id="_fdzLfak_EeCXqcRV-18f6Q" name="Connector1">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_fdzLfqk_EeCXqcRV-18f6Q" role="_fdzLNqk_EeCXqcRV-18f6Q"/>
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_fdzLf6k_EeCXqcRV-18f6Q" partWithPort="_fdzLQqk_EeCXqcRV-18f6Q" role="_fdzKI6k_EeCXqcRV-18f6Q"/>
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+          <ownedConnector xmi:type="uml:Connector" xmi:id="_R3I6gKluEeCLku4RFrI7uw" name="Connector11">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_R3I6galuEeCLku4RFrI7uw" partWithPort="_fdzLRqk_EeCXqcRV-18f6Q" role="_fdzKcak_EeCXqcRV-18f6Q">
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-            <end xmi:id="_R3I6hKluEeCLku4RFrI7uw" role="_ImFDAKlnEeCLku4RFrI7uw">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_R3I6hKluEeCLku4RFrI7uw" role="_ImFDAKlnEeCLku4RFrI7uw">
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+            <end xmi:type="uml:ConnectorEnd" xmi:id="_6VbfMWbUEeGGNuX1IHg1zg" partWithPort="_fdzLQqk_EeCXqcRV-18f6Q" role="_fdzKL6k_EeCXqcRV-18f6Q">
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-            <end xmi:id="_39LY8WbVEeGGNuX1IHg1zg" role="_LA8qUKlkEeCLku4RFrI7uw">
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+            <end xmi:type="uml:ConnectorEnd" xmi:id="_OCQZsWbWEeGGNuX1IHg1zg" partWithPort="_fdzLJ6k_EeCXqcRV-18f6Q" role="_f6a-IBwkEeGa5bH_RJFzBQ">
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+            <end xmi:type="uml:ConnectorEnd" xmi:id="_OCQZtGbWEeGGNuX1IHg1zg" partWithPort="_fdzLRqk_EeCXqcRV-18f6Q" role="_fdzKaak_EeCXqcRV-18f6Q">
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-            <end xmi:id="_VhLCUWbWEeGGNuX1IHg1zg" role="_FgbvMB8wEeGetOLfkLNwfg">
+          <ownedConnector xmi:type="uml:Connector" xmi:id="_VhLCUGbWEeGGNuX1IHg1zg" name="Connector19">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_VhLCUWbWEeGGNuX1IHg1zg" role="_FgbvMB8wEeGetOLfkLNwfg">
               <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_VhLCU2bWEeGGNuX1IHg1zg" value="1"/>
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+            <end xmi:type="uml:ConnectorEnd" xmi:id="_VhLCVGbWEeGGNuX1IHg1zg" partWithPort="_fdzLJ6k_EeCXqcRV-18f6Q" role="_Rsb1cBwkEeGa5bH_RJFzBQ">
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               <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_VhLCVWbWEeGGNuX1IHg1zg" value="1"/>
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           </ownedConnector>
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-            <end xmi:id="_aJQnwWbWEeGGNuX1IHg1zg" partWithPort="_fdzLQqk_EeCXqcRV-18f6Q" role="_fdzKK6k_EeCXqcRV-18f6Q">
+          <ownedConnector xmi:type="uml:Connector" xmi:id="_aJQnwGbWEeGGNuX1IHg1zg" name="Connector20">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_aJQnwWbWEeGGNuX1IHg1zg" partWithPort="_fdzLQqk_EeCXqcRV-18f6Q" role="_fdzKK6k_EeCXqcRV-18f6Q">
               <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_aJQnw2bWEeGGNuX1IHg1zg" value="1"/>
               <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_aJQnwmbWEeGGNuX1IHg1zg" value="1"/>
             </end>
-            <end xmi:id="_aJQnxGbWEeGGNuX1IHg1zg" partWithPort="_fdzLJ6k_EeCXqcRV-18f6Q" role="_W2W8oBwkEeGa5bH_RJFzBQ">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_aJQnxGbWEeGGNuX1IHg1zg" partWithPort="_fdzLJ6k_EeCXqcRV-18f6Q" role="_W2W8oBwkEeGa5bH_RJFzBQ">
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               <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_aJQnxWbWEeGGNuX1IHg1zg" value="1"/>
             </end>
@@ -956,19 +954,19 @@
             <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_d90yMEK-EeGv-54Wm4mRWQ" value="1"/>
           </ownedAttribute>
           <ownedBehavior xmi:type="uml:StateMachine" xmi:id="_De5ZIEK6EeGv-54Wm4mRWQ" name="StateMachine1">
-            <region xmi:id="_EKPcMEK6EeGv-54Wm4mRWQ" name="Region1">
-              <transition xmi:id="_4nd1MEK8EeGv-54Wm4mRWQ" name="Trans_LM" source="_M9id0EK6EeGv-54Wm4mRWQ" target="_Ar40EEK8EeGv-54Wm4mRWQ"/>
-              <transition xmi:id="_6CGnMEK8EeGv-54Wm4mRWQ" name="Trans_ML" source="_Ar40EEK8EeGv-54Wm4mRWQ" target="_M9id0EK6EeGv-54Wm4mRWQ"/>
-              <transition xmi:id="_69reoEK8EeGv-54Wm4mRWQ" name="Trans_MR" source="_Ar40EEK8EeGv-54Wm4mRWQ" target="_PvjnkEK8EeGv-54Wm4mRWQ">
+            <region xmi:type="uml:Region" xmi:id="_EKPcMEK6EeGv-54Wm4mRWQ" name="Region1">
+              <transition xmi:type="uml:Transition" xmi:id="_4nd1MEK8EeGv-54Wm4mRWQ" name="Trans_LM" source="_M9id0EK6EeGv-54Wm4mRWQ" target="_Ar40EEK8EeGv-54Wm4mRWQ"/>
+              <transition xmi:type="uml:Transition" xmi:id="_6CGnMEK8EeGv-54Wm4mRWQ" name="Trans_ML" source="_Ar40EEK8EeGv-54Wm4mRWQ" target="_M9id0EK6EeGv-54Wm4mRWQ"/>
+              <transition xmi:type="uml:Transition" xmi:id="_69reoEK8EeGv-54Wm4mRWQ" name="Trans_MR" source="_Ar40EEK8EeGv-54Wm4mRWQ" target="_PvjnkEK8EeGv-54Wm4mRWQ">
                 <effect xmi:type="uml:Interaction" xmi:id="_Q34FEEK9EeGv-54Wm4mRWQ"/>
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-              <transition xmi:id="_2wTmMGLwEeGQvv5wJEmGUQ" name="Transition6" source="_exCJoGLwEeGQvv5wJEmGUQ" target="_PvjnkEK8EeGv-54Wm4mRWQ"/>
+              <transition xmi:type="uml:Transition" xmi:id="_7irpIEK8EeGv-54Wm4mRWQ" name="Trans_RM" source="_PvjnkEK8EeGv-54Wm4mRWQ" target="_Ar40EEK8EeGv-54Wm4mRWQ"/>
+              <transition xmi:type="uml:Transition" xmi:id="_tUNfMGLwEeGQvv5wJEmGUQ" name="Transition1" source="_exCJoGLwEeGQvv5wJEmGUQ" target="_Ar40EEK8EeGv-54Wm4mRWQ"/>
+              <transition xmi:type="uml:Transition" xmi:id="_uQtjsGLwEeGQvv5wJEmGUQ" name="Transition2" source="_Ar40EEK8EeGv-54Wm4mRWQ" target="_g7UP4GLwEeGQvv5wJEmGUQ"/>
+              <transition xmi:type="uml:Transition" xmi:id="_vO1_4GLwEeGQvv5wJEmGUQ" name="Transition3" source="_PvjnkEK8EeGv-54Wm4mRWQ" target="_g7UP4GLwEeGQvv5wJEmGUQ"/>
+              <transition xmi:type="uml:Transition" xmi:id="_yOoKwGLwEeGQvv5wJEmGUQ" name="Transition4" source="_M9id0EK6EeGv-54Wm4mRWQ" target="_g7UP4GLwEeGQvv5wJEmGUQ"/>
+              <transition xmi:type="uml:Transition" xmi:id="_1X8FEGLwEeGQvv5wJEmGUQ" name="Transition5" source="_exCJoGLwEeGQvv5wJEmGUQ" target="_M9id0EK6EeGv-54Wm4mRWQ"/>
+              <transition xmi:type="uml:Transition" xmi:id="_2wTmMGLwEeGQvv5wJEmGUQ" name="Transition6" source="_exCJoGLwEeGQvv5wJEmGUQ" target="_PvjnkEK8EeGv-54Wm4mRWQ"/>
               <subvertex xmi:type="uml:State" xmi:id="_M9id0EK6EeGv-54Wm4mRWQ" name="Left"/>
               <subvertex xmi:type="uml:State" xmi:id="_Ar40EEK8EeGv-54Wm4mRWQ" name="Middle"/>
               <subvertex xmi:type="uml:State" xmi:id="_PvjnkEK8EeGv-54Wm4mRWQ" name="Right"/>
@@ -994,90 +992,93 @@ return (odometryMsg.steeringAngle &lt; -5 ) ? true :false;&#xD;
 return ( -5 &lt;= odometryMsg.steeringAngle &amp;&amp; odometryMsg.steeringAngle &lt;= 5 ) ? true:false;&#xD;
 </body>
           </ownedBehavior>
-          <ownedOperation xmi:id="_LJ25sEK6EeGv-54Wm4mRWQ" name="ShowLeftCamera">
-            <ownedParameter xmi:id="_qXQiIELAEeGFx4iVEwo0kA" name="frame">
+          <ownedBehavior xmi:type="uml:OpaqueBehavior" xmi:id="_IgJOgBFxEeOl1IrgVMUxOA" name="showLeftCamera"/>
+          <ownedBehavior xmi:type="uml:OpaqueBehavior" xmi:id="_ZmSQEBFxEeOl1IrgVMUxOA" name="showRightCamera"/>
+          <ownedBehavior xmi:type="uml:OpaqueBehavior" xmi:id="_eBwV0BFxEeOl1IrgVMUxOA" name="showMiddleCamera"/>
+          <ownedOperation xmi:type="uml:Operation" xmi:id="_LJ25sEK6EeGv-54Wm4mRWQ" name="ShowLeftCamera">
+            <ownedParameter xmi:type="uml:Parameter" xmi:id="_qXQiIELAEeGFx4iVEwo0kA" name="frame">
               <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
             </ownedParameter>
           </ownedOperation>
-          <ownedOperation xmi:id="_co9N0EK6EeGv-54Wm4mRWQ" name="ShowRightCamera">
-            <ownedParameter xmi:id="_g8eCsELAEeGFx4iVEwo0kA" name="frame">
+          <ownedOperation xmi:type="uml:Operation" xmi:id="_co9N0EK6EeGv-54Wm4mRWQ" name="ShowRightCamera">
+            <ownedParameter xmi:type="uml:Parameter" xmi:id="_g8eCsELAEeGFx4iVEwo0kA" name="frame">
               <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
             </ownedParameter>
           </ownedOperation>
-          <ownedOperation xmi:id="_lxCzsEK6EeGv-54Wm4mRWQ" name="ShowMiddleCamera">
-            <ownedParameter xmi:id="_dybvoELAEeGFx4iVEwo0kA" name="frame">
+          <ownedOperation xmi:type="uml:Operation" xmi:id="_lxCzsEK6EeGv-54Wm4mRWQ" name="ShowMiddleCamera">
+            <ownedParameter xmi:type="uml:Parameter" xmi:id="_dybvoELAEeGFx4iVEwo0kA" name="frame">
               <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
             </ownedParameter>
           </ownedOperation>
-          <ownedOperation xmi:id="_sD-KUEK6EeGv-54Wm4mRWQ" name="LeftSteering" method="_6qJJgEK6EeGv-54Wm4mRWQ">
-            <ownedParameter xmi:id="_1kIR8EK6EeGv-54Wm4mRWQ" name="odometryMsg" type="_rye5YB8mEeG4gPCEznVNOA"/>
+          <ownedOperation xmi:type="uml:Operation" xmi:id="_sD-KUEK6EeGv-54Wm4mRWQ" name="LeftSteering" method="_6qJJgEK6EeGv-54Wm4mRWQ">
+            <ownedParameter xmi:type="uml:Parameter" xmi:id="_1kIR8EK6EeGv-54Wm4mRWQ" name="odometryMsg" type="_rye5YB8mEeG4gPCEznVNOA"/>
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-          <ownedOperation xmi:id="_rnfNMEK7EeGv-54Wm4mRWQ" name="RightSteering" method="_MJ8oQEK7EeGv-54Wm4mRWQ">
-            <ownedParameter xmi:id="_yB1acEK7EeGv-54Wm4mRWQ" name="odometryMsg" type="_rye5YB8mEeG4gPCEznVNOA"/>
+          <ownedOperation xmi:type="uml:Operation" xmi:id="_rnfNMEK7EeGv-54Wm4mRWQ" name="RightSteering" method="_MJ8oQEK7EeGv-54Wm4mRWQ">
+            <ownedParameter xmi:type="uml:Parameter" xmi:id="_yB1acEK7EeGv-54Wm4mRWQ" name="odometryMsg" type="_rye5YB8mEeG4gPCEznVNOA"/>
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-          <ownedOperation xmi:id="_zsmTIEK7EeGv-54Wm4mRWQ" name="FrontSteering" method="_M-5TQEK7EeGv-54Wm4mRWQ">
-            <ownedParameter xmi:id="_7mEw0EK7EeGv-54Wm4mRWQ" name="odometryMsg" type="_rye5YB8mEeG4gPCEznVNOA"/>
+          <ownedOperation xmi:type="uml:Operation" xmi:id="_zsmTIEK7EeGv-54Wm4mRWQ" name="FrontSteering" method="_M-5TQEK7EeGv-54Wm4mRWQ">
+            <ownedParameter xmi:type="uml:Parameter" xmi:id="_7mEw0EK7EeGv-54Wm4mRWQ" name="odometryMsg" type="_rye5YB8mEeG4gPCEznVNOA"/>
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         </packagedElement>
         <packagedElement xmi:type="uml:Class" xmi:id="_irmXsEH0EeGwG_JKFhyhxw" name="ExternalAlgorithmTestModule">
           <ownedAttribute xmi:type="uml:Port" xmi:id="_mJzj8EH0EeGwG_JKFhyhxw" name="inFrame" aggregation="composite">
             <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
           </ownedAttribute>
-          <ownedOperation xmi:id="_gDWe0EK_EeGFx4iVEwo0kA" name="opencv_imshow" visibility="public"/>
-          <ownedOperation xmi:id="_4gEZAENGEeGaAsRpegEgPg" name="opencv_imread"/>
+          <ownedOperation xmi:type="uml:Operation" xmi:id="_gDWe0EK_EeGFx4iVEwo0kA" name="opencv_imshow" visibility="public"/>
+          <ownedOperation xmi:type="uml:Operation" xmi:id="_4gEZAENGEeGaAsRpegEgPg" name="opencv_imread"/>
         </packagedElement>
       </packagedElement>
       <packagedElement xmi:type="uml:Class" xmi:id="_-9mt0KENEeKLUqX9IJq2Gg" name="Environment">
-        <ownedAttribute xmi:id="_K9lG0KEOEeKLUqX9IJq2Gg" name="roboCab" type="_fdzI0qk_EeCXqcRV-18f6Q"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_K9lG0KEOEeKLUqX9IJq2Gg" name="roboCab" type="_fdzI0qk_EeCXqcRV-18f6Q"/>
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       <packagedElement xmi:type="uml:Package" xmi:id="_k6lcUGbWEeGGNuX1IHg1zg" name="RoboCabDepPlan">
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-          <slot xmi:id="_k8YMEGbWEeGGNuX1IHg1zg" definingFeature="_fdzI16k_EeCXqcRV-18f6Q">
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+          <slot xmi:type="uml:Slot" xmi:id="_k804AGbWEeGGNuX1IHg1zg" definingFeature="_BE-egKlmEeCLku4RFrI7uw">
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-          <slot xmi:id="_lAZwcGbWEeGGNuX1IHg1zg" definingFeature="_kbbj0BwnEeGa5bH_RJFzBQ">
+          <slot xmi:type="uml:Slot" xmi:id="_lAZwcGbWEeGGNuX1IHg1zg" definingFeature="_kbbj0BwnEeGa5bH_RJFzBQ">
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+          <slot xmi:type="uml:Slot" xmi:id="_lBcSQGbWEeGGNuX1IHg1zg" definingFeature="_7PWh8B8kEeG4gPCEznVNOA">
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+          <slot xmi:type="uml:Slot" xmi:id="_lBvNMGbWEeGGNuX1IHg1zg" definingFeature="_NJdXEB8lEeG4gPCEznVNOA">
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           </slot>
-          <slot xmi:id="_lCCvMGbWEeGGNuX1IHg1zg" definingFeature="_OENvIB8lEeG4gPCEznVNOA">
+          <slot xmi:type="uml:Slot" xmi:id="_lCCvMGbWEeGGNuX1IHg1zg" definingFeature="_OENvIB8lEeG4gPCEznVNOA">
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-          <slot xmi:id="_lCVqIWbWEeGGNuX1IHg1zg" definingFeature="_KdDxgB9BEeGetOLfkLNwfg">
+          <slot xmi:type="uml:Slot" xmi:id="_lCVqIWbWEeGGNuX1IHg1zg" definingFeature="_KdDxgB9BEeGetOLfkLNwfg">
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+          <slot xmi:type="uml:Slot" xmi:id="_lCfbImbWEeGGNuX1IHg1zg" definingFeature="_YLTDIB9BEeGetOLfkLNwfg">
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         <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k8-B8GbWEeGGNuX1IHg1zg" name="mainInstance.organizeSpace" classifier="_fdzJyKk_EeCXqcRV-18f6Q">
-          <slot xmi:id="_k9Rj8GbWEeGGNuX1IHg1zg" definingFeature="_fdzJzak_EeCXqcRV-18f6Q">
+          <slot xmi:type="uml:Slot" xmi:id="_k9Rj8GbWEeGGNuX1IHg1zg" definingFeature="_fdzJzak_EeCXqcRV-18f6Q">
             <value xmi:type="uml:InstanceValue" xmi:id="_k9at4GbWEeGGNuX1IHg1zg" instance="_k9Hy8GbWEeGGNuX1IHg1zg"/>
           </slot>
-          <slot xmi:id="_k9uP4GbWEeGGNuX1IHg1zg" definingFeature="_Gde_kB8rEeG4gPCEznVNOA">
+          <slot xmi:type="uml:Slot" xmi:id="_k9uP4GbWEeGGNuX1IHg1zg" definingFeature="_Gde_kB8rEeG4gPCEznVNOA">
