8 files changed, 1274 insertions, 1281 deletions
diff --git a/org.eclipse.papyrus.robotml.diagram.common/architecture/robotml.architecture b/org.eclipse.papyrus.robotml.diagram.common/architecture/robotml.architecture
index 1e0bed8..b88d806 100644
--- a/org.eclipse.papyrus.robotml.diagram.common/architecture/robotml.architecture
+++ b/org.eclipse.papyrus.robotml.diagram.common/architecture/robotml.architecture
@@ -1,128 +1,128 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<architecture:ArchitectureDomain xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:architecture="http://www.eclipse.org/papyrus/infra/core/architecture" xmlns:gmfdiagrepresentation="http://www.eclipse.org/papyrus/infra/gmfdiag/representation" xmi:id="_uP7B4ImXEeeIW_io9CMjng" name="Robotic Systems Engineering">
-  <stakeholders xmi:id="_iYiuwImYEeeIW_io9CMjng" name="RobotML Modeler" description="Stakeholder involved in basic Robotic modeling" concerns="_lM664ImYEeeIW_io9CMjng"/>
-  <concerns xmi:id="_lM664ImYEeeIW_io9CMjng" name="Robotic System Design"/>
-  <contexts xsi:type="architecture:ArchitectureDescriptionLanguage" xmi:id="_ojRLoImYEeeIW_io9CMjng" id="org.eclipse.papyrus.robotml.context" name="RobotML" description="Architecture Descritpion Language for robotic models" icon="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/icons/robotml_16x16.png" defaultViewpoints="_z313MImYEeeIW_io9CMjng" creationCommandClass="org.eclipse.papyrus.robotml.diagram.common.commands.CreateRobotmlModelCommand">
-    <viewpoints xmi:id="_z313MImYEeeIW_io9CMjng" id="org.eclipse.papyrus.robotml.viewpoint" name="RobotML Viewpoint" description="RobotML Viewpoint to help designing robotic system" icon="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/icons/robotml_16x16.png" concerns="_lM664ImYEeeIW_io9CMjng" representationKinds="_FTKFQImeEeeIW_io9CMjng _ILxJwImhEeeIW_io9CMjng _IpFX4ImhEeeIW_io9CMjng _JEm2QImhEeeIW_io9CMjng _Ub6_EPBzEeezAe3_FaBUQg _PwD0cHDvEeWh-MssWmCB_A"/>
-    <elementTypes href="platform:/plugin/org.eclipse.papyrus.infra.emf/model/infra-emf.elementtypesconfigurations#_rWI4YHPzEeSnGJwaJWHCSg"/>
-    <elementTypes href="platform:/plugin/org.eclipse.papyrus.infra.gmfdiag.common/model/notation.elementtypesconfigurations#_ScP1oFYCEeS0WsAAtVmToA"/>
-    <elementTypes href="platform:/plugin/org.eclipse.papyrus.infra.gmfdiag.common/model/gmfdiag-common.elementtypesconfigurations#_rWI4YHPzEeSnGJwaJWHCSg"/>
-    <elementTypes href="platform:/plugin/org.eclipse.papyrus.infra.services.controlmode/model/controlmode.elementtypesconfigurations#_rWI4YHPzEeSnGJwaJWHCSg"/>
-    <elementTypes href="platform:/plugin/org.eclipse.papyrus.infra.services.edit/model/marker.elementtypesconfigurations#_rWI4YHPzEeSnGJwaJWHCSg"/>
-    <elementTypes href="platform:/plugin/org.eclipse.papyrus.infra.types.rulebased/model/rulebased.elementtypesconfigurations#_ScP1oFYCEeS0WsAAtVmToA"/>
-    <elementTypes href="platform:/plugin/org.eclipse.papyrus.uml.diagram.clazz/model/classdiagram.elementtypesconfigurations#_rWI4YHPzEeSnGJwaJWHCSg"/>
-    <elementTypes href="platform:/plugin/org.eclipse.papyrus.uml.diagram.communication/model/communicationdiagram.elementtypesconfigurations#_rWI4YHPzEeSnGJwaJWHCSg"/>