             <value xmi:type="uml:InstanceValue" xmi:id="_k9uP4WbWEeGGNuX1IHg1zg" instance="_k9ke4GbWEeGGNuX1IHg1zg"/>
           </slot>
-          <slot xmi:id="_k-BK0GbWEeGGNuX1IHg1zg" definingFeature="_qKrmYB8sEeG4gPCEznVNOA">
+          <slot xmi:type="uml:Slot" xmi:id="_k-BK0GbWEeGGNuX1IHg1zg" definingFeature="_qKrmYB8sEeG4gPCEznVNOA">
             <value xmi:type="uml:InstanceValue" xmi:id="_k-KUwGbWEeGGNuX1IHg1zg" instance="_k93Z0GbWEeGGNuX1IHg1zg"/>
           </slot>
         </packagedElement>
@@ -1085,19 +1086,19 @@ return ( -5 &lt;= odometryMsg.steeringAngle &amp;&amp; odometryMsg.steeringAngle
         <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k9ke4GbWEeGGNuX1IHg1zg" name="mainInstance.organizeSpace.controller" classifier="_KqA8UB8pEeG4gPCEznVNOA"/>
         <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k93Z0GbWEeGGNuX1IHg1zg" name="mainInstance.organizeSpace.challengerEvaluation" classifier="_kdlWIB8rEeG4gPCEznVNOA"/>
         <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k-UFwmbWEeGGNuX1IHg1zg" name="mainInstance.challengerSpace" classifier="_fdzLHak_EeCXqcRV-18f6Q">
-          <slot xmi:id="_k-nAsGbWEeGGNuX1IHg1zg" definingFeature="_fdzLIqk_EeCXqcRV-18f6Q">
+          <slot xmi:type="uml:Slot" xmi:id="_k-nAsGbWEeGGNuX1IHg1zg" definingFeature="_fdzLIqk_EeCXqcRV-18f6Q">
             <value xmi:type="uml:InstanceValue" xmi:id="_k-wxsGbWEeGGNuX1IHg1zg" instance="_k-d2wGbWEeGGNuX1IHg1zg"/>
           </slot>
-          <slot xmi:id="_k-wxsmbWEeGGNuX1IHg1zg" definingFeature="_fdzLJ6k_EeCXqcRV-18f6Q">
+          <slot xmi:type="uml:Slot" xmi:id="_k-wxsmbWEeGGNuX1IHg1zg" definingFeature="_fdzLJ6k_EeCXqcRV-18f6Q">
             <value xmi:type="uml:InstanceValue" xmi:id="_k-6isGbWEeGGNuX1IHg1zg" instance="_k-wxsWbWEeGGNuX1IHg1zg"/>
           </slot>
-          <slot xmi:id="_k_DsoGbWEeGGNuX1IHg1zg" definingFeature="_fdzLQqk_EeCXqcRV-18f6Q">
+          <slot xmi:type="uml:Slot" xmi:id="_k_DsoGbWEeGGNuX1IHg1zg" definingFeature="_fdzLQqk_EeCXqcRV-18f6Q">
             <value xmi:type="uml:InstanceValue" xmi:id="_k_DsoWbWEeGGNuX1IHg1zg" instance="_k-6isWbWEeGGNuX1IHg1zg"/>
           </slot>
-          <slot xmi:id="_k_zTgGbWEeGGNuX1IHg1zg" definingFeature="_fdzLRqk_EeCXqcRV-18f6Q">
+          <slot xmi:type="uml:Slot" xmi:id="_k_zTgGbWEeGGNuX1IHg1zg" definingFeature="_fdzLRqk_EeCXqcRV-18f6Q">
             <value xmi:type="uml:InstanceValue" xmi:id="_k_9EgGbWEeGGNuX1IHg1zg" instance="_k_qJkGbWEeGGNuX1IHg1zg"/>
           </slot>
-          <slot xmi:id="_lAG1gGbWEeGGNuX1IHg1zg" definingFeature="_fdzLSqk_EeCXqcRV-18f6Q">
+          <slot xmi:type="uml:Slot" xmi:id="_lAG1gGbWEeGGNuX1IHg1zg" definingFeature="_fdzLSqk_EeCXqcRV-18f6Q">
             <value xmi:type="uml:InstanceValue" xmi:id="_lAP_cGbWEeGGNuX1IHg1zg" instance="_k_9EgWbWEeGGNuX1IHg1zg"/>
           </slot>
         </packagedElement>
@@ -1107,10 +1108,10 @@ return ( -5 &lt;= odometryMsg.steeringAngle &amp;&amp; odometryMsg.steeringAngle
         <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k_qJkGbWEeGGNuX1IHg1zg" name="mainInstance.challengerSpace.control" classifier="_fdzKVKk_EeCXqcRV-18f6Q"/>
         <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k_9EgWbWEeGGNuX1IHg1zg" name="mainInstance.challengerSpace.localisation" classifier="_fdzK5Kk_EeCXqcRV-18f6Q"/>
         <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_lAZwcmbWEeGGNuX1IHg1zg" name="mainInstance.stereoPair" classifier="_fdzJgak_EeCXqcRV-18f6Q">
-          <slot xmi:id="_lAsrYGbWEeGGNuX1IHg1zg" definingFeature="_ZBvoIDUoEeG5pL_fpN2DgQ">
+          <slot xmi:type="uml:Slot" xmi:id="_lAsrYGbWEeGGNuX1IHg1zg" definingFeature="_ZBvoIDUoEeG5pL_fpN2DgQ">
             <value xmi:type="uml:InstanceValue" xmi:id="_lA2cYGbWEeGGNuX1IHg1zg" instance="_lAi6YGbWEeGGNuX1IHg1zg"/>
           </slot>
-          <slot xmi:id="_lBJXUWbWEeGGNuX1IHg1zg" definingFeature="_Zo_1YDUoEeG5pL_fpN2DgQ">
+          <slot xmi:type="uml:Slot" xmi:id="_lBJXUWbWEeGGNuX1IHg1zg" definingFeature="_Zo_1YDUoEeG5pL_fpN2DgQ">
             <value xmi:type="uml:InstanceValue" xmi:id="_lBTIUGbWEeGGNuX1IHg1zg" instance="_lBJXUGbWEeGGNuX1IHg1zg"/>
           </slot>
         </packagedElement>
@@ -1125,55 +1126,55 @@ return ( -5 &lt;= odometryMsg.steeringAngle &amp;&amp; odometryMsg.steeringAngle
       </packagedElement>
       <packagedElement xmi:type="uml:Package" xmi:id="_nlUjUKEOEeKLUqX9IJq2Gg" name="EnvironmentDepPlan">
         <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nlneQKEOEeKLUqX9IJq2Gg" name="mainInstance" classifier="_-9mt0KENEeKLUqX9IJq2Gg">
-          <slot xmi:id="_nmXFNKEOEeKLUqX9IJq2Gg" definingFeature="_K9lG0KEOEeKLUqX9IJq2Gg">
+          <slot xmi:type="uml:Slot" xmi:id="_nmXFNKEOEeKLUqX9IJq2Gg" definingFeature="_K9lG0KEOEeKLUqX9IJq2Gg">
             <value xmi:type="uml:InstanceValue" xmi:id="_nmg2IKEOEeKLUqX9IJq2Gg" instance="_nl6ZMKEOEeKLUqX9IJq2Gg"/>
           </slot>
         </packagedElement>
         <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nl6ZMKEOEeKLUqX9IJq2Gg" clientDependency="_ra4foKEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab" classifier="_fdzI0qk_EeCXqcRV-18f6Q">
-          <slot xmi:id="_nl6ZMqEOEeKLUqX9IJq2Gg" definingFeature="_fdzI16k_EeCXqcRV-18f6Q">
+          <slot xmi:type="uml:Slot" xmi:id="_nl6ZMqEOEeKLUqX9IJq2Gg" definingFeature="_fdzI16k_EeCXqcRV-18f6Q">
             <value xmi:type="uml:InstanceValue" xmi:id="_nl6ZM6EOEeKLUqX9IJq2Gg" instance="_nl6ZMaEOEeKLUqX9IJq2Gg"/>
           </slot>
-          <slot xmi:id="_nmEKMaEOEeKLUqX9IJq2Gg" definingFeature="_BE-egKlmEeCLku4RFrI7uw">
+          <slot xmi:type="uml:Slot" xmi:id="_nmEKMaEOEeKLUqX9IJq2Gg" definingFeature="_BE-egKlmEeCLku4RFrI7uw">
             <value xmi:type="uml:InstanceValue" xmi:id="_nmEKMqEOEeKLUqX9IJq2Gg" instance="_nmEKMKEOEeKLUqX9IJq2Gg"/>
           </slot>
-          <slot xmi:id="_nmEKPaEOEeKLUqX9IJq2Gg" definingFeature="_bsDDwKlmEeCLku4RFrI7uw">
+          <slot xmi:type="uml:Slot" xmi:id="_nmEKPaEOEeKLUqX9IJq2Gg" definingFeature="_bsDDwKlmEeCLku4RFrI7uw">
             <value xmi:type="uml:InstanceValue" xmi:id="_nmEKPqEOEeKLUqX9IJq2Gg" instance="_nmEKM6EOEeKLUqX9IJq2Gg"/>
           </slot>
-          <slot xmi:id="_nmN7O6EOEeKLUqX9IJq2Gg" definingFeature="_kbbj0BwnEeGa5bH_RJFzBQ">
+          <slot xmi:type="uml:Slot" xmi:id="_nmN7O6EOEeKLUqX9IJq2Gg" definingFeature="_kbbj0BwnEeGa5bH_RJFzBQ">
             <value xmi:type="uml:InstanceValue" xmi:id="_nmN7PKEOEeKLUqX9IJq2Gg" instance="_nmEKP6EOEeKLUqX9IJq2Gg"/>
           </slot>
-          <slot xmi:id="_nmXFIKEOEeKLUqX9IJq2Gg" definingFeature="_7PWh8B8kEeG4gPCEznVNOA">
+          <slot xmi:type="uml:Slot" xmi:id="_nmXFIKEOEeKLUqX9IJq2Gg" definingFeature="_7PWh8B8kEeG4gPCEznVNOA">
             <value xmi:type="uml:InstanceValue" xmi:id="_nmXFIaEOEeKLUqX9IJq2Gg" instance="_nmN7PaEOEeKLUqX9IJq2Gg"/>
           </slot>
-          <slot xmi:id="_nmXFI6EOEeKLUqX9IJq2Gg" definingFeature="_NJdXEB8lEeG4gPCEznVNOA">
+          <slot xmi:type="uml:Slot" xmi:id="_nmXFI6EOEeKLUqX9IJq2Gg" definingFeature="_NJdXEB8lEeG4gPCEznVNOA">
             <value xmi:type="uml:InstanceValue" xmi:id="_nmXFJKEOEeKLUqX9IJq2Gg" instance="_nmXFIqEOEeKLUqX9IJq2Gg"/>
           </slot>
-          <slot xmi:id="_nmXFJqEOEeKLUqX9IJq2Gg" definingFeature="_OENvIB8lEeG4gPCEznVNOA">
+          <slot xmi:type="uml:Slot" xmi:id="_nmXFJqEOEeKLUqX9IJq2Gg" definingFeature="_OENvIB8lEeG4gPCEznVNOA">
             <value xmi:type="uml:InstanceValue" xmi:id="_nmXFJ6EOEeKLUqX9IJq2Gg" instance="_nmXFJaEOEeKLUqX9IJq2Gg"/>
           </slot>
-          <slot xmi:id="_nmXFKaEOEeKLUqX9IJq2Gg" definingFeature="_94cOoB8lEeG4gPCEznVNOA">
+          <slot xmi:type="uml:Slot" xmi:id="_nmXFKaEOEeKLUqX9IJq2Gg" definingFeature="_94cOoB8lEeG4gPCEznVNOA">
             <value xmi:type="uml:InstanceValue" xmi:id="_nmXFKqEOEeKLUqX9IJq2Gg" instance="_nmXFKKEOEeKLUqX9IJq2Gg"/>
           </slot>
-          <slot xmi:id="_nmXFLKEOEeKLUqX9IJq2Gg" definingFeature="_KdDxgB9BEeGetOLfkLNwfg">
+          <slot xmi:type="uml:Slot" xmi:id="_nmXFLKEOEeKLUqX9IJq2Gg" definingFeature="_KdDxgB9BEeGetOLfkLNwfg">
             <value xmi:type="uml:InstanceValue" xmi:id="_nmXFLaEOEeKLUqX9IJq2Gg" instance="_nmXFK6EOEeKLUqX9IJq2Gg"/>
           </slot>
-          <slot xmi:id="_nmXFL6EOEeKLUqX9IJq2Gg" definingFeature="_YLTDIB9BEeGetOLfkLNwfg">
+          <slot xmi:type="uml:Slot" xmi:id="_nmXFL6EOEeKLUqX9IJq2Gg" definingFeature="_YLTDIB9BEeGetOLfkLNwfg">
             <value xmi:type="uml:InstanceValue" xmi:id="_nmXFMKEOEeKLUqX9IJq2Gg" instance="_nmXFLqEOEeKLUqX9IJq2Gg"/>
           </slot>
-          <slot xmi:id="_nmXFMqEOEeKLUqX9IJq2Gg" definingFeature="_A68QIB9DEeGetOLfkLNwfg">
+          <slot xmi:type="uml:Slot" xmi:id="_nmXFMqEOEeKLUqX9IJq2Gg" definingFeature="_A68QIB9DEeGetOLfkLNwfg">
             <value xmi:type="uml:InstanceValue" xmi:id="_nmXFM6EOEeKLUqX9IJq2Gg" instance="_nmXFMaEOEeKLUqX9IJq2Gg"/>
           </slot>
         </packagedElement>
         <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nl6ZMaEOEeKLUqX9IJq2Gg" clientDependency="_tdHdIKEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.landis" classifier="_fdzJZ6k_EeCXqcRV-18f6Q"/>
         <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmEKMKEOEeKLUqX9IJq2Gg" clientDependency="_t1GfUKEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.missionGenerator" classifier="_aG5SkKlgEeCYfbnxVSyZ9g"/>
         <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmEKM6EOEeKLUqX9IJq2Gg" clientDependency="_uUP5cKEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.organizeSpace" classifier="_fdzJyKk_EeCXqcRV-18f6Q">
-          <slot xmi:id="_nmEKNaEOEeKLUqX9IJq2Gg" definingFeature="_fdzJzak_EeCXqcRV-18f6Q">
+          <slot xmi:type="uml:Slot" xmi:id="_nmEKNaEOEeKLUqX9IJq2Gg" definingFeature="_fdzJzak_EeCXqcRV-18f6Q">
             <value xmi:type="uml:InstanceValue" xmi:id="_nmEKNqEOEeKLUqX9IJq2Gg" instance="_nmEKNKEOEeKLUqX9IJq2Gg"/>
           </slot>
-          <slot xmi:id="_nmEKOKEOEeKLUqX9IJq2Gg" definingFeature="_Gde_kB8rEeG4gPCEznVNOA">
+          <slot xmi:type="uml:Slot" xmi:id="_nmEKOKEOEeKLUqX9IJq2Gg" definingFeature="_Gde_kB8rEeG4gPCEznVNOA">
             <value xmi:type="uml:InstanceValue" xmi:id="_nmEKOaEOEeKLUqX9IJq2Gg" instance="_nmEKN6EOEeKLUqX9IJq2Gg"/>
           </slot>
-          <slot xmi:id="_nmEKO6EOEeKLUqX9IJq2Gg" definingFeature="_qKrmYB8sEeG4gPCEznVNOA">
+          <slot xmi:type="uml:Slot" xmi:id="_nmEKO6EOEeKLUqX9IJq2Gg" definingFeature="_qKrmYB8sEeG4gPCEznVNOA">
             <value xmi:type="uml:InstanceValue" xmi:id="_nmEKPKEOEeKLUqX9IJq2Gg" instance="_nmEKOqEOEeKLUqX9IJq2Gg"/>
           </slot>
         </packagedElement>
@@ -1181,19 +1182,19 @@ return ( -5 &lt;= odometryMsg.steeringAngle &amp;&amp; odometryMsg.steeringAngle
         <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmEKN6EOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.organizeSpace.controller" classifier="_KqA8UB8pEeG4gPCEznVNOA"/>
         <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmEKOqEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.organizeSpace.challengerEvaluation" classifier="_kdlWIB8rEeG4gPCEznVNOA"/>
         <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmEKP6EOEeKLUqX9IJq2Gg" clientDependency="_uqTB8KEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.challengerSpace" classifier="_fdzLHak_EeCXqcRV-18f6Q">
-          <slot xmi:id="_nmEKQaEOEeKLUqX9IJq2Gg" definingFeature="_fdzLIqk_EeCXqcRV-18f6Q">
+          <slot xmi:type="uml:Slot" xmi:id="_nmEKQaEOEeKLUqX9IJq2Gg" definingFeature="_fdzLIqk_EeCXqcRV-18f6Q">
             <value xmi:type="uml:InstanceValue" xmi:id="_nmEKQqEOEeKLUqX9IJq2Gg" instance="_nmEKQKEOEeKLUqX9IJq2Gg"/>
           </slot>
-          <slot xmi:id="_nmN7MKEOEeKLUqX9IJq2Gg" definingFeature="_fdzLJ6k_EeCXqcRV-18f6Q">
+          <slot xmi:type="uml:Slot" xmi:id="_nmN7MKEOEeKLUqX9IJq2Gg" definingFeature="_fdzLJ6k_EeCXqcRV-18f6Q">
             <value xmi:type="uml:InstanceValue" xmi:id="_nmN7MaEOEeKLUqX9IJq2Gg" instance="_nmEKQ6EOEeKLUqX9IJq2Gg"/>
           </slot>
-          <slot xmi:id="_nmN7M6EOEeKLUqX9IJq2Gg" definingFeature="_fdzLQqk_EeCXqcRV-18f6Q">
+          <slot xmi:type="uml:Slot" xmi:id="_nmN7M6EOEeKLUqX9IJq2Gg" definingFeature="_fdzLQqk_EeCXqcRV-18f6Q">
             <value xmi:type="uml:InstanceValue" xmi:id="_nmN7NKEOEeKLUqX9IJq2Gg" instance="_nmN7MqEOEeKLUqX9IJq2Gg"/>
           </slot>
-          <slot xmi:id="_nmN7NqEOEeKLUqX9IJq2Gg" definingFeature="_fdzLRqk_EeCXqcRV-18f6Q">
+          <slot xmi:type="uml:Slot" xmi:id="_nmN7NqEOEeKLUqX9IJq2Gg" definingFeature="_fdzLRqk_EeCXqcRV-18f6Q">
             <value xmi:type="uml:InstanceValue" xmi:id="_nmN7N6EOEeKLUqX9IJq2Gg" instance="_nmN7NaEOEeKLUqX9IJq2Gg"/>
           </slot>
-          <slot xmi:id="_nmN7OaEOEeKLUqX9IJq2Gg" definingFeature="_fdzLSqk_EeCXqcRV-18f6Q">
+          <slot xmi:type="uml:Slot" xmi:id="_nmN7OaEOEeKLUqX9IJq2Gg" definingFeature="_fdzLSqk_EeCXqcRV-18f6Q">
             <value xmi:type="uml:InstanceValue" xmi:id="_nmN7OqEOEeKLUqX9IJq2Gg" instance="_nmN7OKEOEeKLUqX9IJq2Gg"/>
           </slot>
         </packagedElement>
@@ -1203,10 +1204,10 @@ return ( -5 &lt;= odometryMsg.steeringAngle &amp;&amp; odometryMsg.steeringAngle
         <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmN7NaEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.challengerSpace.control" classifier="_fdzKVKk_EeCXqcRV-18f6Q"/>
         <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmN7OKEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.challengerSpace.localisation" classifier="_fdzK5Kk_EeCXqcRV-18f6Q"/>
         <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmN7PaEOEeKLUqX9IJq2Gg" clientDependency="_vMuZkKEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.stereoPair" classifier="_fdzJgak_EeCXqcRV-18f6Q">
-          <slot xmi:id="_nmN7P6EOEeKLUqX9IJq2Gg" definingFeature="_ZBvoIDUoEeG5pL_fpN2DgQ">
+          <slot xmi:type="uml:Slot" xmi:id="_nmN7P6EOEeKLUqX9IJq2Gg" definingFeature="_ZBvoIDUoEeG5pL_fpN2DgQ">
             <value xmi:type="uml:InstanceValue" xmi:id="_nmN7QKEOEeKLUqX9IJq2Gg" instance="_nmN7PqEOEeKLUqX9IJq2Gg"/>
           </slot>
-          <slot xmi:id="_nmN7QqEOEeKLUqX9IJq2Gg" definingFeature="_Zo_1YDUoEeG5pL_fpN2DgQ">
+          <slot xmi:type="uml:Slot" xmi:id="_nmN7QqEOEeKLUqX9IJq2Gg" definingFeature="_Zo_1YDUoEeG5pL_fpN2DgQ">
             <value xmi:type="uml:InstanceValue" xmi:id="_nmN7Q6EOEeKLUqX9IJq2Gg" instance="_nmN7QaEOEeKLUqX9IJq2Gg"/>
           </slot>
         </packagedElement>
@@ -1234,8 +1235,8 @@ return ( -5 &lt;= odometryMsg.steeringAngle &amp;&amp; odometryMsg.steeringAngle
     </packagedElement>
     <packagedElement xmi:type="uml:Package" xmi:id="_tR1bIGbWEeGGNuX1IHg1zg" name="PlatformModel">
       <packagedElement xmi:type="uml:Class" xmi:id="_v8CiIGbXEeGjxc8c7ZBkPQ" name="Platform">
-        <ownedAttribute xmi:id="_El_WwGbaEeGTV_735pzUXQ" name="cycabTK" type="_Oj3xoGbZEeGTV_735pzUXQ"/>
-        <ownedAttribute xmi:id="_MaXSAGbaEeGTV_735pzUXQ" name="rtmaps" type="_jcp-YGbZEeGTV_735pzUXQ"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_El_WwGbaEeGTV_735pzUXQ" name="cycabTK" type="_Oj3xoGbZEeGTV_735pzUXQ"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_MaXSAGbaEeGTV_735pzUXQ" name="rtmaps" type="_jcp-YGbZEeGTV_735pzUXQ"/>
       </packagedElement>
       <packagedElement xmi:type="uml:Class" xmi:id="_Oj3xoGbZEeGTV_735pzUXQ" name="CyCabTK"/>
       <packagedElement xmi:type="uml:Class" xmi:id="_jcp-YGbZEeGTV_735pzUXQ" name="RTMaps"/>
@@ -1243,20 +1244,20 @@ return ( -5 &lt;= odometryMsg.steeringAngle &amp;&amp; odometryMsg.steeringAngle
         <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_vZa14GbaEeGTV_735pzUXQ" name="platform.cycabTK" classifier="_Oj3xoGbZEeGTV_735pzUXQ"/>
         <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_vZj_0GbaEeGTV_735pzUXQ" name="platform.rtmaps" classifier="_jcp-YGbZEeGTV_735pzUXQ"/>
         <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_-PhHcGbaEeGTV_735pzUXQ" name="platform" classifier="_v8CiIGbXEeGjxc8c7ZBkPQ">
-          <slot xmi:id="_HLRhgGbbEeGTV_735pzUXQ" definingFeature="_El_WwGbaEeGTV_735pzUXQ">
+          <slot xmi:type="uml:Slot" xmi:id="_HLRhgGbbEeGTV_735pzUXQ" definingFeature="_El_WwGbaEeGTV_735pzUXQ">
             <value xmi:type="uml:InstanceValue" xmi:id="_iAD9MGbcEeGTV_735pzUXQ" name="platform.cycabtk" instance="_vZa14GbaEeGTV_735pzUXQ"/>
           </slot>
-          <slot xmi:id="_eSgi0GbbEeGTV_735pzUXQ" definingFeature="_MaXSAGbaEeGTV_735pzUXQ">
+          <slot xmi:type="uml:Slot" xmi:id="_eSgi0GbbEeGTV_735pzUXQ" definingFeature="_MaXSAGbaEeGTV_735pzUXQ">
             <value xmi:type="uml:InstanceValue" xmi:id="_mVhhkGbcEeGTV_735pzUXQ" name="platform.rtmaps" instance="_vZj_0GbaEeGTV_735pzUXQ"/>
           </slot>
         </packagedElement>
       </packagedElement>
     </packagedElement>
-    <profileApplication xmi:id="_fdzLgKk_EeCXqcRV-18f6Q">
-      <eAnnotations xmi:id="_fdzLgak_EeCXqcRV-18f6Q" source="http://www.eclipse.org/uml2/2.0.0/UML">
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_fdzLgKk_EeCXqcRV-18f6Q">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_fdzLgak_EeCXqcRV-18f6Q" source="http://www.eclipse.org/uml2/2.0.0/UML">
         <references xmi:type="ecore:EPackage" href="http://Papyrus/RobotML/1#/"/>
       </eAnnotations>
-      <appliedProfile href="pathmap://Robotml_PROFILES/RobotMLProfile.profile.uml#_3QOHEPcEEd-J06U5HM_o-Q"/>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://Robotml_PROFILES/RobotMLProfile.profile.uml#_3QOHEPcEEd-J06U5HM_o-Q"/>
     </profileApplication>
   </uml:Model>
   <RobotML:SensorSystem xmi:id="_feGDzqk_EeCXqcRV-18f6Q" base_Class="_fdzJZ6k_EeCXqcRV-18f6Q"/>
@@ -1340,24 +1341,24 @@ return ( -5 &lt;= odometryMsg.steeringAngle &amp;&amp; odometryMsg.steeringAngle
   <RobotML:DataFlowPort xmi:id="_0-yg0DUzEeG5pL_fpN2DgQ" base_Port="_0-eXwDUzEeG5pL_fpN2DgQ"/>
   <RobotML:DataFlowPort xmi:id="_2jIocDUzEeG5pL_fpN2DgQ" base_Port="_2izRQDUzEeG5pL_fpN2DgQ"/>
   <RobotML:DataFlowPort xmi:id="_3wfMYDUzEeG5pL_fpN2DgQ" base_Port="_3wKcQDUzEeG5pL_fpN2DgQ"/>
-  <RobotML:Transition xmi:id="_3J41EEHZEeG8nvjGjD0Mrg" base_Transition="_3JM4kEHZEeG8nvjGjD0Mrg" guard="_8gaO8G6pEeGqrd__B0yUNA"/>
+  <RobotML:Transition xmi:id="_3J41EEHZEeG8nvjGjD0Mrg" base_Transition="_3JM4kEHZEeG8nvjGjD0Mrg"/>
   <RobotML:System xmi:id="_eYr5YEHmEeGGXpGscpkjdg" base_Class="_fdzLHak_EeCXqcRV-18f6Q"/>
   <RobotML:DataFlowPort xmi:id="_mKL-cEH0EeGwG_JKFhyhxw" base_Port="_mJzj8EH0EeGwG_JKFhyhxw"/>
   <RobotML:Software xmi:id="_MkTegEH2EeGwG_JKFhyhxw" base_Class="_irmXsEH0EeGwG_JKFhyhxw"/>
   <RobotML:Software xmi:id="_OzYlMEH2EeGwG_JKFhyhxw" base_Class="_4R8VYEHxEeGGXpGscpkjdg" period="5.0"/>
-  <RobotML:State xmi:id="_M-CNEEK6EeGv-54Wm4mRWQ" base_State="_M9id0EK6EeGv-54Wm4mRWQ" operation="_YsuBwEK6EeGv-54Wm4mRWQ"/>
+  <RobotML:State xmi:id="_M-CNEEK6EeGv-54Wm4mRWQ" base_State="_M9id0EK6EeGv-54Wm4mRWQ" behavior="_IgJOgBFxEeOl1IrgVMUxOA" operation="_YsuBwEK6EeGv-54Wm4mRWQ"/>
   <RobotML:Algorithm xmi:id="_YsuBwEK6EeGv-54Wm4mRWQ" base_Operation="_LJ25sEK6EeGv-54Wm4mRWQ"/>
   <RobotML:Algorithm xmi:id="_g2wD8EK6EeGv-54Wm4mRWQ" base_Operation="_co9N0EK6EeGv-54Wm4mRWQ"/>
   <RobotML:Algorithm xmi:id="_mvhOIEK6EeGv-54Wm4mRWQ" base_Operation="_lxCzsEK6EeGv-54Wm4mRWQ"/>
   <RobotML:Algorithm xmi:id="_5nYsAEK6EeGv-54Wm4mRWQ" base_Operation="_sD-KUEK6EeGv-54Wm4mRWQ"/>
   <RobotML:Algorithm xmi:id="_zI1ewEK7EeGv-54Wm4mRWQ" base_Operation="_rnfNMEK7EeGv-54Wm4mRWQ"/>
   <RobotML:Algorithm xmi:id="_0Yl2cEK7EeGv-54Wm4mRWQ" base_Operation="_zsmTIEK7EeGv-54Wm4mRWQ"/>
-  <RobotML:State xmi:id="_AsLvAEK8EeGv-54Wm4mRWQ" base_State="_Ar40EEK8EeGv-54Wm4mRWQ" operation="_mvhOIEK6EeGv-54Wm4mRWQ"/>
-  <RobotML:State xmi:id="_Pv3JkEK8EeGv-54Wm4mRWQ" base_State="_PvjnkEK8EeGv-54Wm4mRWQ" operation="_g2wD8EK6EeGv-54Wm4mRWQ"/>
-  <RobotML:Transition xmi:id="_4pOvwEK8EeGv-54Wm4mRWQ" base_Transition="_4nd1MEK8EeGv-54Wm4mRWQ" guard="_0Yl2cEK7EeGv-54Wm4mRWQ"/>
-  <RobotML:Transition xmi:id="_6CnkkEK8EeGv-54Wm4mRWQ" base_Transition="_6CGnMEK8EeGv-54Wm4mRWQ" guard="_5nYsAEK6EeGv-54Wm4mRWQ"/>
-  <RobotML:Transition xmi:id="_6-L08EK8EeGv-54Wm4mRWQ" base_Transition="_69reoEK8EeGv-54Wm4mRWQ" guard="_zI1ewEK7EeGv-54Wm4mRWQ"/>
-  <RobotML:Transition xmi:id="_7jObsEK8EeGv-54Wm4mRWQ" base_Transition="_7irpIEK8EeGv-54Wm4mRWQ" guard="_0Yl2cEK7EeGv-54Wm4mRWQ"/>
+  <RobotML:State xmi:id="_AsLvAEK8EeGv-54Wm4mRWQ" base_State="_Ar40EEK8EeGv-54Wm4mRWQ" behavior="_eBwV0BFxEeOl1IrgVMUxOA" operation="_mvhOIEK6EeGv-54Wm4mRWQ"/>
+  <RobotML:State xmi:id="_Pv3JkEK8EeGv-54Wm4mRWQ" base_State="_PvjnkEK8EeGv-54Wm4mRWQ" behavior="_ZmSQEBFxEeOl1IrgVMUxOA" operation="_g2wD8EK6EeGv-54Wm4mRWQ"/>
+  <RobotML:Transition xmi:id="_4pOvwEK8EeGv-54Wm4mRWQ" base_Transition="_4nd1MEK8EeGv-54Wm4mRWQ" guard="_M-5TQEK7EeGv-54Wm4mRWQ"/>
+  <RobotML:Transition xmi:id="_6CnkkEK8EeGv-54Wm4mRWQ" base_Transition="_6CGnMEK8EeGv-54Wm4mRWQ" guard="_6qJJgEK6EeGv-54Wm4mRWQ"/>
+  <RobotML:Transition xmi:id="_6-L08EK8EeGv-54Wm4mRWQ" base_Transition="_69reoEK8EeGv-54Wm4mRWQ" guard="_MJ8oQEK7EeGv-54Wm4mRWQ"/>
+  <RobotML:Transition xmi:id="_7jObsEK8EeGv-54Wm4mRWQ" base_Transition="_7irpIEK8EeGv-54Wm4mRWQ" guard="_M-5TQEK7EeGv-54Wm4mRWQ"/>
   <RobotML:DataFlowPort xmi:id="_HrQvEEK-EeGv-54Wm4mRWQ" base_Port="_FpXIwEK-EeGv-54Wm4mRWQ"/>
   <RobotML:DataFlowPort xmi:id="_UfDKoEK-EeGv-54Wm4mRWQ" base_Port="_TVYM0EK-EeGv-54Wm4mRWQ"/>
   <RobotML:DataFlowPort xmi:id="_cjWYQEK-EeGv-54Wm4mRWQ" base_Port="_aL1HQEK-EeGv-54Wm4mRWQ"/>
@@ -1373,12 +1374,12 @@ return ( -5 &lt;= odometryMsg.steeringAngle &amp;&amp; odometryMsg.steeringAngle
   <RobotML:Robot xmi:id="_HZt_wF4gEeGua5Z-VEhs4w" base_Class="_fdzI0qk_EeCXqcRV-18f6Q"/>
   <RobotML:CameraSystem xmi:id="_KlbGwF4gEeGua5Z-VEhs4w" base_Class="_fdzJgak_EeCXqcRV-18f6Q"/>
   <RobotML:EngineSystem xmi:id="_RVtHwF4gEeGua5Z-VEhs4w" base_Class="_fdzJuqk_EeCXqcRV-18f6Q"/>
-  <RobotML:Transition xmi:id="_tU9GEGLwEeGQvv5wJEmGUQ" base_Transition="_tUNfMGLwEeGQvv5wJEmGUQ"/>
+  <RobotML:Transition xmi:id="_tU9GEGLwEeGQvv5wJEmGUQ" base_Transition="_tUNfMGLwEeGQvv5wJEmGUQ" guard="_M-5TQEK7EeGv-54Wm4mRWQ"/>
   <RobotML:Transition xmi:id="_uRTZkGLwEeGQvv5wJEmGUQ" base_Transition="_uQtjsGLwEeGQvv5wJEmGUQ"/>
   <RobotML:Transition xmi:id="_vPcc0GLwEeGQvv5wJEmGUQ" base_Transition="_vO1_4GLwEeGQvv5wJEmGUQ"/>
   <RobotML:Transition xmi:id="_yPXxoGLwEeGQvv5wJEmGUQ" base_Transition="_yOoKwGLwEeGQvv5wJEmGUQ"/>
-  <RobotML:Transition xmi:id="_1YiiAGLwEeGQvv5wJEmGUQ" base_Transition="_1X8FEGLwEeGQvv5wJEmGUQ"/>
-  <RobotML:Transition xmi:id="_2w5cEGLwEeGQvv5wJEmGUQ" base_Transition="_2wTmMGLwEeGQvv5wJEmGUQ"/>
+  <RobotML:Transition xmi:id="_1YiiAGLwEeGQvv5wJEmGUQ" base_Transition="_1X8FEGLwEeGQvv5wJEmGUQ" guard="_6qJJgEK6EeGv-54Wm4mRWQ"/>
+  <RobotML:Transition xmi:id="_2w5cEGLwEeGQvv5wJEmGUQ" base_Transition="_2wTmMGLwEeGQvv5wJEmGUQ" guard="_MJ8oQEK7EeGv-54Wm4mRWQ"/>
   <RobotML:OnPort xmi:id="__yeKQGLwEeGQvv5wJEmGUQ" port="_UfDKoEK-EeGv-54Wm4mRWQ" base_Parameter="_qXQiIELAEeGFx4iVEwo0kA"/>
   <RobotML:OnPort xmi:id="_FF7A4GLxEeGQvv5wJEmGUQ" port="_cjWYQEK-EeGv-54Wm4mRWQ" base_Parameter="_g8eCsELAEeGFx4iVEwo0kA"/>
   <RobotML:OnPort xmi:id="_I_qSkGLxEeGQvv5wJEmGUQ" port="_iL8YcEK-EeGv-54Wm4mRWQ" base_Parameter="_dybvoELAEeGFx4iVEwo0kA"/>
@@ -1387,17 +1388,15 @@ return ( -5 &lt;= odometryMsg.steeringAngle &amp;&amp; odometryMsg.steeringAngle
   <RobotML:OnPort xmi:id="_eRobYGLxEeGQvv5wJEmGUQ" port="_HrQvEEK-EeGv-54Wm4mRWQ" base_Parameter="_7mEw0EK7EeGv-54Wm4mRWQ"/>
   <RobotML:Platform xmi:id="_5EKkQGbXEeGjxc8c7ZBkPQ" base_Class="_v8CiIGbXEeGjxc8c7ZBkPQ"/>
   <RobotML:RoboticMiddleware xmi:id="_jdZlQGbZEeGTV_735pzUXQ" base_Class="_jcp-YGbZEeGTV_735pzUXQ"/>
-  <RobotML:LidarSystem xmi:id="_g2EkUGeiEeGWtaOO91qxRQ" base_Class="_g1eucGeiEeGWtaOO91qxRQ"/>
-  <RobotML:GPSSystem xmi:id="_hff72GeiEeGWtaOO91qxRQ" base_Class="_hfDP4GeiEeGWtaOO91qxRQ"/>
   <RobotML:CycabTK xmi:id="_hNIBwGwpEeGmceXllYzFRQ" base_Class="_Oj3xoGbZEeGTV_735pzUXQ"/>
-  <RobotML:Transition xmi:id="_0SMFwG6oEeGqrd__B0yUNA" base_Transition="_0QZ9EG6oEeGqrd__B0yUNA" guard="_7AGIMG6oEeGqrd__B0yUNA"/>
+  <RobotML:Transition xmi:id="_0SMFwG6oEeGqrd__B0yUNA" base_Transition="_0QZ9EG6oEeGqrd__B0yUNA"/>
   <RobotML:Algorithm xmi:id="_7AGIMG6oEeGqrd__B0yUNA" base_Operation="_5lDGgG6oEeGqrd__B0yUNA"/>
-  <RobotML:Transition xmi:id="_b1LH0G6pEeGqrd__B0yUNA" base_Transition="_bziJEG6pEeGqrd__B0yUNA" guard="_dkZNQG6qEeGqrd__B0yUNA"/>
+  <RobotML:Transition xmi:id="_b1LH0G6pEeGqrd__B0yUNA" base_Transition="_bziJEG6pEeGqrd__B0yUNA"/>
   <RobotML:Algorithm xmi:id="_8gaO8G6pEeGqrd__B0yUNA" base_Operation="_5FqmYG6pEeGqrd__B0yUNA"/>
-  <RobotML:Transition xmi:id="_REWNEG6qEeGqrd__B0yUNA" base_Transition="_RCtOUG6qEeGqrd__B0yUNA" guard="_Vx8SsG6sEeGqrd__B0yUNA"/>
+  <RobotML:Transition xmi:id="_REWNEG6qEeGqrd__B0yUNA" base_Transition="_RCtOUG6qEeGqrd__B0yUNA"/>
   <RobotML:Algorithm xmi:id="_dkZNQG6qEeGqrd__B0yUNA" base_Operation="_cWKfkG6qEeGqrd__B0yUNA"/>
   <RobotML:Algorithm xmi:id="_Vx8SsG6sEeGqrd__B0yUNA" base_Operation="_1FtigG6qEeGqrd__B0yUNA"/>
-  <RobotML:Transition xmi:id="_iXznAG6sEeGqrd__B0yUNA" base_Transition="_iWLPUG6sEeGqrd__B0yUNA" guard="_Vx8SsG6sEeGqrd__B0yUNA"/>
+  <RobotML:Transition xmi:id="_iXznAG6sEeGqrd__B0yUNA" base_Transition="_iWLPUG6sEeGqrd__B0yUNA"/>
   <RobotML:DeploymentPlan xmi:id="_487qAKD7EeKNa6EfGASSWw" base_Package="_k6lcUGbWEeGGNuX1IHg1zg" mainInstance="_k7L5QGbWEeGGNuX1IHg1zg"/>
   <RobotML:Environment xmi:id="_--MjuKENEeKLUqX9IJq2Gg" base_Class="_-9mt0KENEeKLUqX9IJq2Gg"/>
   <RobotML:DeploymentPlan xmi:id="_nlUjUaEOEeKLUqX9IJq2Gg" base_Package="_nlUjUKEOEeKLUqX9IJq2Gg" mainInstance="_nlneQKEOEeKLUqX9IJq2Gg"/>
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/SearchLanding.uml b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/SearchLanding.uml
index ad97973cb28..c2da6db6718 100644
--- a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/SearchLanding.uml
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/SearchLanding.uml
@@ -285,14 +285,14 @@ end</body>
   <RobotML:Algorithm xmi:id="_leMm4DikEeK2K5cKvwDFDw" base_Operation="_leDc8DikEeK2K5cKvwDFDw"/>
   <RobotML:Algorithm xmi:id="_qwWdADikEeK2K5cKvwDFDw" base_Operation="_qwK20DikEeK2K5cKvwDFDw"/>
   <RobotML:Algorithm xmi:id="_VBDpkDilEeK2K5cKvwDFDw" base_Operation="_VA4qcDilEeK2K5cKvwDFDw" path=""/>
-  <RobotML:Transition xmi:id="_Y4YOgDinEeK2K5cKvwDFDw" base_Transition="_Y4FTkDinEeK2K5cKvwDFDw" guard="_QGg3oDikEeK2K5cKvwDFDw"/>
+  <RobotML:Transition xmi:id="_Y4YOgDinEeK2K5cKvwDFDw" base_Transition="_Y4FTkDinEeK2K5cKvwDFDw" />
   <RobotML:Algorithm xmi:id="__GlO8DinEeK2K5cKvwDFDw" base_Operation="__GcsEDinEeK2K5cKvwDFDw"/>
-  <RobotML:Transition xmi:id="_MW0V8DioEeK2K5cKvwDFDw" base_Transition="_MWgM4DioEeK2K5cKvwDFDw" guard="__GlO8DinEeK2K5cKvwDFDw" effect="_y6MucDijEeK2K5cKvwDFDw"/>
-  <RobotML:Transition xmi:id="_TAgU0DiqEeKSArdUqChi-A" base_Transition="_TAE3ADiqEeKSArdUqChi-A" guard="_qaG4gDiqEeKSArdUqChi-A" effect="_qwWdADikEeK2K5cKvwDFDw"/>
+  <RobotML:Transition xmi:id="_MW0V8DioEeK2K5cKvwDFDw" base_Transition="_MWgM4DioEeK2K5cKvwDFDw" />
+  <RobotML:Transition xmi:id="_TAgU0DiqEeKSArdUqChi-A" base_Transition="_TAE3ADiqEeKSArdUqChi-A" />
   <RobotML:Algorithm xmi:id="_qaG4gDiqEeKSArdUqChi-A" base_Operation="_qZ1ywDiqEeKSArdUqChi-A"/>
-  <RobotML:Transition xmi:id="_uv4UADisEeKSArdUqChi-A" base_Transition="_uvaZ8DisEeKSArdUqChi-A" guard="_qaG4gDiqEeKSArdUqChi-A" effect="_VBDpkDilEeK2K5cKvwDFDw"/>
-  <RobotML:Transition xmi:id="_SqZakDitEeKSArdUqChi-A" base_Transition="_Sp6SYDitEeKSArdUqChi-A" guard="_QGg3oDikEeK2K5cKvwDFDw"/>
-  <RobotML:Transition xmi:id="_jU5B8DitEeKSArdUqChi-A" base_Transition="_jUbH4DitEeKSArdUqChi-A" guard="__GlO8DinEeK2K5cKvwDFDw" effect="_y6MucDijEeK2K5cKvwDFDw"/>
+  <RobotML:Transition xmi:id="_uv4UADisEeKSArdUqChi-A" base_Transition="_uvaZ8DisEeKSArdUqChi-A" />
+  <RobotML:Transition xmi:id="_SqZakDitEeKSArdUqChi-A" base_Transition="_Sp6SYDitEeKSArdUqChi-A" />
+  <RobotML:Transition xmi:id="_jU5B8DitEeKSArdUqChi-A" base_Transition="_jUbH4DitEeKSArdUqChi-A" />
   <RobotML:DataFlowPort xmi:id="_zcCgcEOJEeKE2858SxsX1g" base_Port="_zYby0EOJEeKE2858SxsX1g"/>
   <RobotML:GPSSystem xmi:id="_QqilgEOLEeKE2858SxsX1g"/>
   <RobotML:SensorSystem xmi:id="_oe100GZAEeK8vedwRu2M7w" base_Class="_oa4h4GZAEeK8vedwRu2M7w"/>
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/TALC-Challenge.uml b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/TALC-Challenge.uml
index 57458bfac42..424a2274732 100644
--- a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/TALC-Challenge.uml
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/TALC-Challenge.uml
@@ -644,11 +644,11 @@
   <RobotML:DataFlowPort xmi:id="_8CTXAJYDEeGTwaQpvIKq0Q" base_Port="_8B_1AJYDEeGTwaQpvIKq0Q"/>
   <RobotML:DataFlowPort xmi:id="_Kx70MJYEEeGTwaQpvIKq0Q" base_Port="_KxmdAJYEEeGTwaQpvIKq0Q"/>
   <RobotML:State xmi:id="_0qpToKNOEeGOdPdoEUDJtQ"/>
-  <RobotML:Transition xmi:id="_DoOtQKNPEeGOdPdoEUDJtQ" guard="_CWOFAKQOEeGAwP2ngawvCw"/>
-  <RobotML:Transition xmi:id="_JDTO0KNPEeGOdPdoEUDJtQ" guard="_Ks_qEKQLEeGAwP2ngawvCw"/>
-  <RobotML:Transition xmi:id="_NvIr0KNPEeGOdPdoEUDJtQ" guard="_Ks_qEKQLEeGAwP2ngawvCw"/>
+  <RobotML:Transition xmi:id="_DoOtQKNPEeGOdPdoEUDJtQ" />
+  <RobotML:Transition xmi:id="_JDTO0KNPEeGOdPdoEUDJtQ" />
+  <RobotML:Transition xmi:id="_NvIr0KNPEeGOdPdoEUDJtQ" />
   <RobotML:OnPort xmi:id="_qtb8QKNREeGOdPdoEUDJtQ" port="_Kx70MJYEEeGTwaQpvIKq0Q" base_Parameter="_gnGlcKNREeGOdPdoEUDJtQ"/>
-  <RobotML:Transition xmi:id="_L3iFcKNZEeGOdPdoEUDJtQ" guard="_vE0NIKQKEeGAwP2ngawvCw" effect="_Pvq4wKQWEeGOjYafct30dQ"/>
+  <RobotML:Transition xmi:id="_L3iFcKNZEeGOdPdoEUDJtQ" />
   <RobotML:Algorithm xmi:id="_vE0NIKQKEeGAwP2ngawvCw" base_Operation="_u44ecKNQEeGOdPdoEUDJtQ"/>
   <RobotML:Algorithm xmi:id="_Ks_qEKQLEeGAwP2ngawvCw" base_Operation="_I4XDsKQLEeGAwP2ngawvCw"/>
   <RobotML:OnPort xmi:id="_WrFXQKQMEeGAwP2ngawvCw" port="_8CTXAJYDEeGTwaQpvIKq0Q" base_Parameter="_iDoZUKQLEeGAwP2ngawvCw"/>
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.di b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.di
index e5c8afe918b..615e0705a43 100644
--- a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.di
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.di
@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="ASCII"?>
+<?xml version="1.0" encoding="UTF-8"?>
 <di:SashWindowsMngr xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:di="http://www.eclipse.org/papyrus/0.7.0/sashdi">
   <pageList>
     <availablePage>
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.uml b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.uml
index dd75561570b..0800540edf4 100644
--- a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.uml
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.uml
@@ -1,35 +1,35 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<xmi:XMI xmi:version="20110701" xmlns:xmi="http://www.omg.org/spec/XMI/20110701" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:Blocks="http://www.eclipse.org/papyrus/0.7.0/SysML/Blocks" xmlns:FCM="http://papyrus/FCMProfile/1" xmlns:RobotML="http://Papyrus/RobotML/1" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:uml="http://www.eclipse.org/uml2/4.0.0/UML" xsi:schemaLocation="http://www.eclipse.org/papyrus/0.7.0/SysML/Blocks http://www.eclipse.org/papyrus/0.7.0/SysML#//blocks">
+<xmi:XMI xmi:version="20110701" xmlns:xmi="http://www.omg.org/spec/XMI/20110701" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:FCM="http://papyrus/FCMProfile/1" xmlns:RobotML="http://Papyrus/RobotML/1" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:uml="http://www.eclipse.org/uml2/4.0.0/UML">
   <uml:Model xmi:id="_k0Lj4DiAEeKDAMEjnOLmPA" name="YouthChallengeModel">
-    <packageImport xmi:id="_k0Lj4TiAEeKDAMEjnOLmPA">
-      <importedPackage href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_dt_y4AHtEeCQQOKrhO_fIQ"/>
+    <packageImport xmi:type="uml:PackageImport" xmi:id="_k0Lj4TiAEeKDAMEjnOLmPA">
+      <importedPackage xmi:type="uml:Package" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_dt_y4AHtEeCQQOKrhO_fIQ"/>
     </packageImport>
     <packagedElement xmi:type="uml:Package" xmi:id="_k0Lj4jiAEeKDAMEjnOLmPA" name="YouthChallenge DataTypes">
       <packagedElement xmi:type="uml:Enumeration" xmi:id="_k0Lj4ziAEeKDAMEjnOLmPA" name="Mission_Type">
-        <ownedLiteral xmi:id="_k0Lj5DiAEeKDAMEjnOLmPA" name="Explore"/>
-        <ownedLiteral xmi:id="_k0Lj5TiAEeKDAMEjnOLmPA" name="Search"/>
-        <ownedLiteral xmi:id="_k0Lj5jiAEeKDAMEjnOLmPA" name="Reach"/>
-        <ownedLiteral xmi:id="_k0Lj5ziAEeKDAMEjnOLmPA" name="Identify"/>
+        <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0Lj5DiAEeKDAMEjnOLmPA" name="Explore"/>
+        <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0Lj5TiAEeKDAMEjnOLmPA" name="Search"/>
+        <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0Lj5jiAEeKDAMEjnOLmPA" name="Reach"/>
+        <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0Lj5ziAEeKDAMEjnOLmPA" name="Identify"/>
       </packagedElement>
       <packagedElement xmi:type="uml:DataType" xmi:id="_k0Lj6DiAEeKDAMEjnOLmPA" name="Amer">
-        <ownedComment xmi:id="_k0Lj6TiAEeKDAMEjnOLmPA" annotatedElement="_k0Lj6DiAEeKDAMEjnOLmPA">
+        <ownedComment xmi:type="uml:Comment" xmi:id="_k0Lj6TiAEeKDAMEjnOLmPA" annotatedElement="_k0Lj6DiAEeKDAMEjnOLmPA">
           <body>Un amer correspond a une balise composee d'une clonne et d'un solide d'une couleur </body>
         </ownedComment>
-        <ownedAttribute xmi:id="_k0Lj6jiAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lj6jiAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA">
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lj6ziAEeKDAMEjnOLmPA" value="1"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lj7DiAEeKDAMEjnOLmPA" value="1"/>
           <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lj7TiAEeKDAMEjnOLmPA">
             <value xsi:nil="true"/>
           </defaultValue>
         </ownedAttribute>
-        <ownedAttribute xmi:id="_k0Lj7jiAEeKDAMEjnOLmPA" name="color" visibility="public" type="_k0LkejiAEeKDAMEjnOLmPA" isUnique="false">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lj7jiAEeKDAMEjnOLmPA" name="color" visibility="public" type="_k0LkejiAEeKDAMEjnOLmPA" isUnique="false">
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lj7ziAEeKDAMEjnOLmPA" value="1"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lj8DiAEeKDAMEjnOLmPA" value="1"/>
           <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lj8TiAEeKDAMEjnOLmPA">
             <value xsi:nil="true"/>
           </defaultValue>
         </ownedAttribute>
-        <ownedAttribute xmi:id="_k0Lj8jiAEeKDAMEjnOLmPA" name="geometry" visibility="public" type="_k0LkgDiAEeKDAMEjnOLmPA" isUnique="false">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lj8jiAEeKDAMEjnOLmPA" name="geometry" visibility="public" type="_k0LkgDiAEeKDAMEjnOLmPA" isUnique="false">
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lj8ziAEeKDAMEjnOLmPA" value="1"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lj9DiAEeKDAMEjnOLmPA" value="1"/>
           <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lj9TiAEeKDAMEjnOLmPA">
@@ -38,8 +38,8 @@
         </ownedAttribute>
       </packagedElement>
       <packagedElement xmi:type="uml:DataType" xmi:id="_k0Lj9jiAEeKDAMEjnOLmPA" name="Position">
-        <ownedComment xmi:id="_k0Lj9ziAEeKDAMEjnOLmPA"/>
-        <ownedAttribute xmi:id="_k0Lj-DiAEeKDAMEjnOLmPA" name="x" visibility="public" isUnique="false">
+        <ownedComment xmi:type="uml:Comment" xmi:id="_k0Lj9ziAEeKDAMEjnOLmPA"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lj-DiAEeKDAMEjnOLmPA" name="x" visibility="public" isUnique="false">
           <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lj-TiAEeKDAMEjnOLmPA" value="1"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lj-jiAEeKDAMEjnOLmPA" value="1"/>
@@ -47,7 +47,7 @@
             <value xsi:nil="true"/>
           </defaultValue>
         </ownedAttribute>
-        <ownedAttribute xmi:id="_k0Lj_DiAEeKDAMEjnOLmPA" name="y" visibility="public" isUnique="false">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lj_DiAEeKDAMEjnOLmPA" name="y" visibility="public" isUnique="false">
           <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lj_TiAEeKDAMEjnOLmPA" value="1"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lj_jiAEeKDAMEjnOLmPA" value="1"/>
@@ -55,7 +55,7 @@
             <value xsi:nil="true"/>
           </defaultValue>
         </ownedAttribute>
-        <ownedAttribute xmi:id="_k0LkADiAEeKDAMEjnOLmPA" name="alt" visibility="public" isUnique="false">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkADiAEeKDAMEjnOLmPA" name="alt" visibility="public" isUnique="false">
           <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkATiAEeKDAMEjnOLmPA"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkAjiAEeKDAMEjnOLmPA" value="1"/>
@@ -63,9 +63,9 @@
             <value xsi:nil="true"/>
           </defaultValue>
         </ownedAttribute>
-        <ownedAttribute xmi:id="_k0LkBDiAEeKDAMEjnOLmPA" name="orientation" visibility="public" isUnique="false">
-          <ownedComment xmi:id="_k0LkBTiAEeKDAMEjnOLmPA" annotatedElement="_k0LkBTiAEeKDAMEjnOLmPA">
-            <body>orientation en degr� [0;359] , entier positif, sens horaire 0 Nord </body>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkBDiAEeKDAMEjnOLmPA" name="orientation" visibility="public" isUnique="false">
+          <ownedComment xmi:type="uml:Comment" xmi:id="_k0LkBTiAEeKDAMEjnOLmPA" annotatedElement="_k0LkBTiAEeKDAMEjnOLmPA">
+            <body>orientation en degrés [0;359] , entier positif, sens horaire 0 Nord </body>
           </ownedComment>
           <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUQyN8EeKwed7FEEF-4Q"/>
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkBjiAEeKDAMEjnOLmPA" value="1"/>
@@ -76,7 +76,7 @@
         </ownedAttribute>
       </packagedElement>
       <packagedElement xmi:type="uml:DataType" xmi:id="_k0LkCTiAEeKDAMEjnOLmPA" name="Position_Error">
-        <ownedAttribute xmi:id="_k0LkCjiAEeKDAMEjnOLmPA" name="x_err" visibility="public" isUnique="false">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkCjiAEeKDAMEjnOLmPA" name="x_err" visibility="public" isUnique="false">
           <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkCziAEeKDAMEjnOLmPA" value="1"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkDDiAEeKDAMEjnOLmPA" value="1"/>
@@ -84,7 +84,7 @@
             <value xsi:nil="true"/>
           </defaultValue>
         </ownedAttribute>
-        <ownedAttribute xmi:id="_k0LkDjiAEeKDAMEjnOLmPA" name="y_err" visibility="public" isUnique="false">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkDjiAEeKDAMEjnOLmPA" name="y_err" visibility="public" isUnique="false">
           <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkDziAEeKDAMEjnOLmPA" value="1"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkEDiAEeKDAMEjnOLmPA" value="1"/>
@@ -92,7 +92,7 @@
             <value xsi:nil="true"/>
           </defaultValue>
         </ownedAttribute>
-        <ownedAttribute xmi:id="_k0LkEjiAEeKDAMEjnOLmPA" name="alt_err" visibility="public" isUnique="false">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkEjiAEeKDAMEjnOLmPA" name="alt_err" visibility="public" isUnique="false">
           <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkEziAEeKDAMEjnOLmPA"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkFDiAEeKDAMEjnOLmPA" value="1"/>
@@ -100,7 +100,7 @@
             <value xsi:nil="true"/>
           </defaultValue>
         </ownedAttribute>
-        <ownedAttribute xmi:id="_k0LkFjiAEeKDAMEjnOLmPA" name="orientation_err" visibility="public" isUnique="false">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkFjiAEeKDAMEjnOLmPA" name="orientation_err" visibility="public" isUnique="false">
           <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUQyN8EeKwed7FEEF-4Q"/>
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkFziAEeKDAMEjnOLmPA" value="1"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkGDiAEeKDAMEjnOLmPA" value="1"/>
@@ -110,21 +110,21 @@
         </ownedAttribute>
       </packagedElement>
       <packagedElement xmi:type="uml:DataType" xmi:id="_k0LkGjiAEeKDAMEjnOLmPA" name="Path_Point">
-        <ownedAttribute xmi:id="_k0LkGziAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkGziAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA">
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkHDiAEeKDAMEjnOLmPA" value="1"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkHTiAEeKDAMEjnOLmPA" value="1"/>
           <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkHjiAEeKDAMEjnOLmPA">
             <value xsi:nil="true"/>
           </defaultValue>
         </ownedAttribute>
-        <ownedAttribute xmi:id="_k0LkHziAEeKDAMEjnOLmPA" name="pos_error" visibility="public" type="_k0LkCTiAEeKDAMEjnOLmPA">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkHziAEeKDAMEjnOLmPA" name="pos_error" visibility="public" type="_k0LkCTiAEeKDAMEjnOLmPA">
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkIDiAEeKDAMEjnOLmPA" value="1"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkITiAEeKDAMEjnOLmPA" value="1"/>
           <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkIjiAEeKDAMEjnOLmPA">
             <value xsi:nil="true"/>
           </defaultValue>
         </ownedAttribute>
-        <ownedAttribute xmi:id="_k0LkIziAEeKDAMEjnOLmPA" name="velocity" visibility="public">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkIziAEeKDAMEjnOLmPA" name="velocity" visibility="public">
           <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LT9SN8EeKwed7FEEF-4Q"/>
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkJDiAEeKDAMEjnOLmPA" value="1"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkJTiAEeKDAMEjnOLmPA" value="1"/>
@@ -134,7 +134,7 @@
         </ownedAttribute>
       </packagedElement>
       <packagedElement xmi:type="uml:DataType" xmi:id="_k0LkLDiAEeKDAMEjnOLmPA" name="Trajectory">
-        <ownedAttribute xmi:id="_k0LkLTiAEeKDAMEjnOLmPA" name="x_t" visibility="public" isUnique="false">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkLTiAEeKDAMEjnOLmPA" name="x_t" visibility="public" isUnique="false">
           <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkLjiAEeKDAMEjnOLmPA" value="1"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkLziAEeKDAMEjnOLmPA" value="*"/>
@@ -142,7 +142,7 @@
             <value xsi:nil="true"/>
           </defaultValue>
         </ownedAttribute>
-        <ownedAttribute xmi:id="_k0LkMTiAEeKDAMEjnOLmPA" name="y_t" visibility="public" isUnique="false">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkMTiAEeKDAMEjnOLmPA" name="y_t" visibility="public" isUnique="false">
           <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkMjiAEeKDAMEjnOLmPA" value="1"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkMziAEeKDAMEjnOLmPA" value="*"/>
@@ -150,7 +150,7 @@
             <value xsi:nil="true"/>
           </defaultValue>
         </ownedAttribute>
-        <ownedAttribute xmi:id="_k0LkNTiAEeKDAMEjnOLmPA" name="v_t" visibility="public" isUnique="false">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkNTiAEeKDAMEjnOLmPA" name="v_t" visibility="public" isUnique="false">
           <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkNjiAEeKDAMEjnOLmPA" value="1"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkNziAEeKDAMEjnOLmPA" value="*"/>
@@ -158,7 +158,7 @@
             <value xsi:nil="true"/>
           </defaultValue>
         </ownedAttribute>
-        <ownedAttribute xmi:id="_k0LkOTiAEeKDAMEjnOLmPA" name="sample_time" visibility="public" isUnique="false">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkOTiAEeKDAMEjnOLmPA" name="sample_time" visibility="public" isUnique="false">
           <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_gyt4YAH-EeC_ZLzLQhW-TQ"/>
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkOjiAEeKDAMEjnOLmPA" value="1"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkOziAEeKDAMEjnOLmPA" value="1"/>
@@ -166,7 +166,7 @@
             <value xsi:nil="true"/>
           </defaultValue>
         </ownedAttribute>
-        <ownedAttribute xmi:id="_k0LkPTiAEeKDAMEjnOLmPA" name="sample_nb" visibility="public" type="_k0LkkjiAEeKDAMEjnOLmPA" isUnique="false">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkPTiAEeKDAMEjnOLmPA" name="sample_nb" visibility="public" type="_k0LkkjiAEeKDAMEjnOLmPA" isUnique="false">
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkPjiAEeKDAMEjnOLmPA" value="1"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkPziAEeKDAMEjnOLmPA" value="1"/>
           <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkQDiAEeKDAMEjnOLmPA">
@@ -175,14 +175,14 @@
         </ownedAttribute>
       </packagedElement>
       <packagedElement xmi:type="uml:DataType" xmi:id="_k0LkSjiAEeKDAMEjnOLmPA" name="Goal">
-        <ownedAttribute xmi:id="_k0LkSziAEeKDAMEjnOLmPA" name="mission_type" visibility="public" type="_k0Lj4ziAEeKDAMEjnOLmPA" isUnique="false">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkSziAEeKDAMEjnOLmPA" name="mission_type" visibility="public" type="_k0Lj4ziAEeKDAMEjnOLmPA" isUnique="false">
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkTDiAEeKDAMEjnOLmPA" value="1"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkTTiAEeKDAMEjnOLmPA" value="1"/>
           <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkTjiAEeKDAMEjnOLmPA">
             <value xsi:nil="true"/>
           </defaultValue>
         </ownedAttribute>
-        <ownedAttribute xmi:id="_k0LkTziAEeKDAMEjnOLmPA" name="position" visibility="public" isUnique="false">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkTziAEeKDAMEjnOLmPA" name="position" visibility="public" isUnique="false">
           <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_lZ5bYKlhEeC0sZu-_Vgeyw"/>
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkUDiAEeKDAMEjnOLmPA"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkUTiAEeKDAMEjnOLmPA" value="1"/>
@@ -190,7 +190,7 @@
             <value xsi:nil="true"/>
           </defaultValue>
         </ownedAttribute>
-        <ownedAttribute xmi:id="_k0LkUziAEeKDAMEjnOLmPA" name="position_error" visibility="public" isUnique="false">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkUziAEeKDAMEjnOLmPA" name="position_error" visibility="public" isUnique="false">
           <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_lZ5bYKlhEeC0sZu-_Vgeyw"/>
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkVDiAEeKDAMEjnOLmPA"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkVTiAEeKDAMEjnOLmPA" value="1"/>
@@ -198,7 +198,7 @@
             <value xsi:nil="true"/>
           </defaultValue>
         </ownedAttribute>
-        <ownedAttribute xmi:id="_k0LkVziAEeKDAMEjnOLmPA" name="orientation" visibility="public" isUnique="false">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkVziAEeKDAMEjnOLmPA" name="orientation" visibility="public" isUnique="false">
           <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUQyN8EeKwed7FEEF-4Q"/>
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkWDiAEeKDAMEjnOLmPA"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkWTiAEeKDAMEjnOLmPA" value="1"/>
@@ -206,7 +206,7 @@
             <value xsi:nil="true"/>
           </defaultValue>
         </ownedAttribute>
-        <ownedAttribute xmi:id="_k0LkWziAEeKDAMEjnOLmPA" name="angular_aperture" visibility="public" isUnique="false">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkWziAEeKDAMEjnOLmPA" name="angular_aperture" visibility="public" isUnique="false">
           <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUQyN8EeKwed7FEEF-4Q"/>
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkXDiAEeKDAMEjnOLmPA"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkXTiAEeKDAMEjnOLmPA" value="1"/>
@@ -214,7 +214,7 @@
             <value xsi:nil="true"/>
           </defaultValue>
         </ownedAttribute>
-        <ownedAttribute xmi:id="_k0LkXziAEeKDAMEjnOLmPA" name="distance" visibility="public">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkXziAEeKDAMEjnOLmPA" name="distance" visibility="public">
           <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUOSN8EeKwed7FEEF-4Q"/>
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkYDiAEeKDAMEjnOLmPA"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkYTiAEeKDAMEjnOLmPA" value="1"/>
@@ -222,7 +222,7 @@
             <value xsi:nil="true"/>
           </defaultValue>
         </ownedAttribute>
-        <ownedAttribute xmi:id="_k0LkYziAEeKDAMEjnOLmPA" name="velocity_average" visibility="public">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkYziAEeKDAMEjnOLmPA" name="velocity_average" visibility="public">
           <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LT9SN8EeKwed7FEEF-4Q"/>
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkZDiAEeKDAMEjnOLmPA"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkZTiAEeKDAMEjnOLmPA" value="1"/>
@@ -230,7 +230,7 @@
             <value xsi:nil="true"/>
           </defaultValue>
         </ownedAttribute>
-        <ownedAttribute xmi:id="_k0LkZziAEeKDAMEjnOLmPA" name="amer_to_identify" visibility="public" type="_k0Lj6DiAEeKDAMEjnOLmPA" isUnique="false">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkZziAEeKDAMEjnOLmPA" name="amer_to_identify" visibility="public" type="_k0Lj6DiAEeKDAMEjnOLmPA" isUnique="false">
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkaDiAEeKDAMEjnOLmPA"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkaTiAEeKDAMEjnOLmPA" value="1"/>
           <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkajiAEeKDAMEjnOLmPA">
@@ -239,19 +239,19 @@
         </ownedAttribute>
       </packagedElement>
       <packagedElement xmi:type="uml:Enumeration" xmi:id="_k0LkejiAEeKDAMEjnOLmPA" name="Color">
-        <ownedLiteral xmi:id="_k0LkeziAEeKDAMEjnOLmPA" name="White"/>
-        <ownedLiteral xmi:id="_k0LkfDiAEeKDAMEjnOLmPA" name="Black"/>
-        <ownedLiteral xmi:id="_k0LkfTiAEeKDAMEjnOLmPA" name="Red"/>
-        <ownedLiteral xmi:id="_k0LkfjiAEeKDAMEjnOLmPA" name="Blue"/>
-        <ownedLiteral xmi:id="_k0LkfziAEeKDAMEjnOLmPA" name="Green"/>
+        <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkeziAEeKDAMEjnOLmPA" name="White"/>
+        <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkfDiAEeKDAMEjnOLmPA" name="Black"/>
+        <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkfTiAEeKDAMEjnOLmPA" name="Red"/>
+        <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkfjiAEeKDAMEjnOLmPA" name="Blue"/>
+        <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkfziAEeKDAMEjnOLmPA" name="Green"/>
       </packagedElement>
       <packagedElement xmi:type="uml:Enumeration" xmi:id="_k0LkgDiAEeKDAMEjnOLmPA" name="Geometry">
-        <ownedLiteral xmi:id="_k0LkgTiAEeKDAMEjnOLmPA" name="Cube"/>
-        <ownedLiteral xmi:id="_k0LkgjiAEeKDAMEjnOLmPA" name="Sphere"/>
-        <ownedLiteral xmi:id="_k0LkgziAEeKDAMEjnOLmPA" name="Pyramid"/>
+        <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkgTiAEeKDAMEjnOLmPA" name="Cube"/>
+        <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkgjiAEeKDAMEjnOLmPA" name="Sphere"/>
+        <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkgziAEeKDAMEjnOLmPA" name="Pyramid"/>
       </packagedElement>
       <packagedElement xmi:type="uml:DataType" xmi:id="_k0LkkjiAEeKDAMEjnOLmPA" name="Nombre_Pos">
-        <ownedAttribute xmi:id="_k0LkkziAEeKDAMEjnOLmPA" name="value" visibility="public" isUnique="false">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkkziAEeKDAMEjnOLmPA" name="value" visibility="public" isUnique="false">
           <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_nCOuoAH-EeC_ZLzLQhW-TQ"/>
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LklDiAEeKDAMEjnOLmPA" value="1"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LklTiAEeKDAMEjnOLmPA" value="1"/>
@@ -261,7 +261,7 @@
         </ownedAttribute>
       </packagedElement>
       <packagedElement xmi:type="uml:DataType" xmi:id="_k0LkvDiAEeKDAMEjnOLmPA" name="Percent">
-        <ownedAttribute xmi:id="_k0LkvTiAEeKDAMEjnOLmPA" name="value" visibility="public" isUnique="false">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkvTiAEeKDAMEjnOLmPA" name="value" visibility="public" isUnique="false">
           <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_nCOuoAH-EeC_ZLzLQhW-TQ"/>
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkvjiAEeKDAMEjnOLmPA" value="1"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkvziAEeKDAMEjnOLmPA" value="1"/>
@@ -271,8 +271,8 @@
         </ownedAttribute>
       </packagedElement>
       <packagedElement xmi:type="uml:DataType" xmi:id="_k0Lk4jiAEeKDAMEjnOLmPA" name="Velocity_Error">
-        <ownedComment xmi:id="_k0Lk4ziAEeKDAMEjnOLmPA"/>
-        <ownedAttribute xmi:id="_k0Lk5DiAEeKDAMEjnOLmPA" name="velocity_linear_err" visibility="public" isUnique="false">
+        <ownedComment xmi:type="uml:Comment" xmi:id="_k0Lk4ziAEeKDAMEjnOLmPA"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lk5DiAEeKDAMEjnOLmPA" name="velocity_linear_err" visibility="public" isUnique="false">
           <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LT9SN8EeKwed7FEEF-4Q"/>
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lk5TiAEeKDAMEjnOLmPA" value="1"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lk5jiAEeKDAMEjnOLmPA" value="1"/>
@@ -280,7 +280,7 @@
             <value xsi:nil="true"/>
           </defaultValue>
         </ownedAttribute>
-        <ownedAttribute xmi:id="_k0Lk6DiAEeKDAMEjnOLmPA" name="velocity_angular_err" visibility="public" isUnique="false">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lk6DiAEeKDAMEjnOLmPA" name="velocity_angular_err" visibility="public" isUnique="false">
           <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUUiN8EeKwed7FEEF-4Q"/>
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lk6TiAEeKDAMEjnOLmPA" value="1"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lk6jiAEeKDAMEjnOLmPA" value="1"/>
@@ -290,25 +290,25 @@
         </ownedAttribute>
       </packagedElement>
       <packagedElement xmi:type="uml:DataType" xmi:id="_k0Lk7DiAEeKDAMEjnOLmPA" name="Amer_Relative">
-        <ownedComment xmi:id="_k0Lk7TiAEeKDAMEjnOLmPA" annotatedElement="_k0Lk7DiAEeKDAMEjnOLmPA">
-          <body>Un amer correspond � une balise compos�e d'une clonne&#xD;
+        <ownedComment xmi:type="uml:Comment" xmi:id="_k0Lk7TiAEeKDAMEjnOLmPA" annotatedElement="_k0Lk7DiAEeKDAMEjnOLmPA">
+          <body>Un amer correspond à une balise composée d'une clonne&#xD;
 et d'un solide d'une couleur </body>
         </ownedComment>
-        <ownedAttribute xmi:id="_k0Lk7jiAEeKDAMEjnOLmPA" name="relative_polar" visibility="public" type="_k0Lk-jiAEeKDAMEjnOLmPA" isUnique="false">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lk7jiAEeKDAMEjnOLmPA" name="relative_polar" visibility="public" type="_k0Lk-jiAEeKDAMEjnOLmPA" isUnique="false">
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lk7ziAEeKDAMEjnOLmPA" value="1"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lk8DiAEeKDAMEjnOLmPA" value="1"/>
           <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lk8TiAEeKDAMEjnOLmPA">
             <value xsi:nil="true"/>
           </defaultValue>
         </ownedAttribute>
-        <ownedAttribute xmi:id="_k0Lk8jiAEeKDAMEjnOLmPA" name="color" visibility="public" type="_k0LkejiAEeKDAMEjnOLmPA" isUnique="false">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lk8jiAEeKDAMEjnOLmPA" name="color" visibility="public" type="_k0LkejiAEeKDAMEjnOLmPA" isUnique="false">
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lk8ziAEeKDAMEjnOLmPA" value="1"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lk9DiAEeKDAMEjnOLmPA" value="1"/>
           <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lk9TiAEeKDAMEjnOLmPA">
             <value xsi:nil="true"/>
           </defaultValue>
         </ownedAttribute>
-        <ownedAttribute xmi:id="_k0Lk9jiAEeKDAMEjnOLmPA" name="geometry" visibility="public" type="_k0LkgDiAEeKDAMEjnOLmPA" isUnique="false">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lk9jiAEeKDAMEjnOLmPA" name="geometry" visibility="public" type="_k0LkgDiAEeKDAMEjnOLmPA" isUnique="false">
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lk9ziAEeKDAMEjnOLmPA" value="1"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lk-DiAEeKDAMEjnOLmPA" value="1"/>
           <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lk-TiAEeKDAMEjnOLmPA">
@@ -317,8 +317,8 @@ et d'un solide d'une couleur </body>
         </ownedAttribute>
       </packagedElement>
       <packagedElement xmi:type="uml:DataType" xmi:id="_k0Lk-jiAEeKDAMEjnOLmPA" name="Relative_Polar">
-        <ownedComment xmi:id="_k0Lk-ziAEeKDAMEjnOLmPA"/>
-        <ownedAttribute xmi:id="_k0Lk_DiAEeKDAMEjnOLmPA" name="distance" visibility="public" isUnique="false">
+        <ownedComment xmi:type="uml:Comment" xmi:id="_k0Lk-ziAEeKDAMEjnOLmPA"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lk_DiAEeKDAMEjnOLmPA" name="distance" visibility="public" isUnique="false">
           <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUOSN8EeKwed7FEEF-4Q"/>
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lk_TiAEeKDAMEjnOLmPA" value="1"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lk_jiAEeKDAMEjnOLmPA" value="1"/>
@@ -326,7 +326,7 @@ et d'un solide d'une couleur </body>
             <value xsi:nil="true"/>
           </defaultValue>
         </ownedAttribute>
-        <ownedAttribute xmi:id="_k0LlADiAEeKDAMEjnOLmPA" name="angular" visibility="public" isUnique="false">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlADiAEeKDAMEjnOLmPA" name="angular" visibility="public" isUnique="false">
           <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUQyN8EeKwed7FEEF-4Q"/>
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlATiAEeKDAMEjnOLmPA" value="1"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlAjiAEeKDAMEjnOLmPA" value="1"/>
@@ -334,7 +334,7 @@ et d'un solide d'une couleur </body>
             <value xsi:nil="true"/>
           </defaultValue>
         </ownedAttribute>
-        <ownedAttribute xmi:id="_k0LlBDiAEeKDAMEjnOLmPA" name="site" visibility="public" isUnique="false">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlBDiAEeKDAMEjnOLmPA" name="site" visibility="public" isUnique="false">
           <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUQyN8EeKwed7FEEF-4Q"/>
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlBTiAEeKDAMEjnOLmPA" value="1"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlBjiAEeKDAMEjnOLmPA" value="1"/>
@@ -344,23 +344,23 @@ et d'un solide d'une couleur </body>
         </ownedAttribute>
       </packagedElement>
       <packagedElement xmi:type="uml:DataType" xmi:id="_k0LlCDiAEeKDAMEjnOLmPA" name="Map">
-        <ownedAttribute xmi:id="_k0LlCTiAEeKDAMEjnOLmPA" name="map_meta_data">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlCTiAEeKDAMEjnOLmPA" name="map_meta_data">
           <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_F5N8wAK2EeCsG_V0R865wA"/>
         </ownedAttribute>
-        <ownedAttribute xmi:id="_k0LlCjiAEeKDAMEjnOLmPA" name="position">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlCjiAEeKDAMEjnOLmPA" name="position">
           <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_uUJZ4AH6EeC_ZLzLQhW-TQ"/>
         </ownedAttribute>
       </packagedElement>
       <packagedElement xmi:type="uml:DataType" xmi:id="_k0LlCziAEeKDAMEjnOLmPA" name="Attribute_robot">
-        <ownedAttribute xmi:id="_k0LlDDiAEeKDAMEjnOLmPA" name="voie">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlDDiAEeKDAMEjnOLmPA" name="voie">
           <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
           <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LlDTiAEeKDAMEjnOLmPA" name="voie" value="0.226"/>
         </ownedAttribute>
-        <ownedAttribute xmi:id="_k0LlDjiAEeKDAMEjnOLmPA" name="empatement">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlDjiAEeKDAMEjnOLmPA" name="empatement">
           <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
           <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LlDziAEeKDAMEjnOLmPA" name="empatement" value="0.17"/>
         </ownedAttribute>
-        <ownedAttribute xmi:id="_k0LlEDiAEeKDAMEjnOLmPA" name="diam_roue">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlEDiAEeKDAMEjnOLmPA" name="diam_roue">
           <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
           <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LlETiAEeKDAMEjnOLmPA" name="diam_roue" value="0.144"/>
         </ownedAttribute>
@@ -369,311 +369,311 @@ et d'un solide d'une couleur </body>
     <packagedElement xmi:type="uml:Package" xmi:id="_k0LlEjiAEeKDAMEjnOLmPA" name="YouthChallenge Interfaces"/>
     <packagedElement xmi:type="uml:Package" xmi:id="_k0LlEziAEeKDAMEjnOLmPA" name="YouthChallenge SubSystems"/>
     <packagedElement xmi:type="uml:Class" xmi:id="_k0LlFDiAEeKDAMEjnOLmPA" name="Wifibot">
-      <ownedAttribute xmi:id="_k0LlFTiAEeKDAMEjnOLmPA" name="pathPlanner" type="_k0LoFDiAEeKDAMEjnOLmPA"/>
-      <ownedAttribute xmi:id="_k0LlFjiAEeKDAMEjnOLmPA" name="missionGenerator" type="_k0Ln9ziAEeKDAMEjnOLmPA"/>
-      <ownedAttribute xmi:id="_k0LlFziAEeKDAMEjnOLmPA" name="navigator" type="_k0LoVjiAEeKDAMEjnOLmPA"/>
-      <ownedAttribute xmi:id="_k0LlGDiAEeKDAMEjnOLmPA" name="pilot" type="_k0LoqziAEeKDAMEjnOLmPA"/>
-      <ownedAttribute xmi:id="_k0LlGTiAEeKDAMEjnOLmPA" name="servoing" type="_k0Lo-jiAEeKDAMEjnOLmPA"/>
-      <ownedAttribute xmi:id="_k0LlGjiAEeKDAMEjnOLmPA" name="sensors" type="_k0LndTiAEeKDAMEjnOLmPA"/>
-      <ownedAttribute xmi:id="_k0LlGziAEeKDAMEjnOLmPA" name="proximetry" type="_k0LmxDiAEeKDAMEjnOLmPA"/>
-      <ownedAttribute xmi:id="_k0LlHDiAEeKDAMEjnOLmPA" name="global_map" type="_k0LmBDiAEeKDAMEjnOLmPA"/>
-      <ownedAttribute xmi:id="_k0LlHTiAEeKDAMEjnOLmPA" name="local_Map" type="_k0LmTjiAEeKDAMEjnOLmPA"/>
-      <ownedConnector xmi:id="_k0LlHjiAEeKDAMEjnOLmPA" name="Connector0">
-        <end xmi:id="_k0LlHziAEeKDAMEjnOLmPA" partWithPort="_k0LlFjiAEeKDAMEjnOLmPA" role="_k0Ln-DiAEeKDAMEjnOLmPA">
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlFTiAEeKDAMEjnOLmPA" name="pathPlanner" type="_k0LoFDiAEeKDAMEjnOLmPA"/>
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlFjiAEeKDAMEjnOLmPA" name="missionGenerator" type="_k0Ln9ziAEeKDAMEjnOLmPA"/>
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlFziAEeKDAMEjnOLmPA" name="navigator" type="_k0LoVjiAEeKDAMEjnOLmPA"/>
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlGDiAEeKDAMEjnOLmPA" name="pilot" type="_k0LoqziAEeKDAMEjnOLmPA"/>
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlGTiAEeKDAMEjnOLmPA" name="servoing" type="_k0Lo-jiAEeKDAMEjnOLmPA"/>
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlGjiAEeKDAMEjnOLmPA" name="sensors" type="_k0LndTiAEeKDAMEjnOLmPA"/>
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlGziAEeKDAMEjnOLmPA" name="proximetry" type="_k0LmxDiAEeKDAMEjnOLmPA"/>
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlHDiAEeKDAMEjnOLmPA" name="global_map" type="_k0LmBDiAEeKDAMEjnOLmPA"/>
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlHTiAEeKDAMEjnOLmPA" name="local_Map" type="_k0LmTjiAEeKDAMEjnOLmPA"/>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlHjiAEeKDAMEjnOLmPA" name="Connector0">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlHziAEeKDAMEjnOLmPA" partWithPort="_k0LlFjiAEeKDAMEjnOLmPA" role="_k0Ln-DiAEeKDAMEjnOLmPA">
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlIDiAEeKDAMEjnOLmPA" value="1"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlITiAEeKDAMEjnOLmPA" value="1"/>
         </end>
-        <end xmi:id="_k0LlIjiAEeKDAMEjnOLmPA" partWithPort="_k0LlFTiAEeKDAMEjnOLmPA" role="_k0LoHTiAEeKDAMEjnOLmPA">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlIjiAEeKDAMEjnOLmPA" partWithPort="_k0LlFTiAEeKDAMEjnOLmPA" role="_k0LoHTiAEeKDAMEjnOLmPA">
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlIziAEeKDAMEjnOLmPA" value="1"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlJDiAEeKDAMEjnOLmPA" value="1"/>
         </end>
       </ownedConnector>
-      <ownedConnector xmi:id="_k0LlJTiAEeKDAMEjnOLmPA" name="Connector1">
-        <end xmi:id="_k0LlJjiAEeKDAMEjnOLmPA" partWithPort="_k0LlFTiAEeKDAMEjnOLmPA" role="_k0LoFTiAEeKDAMEjnOLmPA">
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlJTiAEeKDAMEjnOLmPA" name="Connector1">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlJjiAEeKDAMEjnOLmPA" partWithPort="_k0LlFTiAEeKDAMEjnOLmPA" role="_k0LoFTiAEeKDAMEjnOLmPA">
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlJziAEeKDAMEjnOLmPA" value="1"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlKDiAEeKDAMEjnOLmPA" value="1"/>
         </end>
-        <end xmi:id="_k0LlKTiAEeKDAMEjnOLmPA" partWithPort="_k0LlFziAEeKDAMEjnOLmPA" role="_k0LoVziAEeKDAMEjnOLmPA">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlKTiAEeKDAMEjnOLmPA" partWithPort="_k0LlFziAEeKDAMEjnOLmPA" role="_k0LoVziAEeKDAMEjnOLmPA">
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlKjiAEeKDAMEjnOLmPA" value="1"/>
           <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlKziAEeKDAMEjnOLmPA" value="1"/>
         </end>
       </ownedConnector>
-      <ownedConnector xmi:id="_k0LlLDiAEeKDAMEjnOLmPA" name="Connector2">
-        <end xmi:id="_k0LlLTiAEeKDAMEjnOLmPA" partWithPort="_k0LlFziAEeKDAMEjnOLmPA" role="_k0LoWziAEeKDAMEjnOLmPA">
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlLDiAEeKDAMEjnOLmPA" name="Connector2">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlLTiAEeKDAMEjnOLmPA" partWithPort="_k0LlFziAEeKDAMEjnOLmPA" role="_k0LoWziAEeKDAMEjnOLmPA">
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlLjiAEeKDAMEjnOLmPA" value="1"/>
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-        <end xmi:id="_k0Ll4ziAEeKDAMEjnOLmPA" partWithPort="_k0LlHDiAEeKDAMEjnOLmPA" role="_k0LmCTiAEeKDAMEjnOLmPA">
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ll4jiAEeKDAMEjnOLmPA" name="Connector28">
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-        <end xmi:id="_k0Ll5jiAEeKDAMEjnOLmPA" partWithPort="_k0LlFTiAEeKDAMEjnOLmPA" role="_k0LoIjiAEeKDAMEjnOLmPA">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll5jiAEeKDAMEjnOLmPA" partWithPort="_k0LlFTiAEeKDAMEjnOLmPA" role="_k0LoIjiAEeKDAMEjnOLmPA">
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-        <end xmi:id="_k0Ll6jiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnlTiAEeKDAMEjnOLmPA">
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ll6TiAEeKDAMEjnOLmPA" name="Connector29">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll6jiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnlTiAEeKDAMEjnOLmPA">
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-        <end xmi:id="_k0Ll7TiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm4ziAEeKDAMEjnOLmPA">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll7TiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm4ziAEeKDAMEjnOLmPA">
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@@ -682,7 +682,7 @@ et d'un solide d'une couleur </body>
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     <packagedElement xmi:type="uml:Package" xmi:id="_k0Ll8TiAEeKDAMEjnOLmPA" name="P4_Global">
       <packagedElement xmi:type="uml:Class" xmi:id="_k0Ll8jiAEeKDAMEjnOLmPA" name="Global_Map">
-        <ownedComment xmi:id="_k0Ll8ziAEeKDAMEjnOLmPA" annotatedElement="_k0Ll8jiAEeKDAMEjnOLmPA">
+        <ownedComment xmi:type="uml:Comment" xmi:id="_k0Ll8ziAEeKDAMEjnOLmPA" annotatedElement="_k0Ll8jiAEeKDAMEjnOLmPA">
           <body>This module buid the absolute bitmap map (glob_map) of the scene, using the local map (loc-map).&#xD;
 the origine is the entry zone of the robot.</body>
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@@ -717,49 +717,49 @@ the origine is the entry zone of the robot.</body>
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-        <ownedAttribute xmi:id="_k0LmBTiAEeKDAMEjnOLmPA" name="global_Map" type="_k0Ll8jiAEeKDAMEjnOLmPA"/>
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           <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/>
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-          <end xmi:id="_k0LmIDiAEeKDAMEjnOLmPA" partWithPort="_k0LmBTiAEeKDAMEjnOLmPA" role="_k0Ll9DiAEeKDAMEjnOLmPA">
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmHziAEeKDAMEjnOLmPA" name="Connector4">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmIDiAEeKDAMEjnOLmPA" partWithPort="_k0LmBTiAEeKDAMEjnOLmPA" role="_k0Ll9DiAEeKDAMEjnOLmPA">
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           </end>
-          <end xmi:id="_k0LmIziAEeKDAMEjnOLmPA" role="_k0LmCTiAEeKDAMEjnOLmPA">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmIziAEeKDAMEjnOLmPA" role="_k0LmCTiAEeKDAMEjnOLmPA">
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@@ -768,7 +768,7 @@ the origine is the entry zone of the robot.</body>
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       <packagedElement xmi:type="uml:Class" xmi:id="_k0LmJziAEeKDAMEjnOLmPA" name="Local_Map">
-        <ownedComment xmi:id="_k0LmKDiAEeKDAMEjnOLmPA" annotatedElement="_k0LmJziAEeKDAMEjnOLmPA">
+        <ownedComment xmi:type="uml:Comment" xmi:id="_k0LmKDiAEeKDAMEjnOLmPA" annotatedElement="_k0LmJziAEeKDAMEjnOLmPA">
           <body>The Local Map module Build a Relative Cartesian 2D bitmap Map (loc_map) &#xD;
 The frame is centered on the robot (x &lt;=> forward).&#xD;
 it use proxi_map and all proprio and exteroceptive datas giving him the relative displacement.&#xD;
@@ -845,8 +845,8 @@ It place also all the amer on it map.</body>
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       <packagedElement xmi:type="uml:Class" xmi:id="_k0LmTjiAEeKDAMEjnOLmPA" name="P3_Local">
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-        <ownedAttribute xmi:id="_k0LmUDiAEeKDAMEjnOLmPA" name="local_Map" type="_k0LmJziAEeKDAMEjnOLmPA"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LmTziAEeKDAMEjnOLmPA" name="amer_Loc" type="_k0LmRTiAEeKDAMEjnOLmPA"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LmUDiAEeKDAMEjnOLmPA" name="local_Map" type="_k0LmJziAEeKDAMEjnOLmPA"/>
         <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmUTiAEeKDAMEjnOLmPA" name="proxi_map" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite"/>
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           <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/>
@@ -860,82 +860,82 @@ It place also all the amer on it map.</body>
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-          <end xmi:id="_k0LmWTiAEeKDAMEjnOLmPA" partWithPort="_k0LmTziAEeKDAMEjnOLmPA" role="_k0LmSjiAEeKDAMEjnOLmPA">
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-        <ownedConnector xmi:id="_k0LmiTiAEeKDAMEjnOLmPA" name="Connector8">
-          <end xmi:id="_k0LmijiAEeKDAMEjnOLmPA" role="_k0LmVziAEeKDAMEjnOLmPA">
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmiTiAEeKDAMEjnOLmPA" name="Connector8">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmijiAEeKDAMEjnOLmPA" role="_k0LmVziAEeKDAMEjnOLmPA">
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             <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmjDiAEeKDAMEjnOLmPA" value="1"/>
           </end>
-          <end xmi:id="_k0LmjTiAEeKDAMEjnOLmPA" partWithPort="_k0LmTziAEeKDAMEjnOLmPA" role="_k0LmRjiAEeKDAMEjnOLmPA">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmjTiAEeKDAMEjnOLmPA" partWithPort="_k0LmTziAEeKDAMEjnOLmPA" role="_k0LmRjiAEeKDAMEjnOLmPA">
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@@ -944,9 +944,9 @@ It place also all the amer on it map.</body>
     </packagedElement>
     <packagedElement xmi:type="uml:Package" xmi:id="_k0LmkDiAEeKDAMEjnOLmPA" name="P2_Proxymetry">
       <packagedElement xmi:type="uml:Class" xmi:id="_k0LmkTiAEeKDAMEjnOLmPA" name="Super_DKM">
-        <ownedComment xmi:id="_k0LmkjiAEeKDAMEjnOLmPA" annotatedElement="_k0LmkTiAEeKDAMEjnOLmPA">
+        <ownedComment xmi:type="uml:Comment" xmi:id="_k0LmkjiAEeKDAMEjnOLmPA" annotatedElement="_k0LmkTiAEeKDAMEjnOLmPA">
           <body>Modele Cinematique Direct (MCD) - Direct Kinematics Model (DKM)&#xD;
-Transformation from articular space (left and right wheels speed) to operational space (cartesian v�locity)&#xD;
+Transformation from articular space (left and right wheels speed) to operational space (cartesian velocity)&#xD;
 we call it &quot;Super&quot;-DKM because we not only use odometry speed, but also IMU and GPS inputs, and we output also cartesian position</body>
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         <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmkziAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
@@ -996,13 +996,13 @@ we call it &quot;Super&quot;-DKM because we not only use odometry speed, but als
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           </defaultValue>
         </ownedAttribute>
-        <ownedAttribute xmi:id="_k0LmqziAEeKDAMEjnOLmPA" name="attribute" type="_k0LlCziAEeKDAMEjnOLmPA">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LmqziAEeKDAMEjnOLmPA" name="attribute" type="_k0LlCziAEeKDAMEjnOLmPA">
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       </packagedElement>
       <packagedElement xmi:type="uml:Class" xmi:id="_k0LmrjiAEeKDAMEjnOLmPA" name="Proximetric_Map">
-        <ownedComment xmi:id="_k0LmrziAEeKDAMEjnOLmPA" annotatedElement="_k0LmrjiAEeKDAMEjnOLmPA">
+        <ownedComment xmi:type="uml:Comment" xmi:id="_k0LmrziAEeKDAMEjnOLmPA" annotatedElement="_k0LmrjiAEeKDAMEjnOLmPA">
           <body>Proximetric Map is a bitmap map, but in polar coordinate.&#xD;
 the polar 2D frame is linked to the robot (so relative). Origine x forward the robot, angle with trigonometric way/notation (unclocwise)&#xD;
 this Polar bitmap map is digitalized in Nrange cell from 0 to MaxRange, and in Nangle, from 0 to 2Pi.&#xD;
@@ -1028,7 +1028,7 @@ Only measures from sensors are directly print on this map : no memory !</body>
         </ownedAttribute>
       </packagedElement>
       <packagedElement xmi:type="uml:Class" xmi:id="_k0LmuTiAEeKDAMEjnOLmPA" name="Amer_Identif">
-        <ownedComment xmi:id="_k0LmujiAEeKDAMEjnOLmPA" annotatedElement="_k0LmuTiAEeKDAMEjnOLmPA">
+        <ownedComment xmi:type="uml:Comment" xmi:id="_k0LmujiAEeKDAMEjnOLmPA" annotatedElement="_k0LmuTiAEeKDAMEjnOLmPA">
           <body>This Module is able to find a amer in a image, and, using the CameraInfo of the cam, give a position of it, relatively from the robot. it delivers also the shape of the amer, and it color.</body>
         </ownedComment>
         <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmuziAEeKDAMEjnOLmPA" name="video" visibility="public" aggregation="composite">
@@ -1051,7 +1051,7 @@ Only measures from sensors are directly print on this map : no memory !</body>
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       <packagedElement xmi:type="uml:Class" xmi:id="_k0LmxDiAEeKDAMEjnOLmPA" name="P2_Proximetry">
-        <ownedComment xmi:id="_k0LmxTiAEeKDAMEjnOLmPA" annotatedElement="_k0LmxDiAEeKDAMEjnOLmPA">
+        <ownedComment xmi:type="uml:Comment" xmi:id="_k0LmxTiAEeKDAMEjnOLmPA" annotatedElement="_k0LmxDiAEeKDAMEjnOLmPA">
           <body></body>
         </ownedComment>
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@@ -1094,9 +1094,9 @@ Only measures from sensors are directly print on this map : no memory !</body>
             <value xsi:nil="true"/>
           </defaultValue>
         </ownedAttribute>
-        <ownedAttribute xmi:id="_k0Lm2jiAEeKDAMEjnOLmPA" name="superDKM" type="_k0LmkTiAEeKDAMEjnOLmPA"/>
-        <ownedAttribute xmi:id="_k0Lm2ziAEeKDAMEjnOLmPA" name="proximetric_Map" type="_k0LmrjiAEeKDAMEjnOLmPA"/>
-        <ownedAttribute xmi:id="_k0Lm3DiAEeKDAMEjnOLmPA" name="amer_Identif" type="_k0LmuTiAEeKDAMEjnOLmPA"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lm2jiAEeKDAMEjnOLmPA" name="superDKM" type="_k0LmkTiAEeKDAMEjnOLmPA"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lm2ziAEeKDAMEjnOLmPA" name="proximetric_Map" type="_k0LmrjiAEeKDAMEjnOLmPA"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lm3DiAEeKDAMEjnOLmPA" name="amer_Identif" type="_k0LmuTiAEeKDAMEjnOLmPA"/>
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         </ownedAttribute>
@@ -1112,122 +1112,122 @@ Only measures from sensors are directly print on this map : no memory !</body>
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-          <end xmi:id="_k0LnJDiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2ziAEeKDAMEjnOLmPA" role="_k0LmsDiAEeKDAMEjnOLmPA">
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-          <end xmi:id="_k0LnKziAEeKDAMEjnOLmPA" partWithPort="_k0Lm3DiAEeKDAMEjnOLmPA" role="_k0LmvziAEeKDAMEjnOLmPA">
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-          <end xmi:id="_k0LnLjiAEeKDAMEjnOLmPA" role="_k0Lm4TiAEeKDAMEjnOLmPA">
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-          <end xmi:id="_k0LnMjiAEeKDAMEjnOLmPA" role="_k0Lm4ziAEeKDAMEjnOLmPA">
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnMTiAEeKDAMEjnOLmPA" name="Connector12">
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-          <end xmi:id="_k0LnNTiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2ziAEeKDAMEjnOLmPA" role="_k0LmuDiAEeKDAMEjnOLmPA">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnNTiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2ziAEeKDAMEjnOLmPA" role="_k0LmuDiAEeKDAMEjnOLmPA">
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@@ -1398,12 +1398,12 @@ Only measures from sensors are directly print on this map : no memory !</body>
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-        <ownedAttribute xmi:id="_k0LnjziAEeKDAMEjnOLmPA" name="camera_FireWire" type="_k0LnbziAEeKDAMEjnOLmPA"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LnijiAEeKDAMEjnOLmPA" name="wifibot_Frame_Out" type="_k0LnOTiAEeKDAMEjnOLmPA"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LniziAEeKDAMEjnOLmPA" name="GPS" type="_k0LnXziAEeKDAMEjnOLmPA"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LnjDiAEeKDAMEjnOLmPA" name="Odometer" type="_k0LnTjiAEeKDAMEjnOLmPA"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LnjTiAEeKDAMEjnOLmPA" name="IMU" type="_k0LnZDiAEeKDAMEjnOLmPA"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LnjjiAEeKDAMEjnOLmPA" name="LaserRange" type="_k0LnaTiAEeKDAMEjnOLmPA"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LnjziAEeKDAMEjnOLmPA" name="camera_FireWire" type="_k0LnbziAEeKDAMEjnOLmPA"/>
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@@ -1420,132 +1420,132 @@ Only measures from sensors are directly print on this map : no memory !</body>
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-          <end xmi:id="_k0LnlziAEeKDAMEjnOLmPA" partWithPort="_k0LnjDiAEeKDAMEjnOLmPA" role="_k0LnWziAEeKDAMEjnOLmPA">
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-          <end xmi:id="_k0Ln5ziAEeKDAMEjnOLmPA" role="_k0LnlDiAEeKDAMEjnOLmPA">
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-        <ownedConnector xmi:id="_k0Ln6jiAEeKDAMEjnOLmPA" name="Connector13">
-          <end xmi:id="_k0Ln6ziAEeKDAMEjnOLmPA" partWithPort="_k0LnijiAEeKDAMEjnOLmPA" role="_k0LnRjiAEeKDAMEjnOLmPA">
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ln6jiAEeKDAMEjnOLmPA" name="Connector13">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln6ziAEeKDAMEjnOLmPA" partWithPort="_k0LnijiAEeKDAMEjnOLmPA" role="_k0LnRjiAEeKDAMEjnOLmPA">
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             <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln7TiAEeKDAMEjnOLmPA" value="1"/>
           </end>
-          <end xmi:id="_k0Ln7jiAEeKDAMEjnOLmPA" role="_k0LnkziAEeKDAMEjnOLmPA">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln7jiAEeKDAMEjnOLmPA" role="_k0LnkziAEeKDAMEjnOLmPA">
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@@ -1570,13 +1570,13 @@ Only measures from sensors are directly print on this map : no memory !</body>
             <value xsi:nil="true"/>
           </defaultValue>
         </ownedAttribute>
-        <ownedAttribute xmi:id="_k0Ln_DiAEeKDAMEjnOLmPA" name="mission" type="_k0Ln8jiAEeKDAMEjnOLmPA"/>
-        <ownedConnector xmi:id="_k0Ln_TiAEeKDAMEjnOLmPA" name="Connector0">
-          <end xmi:id="_k0Ln_jiAEeKDAMEjnOLmPA" partWithPort="_k0Ln_DiAEeKDAMEjnOLmPA" role="_k0Ln8ziAEeKDAMEjnOLmPA">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Ln_DiAEeKDAMEjnOLmPA" name="mission" type="_k0Ln8jiAEeKDAMEjnOLmPA"/>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ln_TiAEeKDAMEjnOLmPA" name="Connector0">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln_jiAEeKDAMEjnOLmPA" partWithPort="_k0Ln_DiAEeKDAMEjnOLmPA" role="_k0Ln8ziAEeKDAMEjnOLmPA">
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           </end>
-          <end xmi:id="_k0LoATiAEeKDAMEjnOLmPA" role="_k0Ln-DiAEeKDAMEjnOLmPA">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoATiAEeKDAMEjnOLmPA" role="_k0Ln-DiAEeKDAMEjnOLmPA">
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@@ -1585,7 +1585,7 @@ Only measures from sensors are directly print on this map : no memory !</body>
     </packagedElement>
     <packagedElement xmi:type="uml:Package" xmi:id="_k0LoBDiAEeKDAMEjnOLmPA" name="A4_PathPlanner">
       <packagedElement xmi:type="uml:Class" xmi:id="_k0LoBTiAEeKDAMEjnOLmPA" name="Path_Planner">
-        <ownedComment xmi:id="_k0LoBjiAEeKDAMEjnOLmPA" annotatedElement="_k0LoBTiAEeKDAMEjnOLmPA">
+        <ownedComment xmi:type="uml:Comment" xmi:id="_k0LoBjiAEeKDAMEjnOLmPA" annotatedElement="_k0LoBTiAEeKDAMEjnOLmPA">
           <body>this module deliver the path (waypoints) for the navigator. it use the global map to calculate these waypoints, taking into account the mission to do.</body>
         </ownedComment>
         <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoBziAEeKDAMEjnOLmPA" name="goal" visibility="public" type="_k0Lj4ziAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
@@ -1635,44 +1635,44 @@ Only measures from sensors are directly print on this map : no memory !</body>
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           </defaultValue>
         </ownedAttribute>
-        <ownedAttribute xmi:id="_k0LoITiAEeKDAMEjnOLmPA" name="path_Planner" type="_k0LoBTiAEeKDAMEjnOLmPA"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LoITiAEeKDAMEjnOLmPA" name="path_Planner" type="_k0LoBTiAEeKDAMEjnOLmPA"/>
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-          <end xmi:id="_k0LoJDiAEeKDAMEjnOLmPA" role="_k0LoHTiAEeKDAMEjnOLmPA">
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-          <end xmi:id="_k0LoKziAEeKDAMEjnOLmPA" partWithPort="_k0LoITiAEeKDAMEjnOLmPA" role="_k0LoCziAEeKDAMEjnOLmPA">
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-          <end xmi:id="_k0LoMjiAEeKDAMEjnOLmPA" role="_k0LoIjiAEeKDAMEjnOLmPA">
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-          <end xmi:id="_k0LoOTiAEeKDAMEjnOLmPA" role="_k0LoGTiAEeKDAMEjnOLmPA">
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-          <end xmi:id="_k0LoPDiAEeKDAMEjnOLmPA" partWithPort="_k0LoITiAEeKDAMEjnOLmPA" role="_k0LoEziAEeKDAMEjnOLmPA">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoPDiAEeKDAMEjnOLmPA" partWithPort="_k0LoITiAEeKDAMEjnOLmPA" role="_k0LoEziAEeKDAMEjnOLmPA">
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@@ -1681,7 +1681,7 @@ Only measures from sensors are directly print on this map : no memory !</body>
     </packagedElement>
     <packagedElement xmi:type="uml:Package" xmi:id="_k0LoPziAEeKDAMEjnOLmPA" name="A3_Navigator">
       <packagedElement xmi:type="uml:Class" xmi:id="_k0LoQDiAEeKDAMEjnOLmPA" name="Navigator">
-        <ownedComment xmi:id="_k0LoQTiAEeKDAMEjnOLmPA" annotatedElement="_k0LoQDiAEeKDAMEjnOLmPA">
+        <ownedComment xmi:type="uml:Comment" xmi:id="_k0LoQTiAEeKDAMEjnOLmPA" annotatedElement="_k0LoQDiAEeKDAMEjnOLmPA">
           <body>Navigator deliver local trajectory for the pilot, taking into account local map.&#xD;
 It must reach the various waypoints, considering the obstacles placed in the local map (loc_map)</body>
         </ownedComment>
@@ -1739,58 +1739,58 @@ It must reach the various waypoints, considering the obstacles placed in the loc
             <value xsi:nil="true"/>
           </defaultValue>
         </ownedAttribute>
-        <ownedAttribute xmi:id="_k0LoXziAEeKDAMEjnOLmPA" name="navigator" type="_k0LoQDiAEeKDAMEjnOLmPA"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LoXziAEeKDAMEjnOLmPA" name="navigator" type="_k0LoQDiAEeKDAMEjnOLmPA"/>
         <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoYDiAEeKDAMEjnOLmPA" name="loc_map" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite"/>
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         <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoYjiAEeKDAMEjnOLmPA" name="velocity" aggregation="composite">
           <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUpiN8EeKwed7FEEF-4Q"/>
         </ownedAttribute>
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-          <end xmi:id="_k0LoZDiAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoRjiAEeKDAMEjnOLmPA">
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoYziAEeKDAMEjnOLmPA" name="Connector1">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoZDiAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoRjiAEeKDAMEjnOLmPA">
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           </end>
-          <end xmi:id="_k0LoZziAEeKDAMEjnOLmPA" role="_k0LoWziAEeKDAMEjnOLmPA">
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-          <end xmi:id="_k0LoaziAEeKDAMEjnOLmPA" role="_k0LoVziAEeKDAMEjnOLmPA">
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoajiAEeKDAMEjnOLmPA" name="Connector2">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoaziAEeKDAMEjnOLmPA" role="_k0LoVziAEeKDAMEjnOLmPA">
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-          <end xmi:id="_k0LobjiAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoQjiAEeKDAMEjnOLmPA">
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-          <end xmi:id="_k0LocjiAEeKDAMEjnOLmPA" role="_k0LoYDiAEeKDAMEjnOLmPA">
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LocTiAEeKDAMEjnOLmPA" name="Connector3">
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+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LodTiAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoSjiAEeKDAMEjnOLmPA">
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-          <end xmi:id="_k0LoeTiAEeKDAMEjnOLmPA" role="_k0LoYTiAEeKDAMEjnOLmPA">
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoeDiAEeKDAMEjnOLmPA" name="Connector4">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoeTiAEeKDAMEjnOLmPA" role="_k0LoYTiAEeKDAMEjnOLmPA">
             <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoejiAEeKDAMEjnOLmPA" value="1"/>
             <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoeziAEeKDAMEjnOLmPA" value="1"/>
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-          <end xmi:id="_k0LofDiAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoTjiAEeKDAMEjnOLmPA">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LofDiAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoTjiAEeKDAMEjnOLmPA">
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             <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LofjiAEeKDAMEjnOLmPA" value="1"/>
           </end>
         </ownedConnector>
-        <ownedConnector xmi:id="_k0LofziAEeKDAMEjnOLmPA" name="Connector5">
-          <end xmi:id="_k0LogDiAEeKDAMEjnOLmPA" role="_k0LoYjiAEeKDAMEjnOLmPA">
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LofziAEeKDAMEjnOLmPA" name="Connector5">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LogDiAEeKDAMEjnOLmPA" role="_k0LoYjiAEeKDAMEjnOLmPA">
             <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LogTiAEeKDAMEjnOLmPA" value="1"/>
             <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LogjiAEeKDAMEjnOLmPA" value="1"/>
           </end>
-          <end xmi:id="_k0LogziAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoUjiAEeKDAMEjnOLmPA">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LogziAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoUjiAEeKDAMEjnOLmPA">
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           </end>
@@ -1799,8 +1799,8 @@ It must reach the various waypoints, considering the obstacles placed in the loc
     </packagedElement>
     <packagedElement xmi:type="uml:Package" xmi:id="_k0LohjiAEeKDAMEjnOLmPA" name="A2_Pilot">
       <packagedElement xmi:type="uml:Class" xmi:id="_k0LohziAEeKDAMEjnOLmPA" name="Pilot">
-        <ownedComment xmi:id="_k0LoiDiAEeKDAMEjnOLmPA" annotatedElement="_k0LohziAEeKDAMEjnOLmPA">
-          <body>The pilot must calculate the set points in op�rating space, following the trajectory delivered by the navigator. &#xD;
+        <ownedComment xmi:type="uml:Comment" xmi:id="_k0LoiDiAEeKDAMEjnOLmPA" annotatedElement="_k0LohziAEeKDAMEjnOLmPA">
+          <body>The pilot must calculate the set points in operating space, following the trajectory delivered by the navigator. &#xD;
 But the pilot must react to obstacles 'seen' in the proximetric map (prox_map), avoiding them.&#xD;
 </body>
         </ownedComment>
@@ -1851,8 +1851,8 @@ But the pilot must react to obstacles 'seen' in the proximetric map (prox_map),
         </ownedAttribute>
       </packagedElement>
       <packagedElement xmi:type="uml:Class" xmi:id="_k0LooTiAEeKDAMEjnOLmPA" name="IKM">
-        <ownedComment xmi:id="_k0LoojiAEeKDAMEjnOLmPA" annotatedElement="_k0LooTiAEeKDAMEjnOLmPA">
-          <body>Modele Cin�matique Inverse (MCI) - Invert Kinematic Model (IKM)&#xD;
+        <ownedComment xmi:type="uml:Comment" xmi:id="_k0LoojiAEeKDAMEjnOLmPA" annotatedElement="_k0LooTiAEeKDAMEjnOLmPA">
+          <body>Modele Cinématique Inverse (MCI) - Invert Kinematic Model (IKM)&#xD;
 transform the velocities from the operational space to the articular space (left and right wheels velocities)</body>
         </ownedComment>
         <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LooziAEeKDAMEjnOLmPA" name="art_set_point" visibility="public" isUnique="false" aggregation="composite">
@@ -1888,80 +1888,80 @@ transform the velocities from the operational space to the articular space (left
             <value xsi:nil="true"/>
           </defaultValue>
         </ownedAttribute>
-        <ownedAttribute xmi:id="_k0LotDiAEeKDAMEjnOLmPA" name="Pilot" type="_k0LohziAEeKDAMEjnOLmPA"/>
-        <ownedAttribute xmi:id="_k0LotTiAEeKDAMEjnOLmPA" name="IKM" type="_k0LooTiAEeKDAMEjnOLmPA"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LotDiAEeKDAMEjnOLmPA" name="Pilot" type="_k0LohziAEeKDAMEjnOLmPA"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LotTiAEeKDAMEjnOLmPA" name="IKM" type="_k0LooTiAEeKDAMEjnOLmPA"/>
         <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LouDiAEeKDAMEjnOLmPA" name="velocity" aggregation="composite">
           <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUpiN8EeKwed7FEEF-4Q"/>
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         <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LouTiAEeKDAMEjnOLmPA" name="accel_girat" aggregation="composite">
           <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_cgWYIAKqEeCQReIOIWJ0nA"/>
         </ownedAttribute>
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-          <end xmi:id="_k0LouziAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LokTiAEeKDAMEjnOLmPA">
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoujiAEeKDAMEjnOLmPA" name="Connector0">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LouziAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LokTiAEeKDAMEjnOLmPA">
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             <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LovTiAEeKDAMEjnOLmPA" value="1"/>
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-          <end xmi:id="_k0LovjiAEeKDAMEjnOLmPA" partWithPort="_k0LotTiAEeKDAMEjnOLmPA" role="_k0LopziAEeKDAMEjnOLmPA">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LovjiAEeKDAMEjnOLmPA" partWithPort="_k0LotTiAEeKDAMEjnOLmPA" role="_k0LopziAEeKDAMEjnOLmPA">
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           </end>
         </ownedConnector>
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-          <end xmi:id="_k0LowjiAEeKDAMEjnOLmPA" role="_k0LorDiAEeKDAMEjnOLmPA">
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LowTiAEeKDAMEjnOLmPA" name="Connector1">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LowjiAEeKDAMEjnOLmPA" role="_k0LorDiAEeKDAMEjnOLmPA">
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-          <end xmi:id="_k0LoxTiAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LoiTiAEeKDAMEjnOLmPA">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoxTiAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LoiTiAEeKDAMEjnOLmPA">
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           </end>
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-          <end xmi:id="_k0LoyTiAEeKDAMEjnOLmPA" partWithPort="_k0LotTiAEeKDAMEjnOLmPA" role="_k0LooziAEeKDAMEjnOLmPA">
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoyDiAEeKDAMEjnOLmPA" name="Connector2">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoyTiAEeKDAMEjnOLmPA" partWithPort="_k0LotTiAEeKDAMEjnOLmPA" role="_k0LooziAEeKDAMEjnOLmPA">
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           </end>
-          <end xmi:id="_k0LozDiAEeKDAMEjnOLmPA" role="_k0LosDiAEeKDAMEjnOLmPA">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LozDiAEeKDAMEjnOLmPA" role="_k0LosDiAEeKDAMEjnOLmPA">
             <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LozTiAEeKDAMEjnOLmPA" value="1"/>
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-        <ownedConnector xmi:id="_k0LozziAEeKDAMEjnOLmPA" name="Connector3">
-          <end xmi:id="_k0Lo0DiAEeKDAMEjnOLmPA">
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LozziAEeKDAMEjnOLmPA" name="Connector3">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo0DiAEeKDAMEjnOLmPA">
             <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo0TiAEeKDAMEjnOLmPA" value="1"/>
             <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo0jiAEeKDAMEjnOLmPA" value="1"/>
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-          <end xmi:id="_k0Lo0ziAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LojTiAEeKDAMEjnOLmPA">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo0ziAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LojTiAEeKDAMEjnOLmPA">
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-        <ownedConnector xmi:id="_k0Lo1jiAEeKDAMEjnOLmPA" name="Connector4">
-          <end xmi:id="_k0Lo1ziAEeKDAMEjnOLmPA">
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Lo1jiAEeKDAMEjnOLmPA" name="Connector4">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo1ziAEeKDAMEjnOLmPA">
             <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo2DiAEeKDAMEjnOLmPA" value="1"/>
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-          <end xmi:id="_k0Lo2jiAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LolTiAEeKDAMEjnOLmPA">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo2jiAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LolTiAEeKDAMEjnOLmPA">
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-          <end xmi:id="_k0Lo3jiAEeKDAMEjnOLmPA" role="_k0LouDiAEeKDAMEjnOLmPA">
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Lo3TiAEeKDAMEjnOLmPA" name="Connector5">
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-          <end xmi:id="_k0Lo4TiAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LomTiAEeKDAMEjnOLmPA">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo4TiAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LomTiAEeKDAMEjnOLmPA">
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-          <end xmi:id="_k0Lo5TiAEeKDAMEjnOLmPA" role="_k0LouTiAEeKDAMEjnOLmPA">
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Lo5DiAEeKDAMEjnOLmPA" name="Connector6">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo5TiAEeKDAMEjnOLmPA" role="_k0LouTiAEeKDAMEjnOLmPA">
             <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo5jiAEeKDAMEjnOLmPA" value="1"/>
             <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo5ziAEeKDAMEjnOLmPA" value="1"/>
           </end>
-          <end xmi:id="_k0Lo6DiAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LonTiAEeKDAMEjnOLmPA">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo6DiAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LonTiAEeKDAMEjnOLmPA">
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           </end>
@@ -2006,24 +2006,24 @@ transform the velocities from the operational space to the articular space (left
             <value xsi:nil="true"/>
           </defaultValue>
         </ownedAttribute>
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-        <ownedAttribute xmi:id="_k0LpADiAEeKDAMEjnOLmPA" name="Frame_In" type="_k0Lo9TiAEeKDAMEjnOLmPA"/>
-        <ownedConnector xmi:id="_k0LpATiAEeKDAMEjnOLmPA" name="Connector1">
-          <end xmi:id="_k0LpAjiAEeKDAMEjnOLmPA" partWithPort="_k0LpADiAEeKDAMEjnOLmPA" role="_k0Lo9jiAEeKDAMEjnOLmPA">
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+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LpADiAEeKDAMEjnOLmPA" name="Frame_In" type="_k0Lo9TiAEeKDAMEjnOLmPA"/>
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@@ -2034,8 +2034,8 @@ transform the velocities from the operational space to the articular space (left
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@@ -2047,89 +2047,89 @@ transform the velocities from the operational space to the articular space (left
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@@ -2140,13 +2140,13 @@ transform the velocities from the operational space to the articular space (left
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@@ -2154,16 +2154,16 @@ transform the velocities from the operational space to the articular space (left
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@@ -2181,19 +2181,13 @@ transform the velocities from the operational space to the articular space (left
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@@ -2330,21 +2324,8 @@ transform the velocities from the operational space to the articular space (left
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