-    <elementTypes href="platform:/plugin/org.eclipse.papyrus.uml.diagram.composite/model/compositediagram.elementtypesconfigurations#_tL86sLazEeSbnofizoRSMQ"/>
-    <elementTypes href="platform:/plugin/org.eclipse.papyrus.uml.diagram.interactionoverview/model/interactionOverviewDiagram.elementtypesconfigurations#_x8G0YGaNEeSyJIsxLao1Pw"/>
-    <elementTypes href="platform:/plugin/org.eclipse.papyrus.uml.diagram.statemachine/model/stateMachineDiagram.elementtypesconfigurations#_wYwtMMeDEeSwP_9Vn5UnWg"/>
-    <elementTypes href="platform:/plugin/org.eclipse.papyrus.uml.diagram.stereotype.edition/model/stereotype-edit.elementtypesconfigurations#_ScP1oFYCEeS0WsAAtVmToA"/>
-    <elementTypes href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#_ScP1oFYCEeS0WsAAtVmToA"/>
-    <elementTypes href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml-containments.elementtypesconfigurations#_ScP1oFYCEeS0WsAAtVmToA"/>
-    <elementTypes href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/StandardProfile.elementtypesconfigurations#_jfoLkGT_EeSEqNuV3JpFCA"/>
-    <elementTypes href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/umldi.elementtypesconfigurations#_ScP1oFYCEeS0WsAAtVmToA"/>
-    <elementTypes href="platform:/plugin/org.eclipse.papyrus.uml.service.types.ui/model/uml-advice.elementtypesconfigurations#_ScP1oFYCEeS0WsAAtVmToA"/>
-    <elementTypes href="platform:/plugin/org.eclipse.papyrus.robotml/elementTypes/RobotMLProfile.typesconfigurations#/"/>
-    <elementTypes href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/diagrams/architecture/architecture.palette.di.typesconfigurations#/"/>
-    <elementTypes href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/diagrams/componentdef/componentdef.palette.di.typesconfigurations#/"/>
-    <elementTypes href="platform:/plugin/org.eclipse.papyrus.robotml/palettes/Palette_Class_RobotML.di.typesconfigurations#/"/>
-    <elementTypes href="platform:/plugin/org.eclipse.papyrus.robotml/palettes/Palette_SM_RobotML.di.typesconfigurations#/"/>
-    <representationKinds xsi:type="gmfdiagrepresentation:PapyrusDiagram" xmi:id="_FTKFQImeEeeIW_io9CMjng" id="org.eclipse.papyrus.robotml.diagram.architecture" name="RobotML Architecture Definition Diagram" description="RobotML Architecture Diagram" icon="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/diagrams/architecture/architecture.gif" concerns="_lM664ImYEeeIW_io9CMjng" implementationID="CompositeStructure" customStyle="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/css/style.css" creationCommandClass="org.eclipse.papyrus.uml.diagram.composite.CreateCompositeDiagramCommand">
-      <modelRules xmi:id="_0kzWAfL_EeONXPQ2mbw9vA">
-        <element href="http://www.eclipse.org/uml2/5.0.0/UML#//Package"/>
-      </modelRules>
-      <owningRules xmi:id="_0kzWAvL_EeONXPQ2mbw9vA">
-        <element href="http://www.eclipse.org/uml2/5.0.0/UML#//Package"/>
-      </owningRules>
-      <childRules xmi:id="_0kzWA_L_EeONXPQ2mbw9vA"/>
-      <paletteRules xmi:id="_0kzWBPL_EeONXPQ2mbw9vA" permit="false" element="composite.group.*"/>
-      <palettes href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/diagrams/architecture/architecture.palette.paletteconfiguration#/"/>
-    </representationKinds>
-    <representationKinds xsi:type="gmfdiagrepresentation:PapyrusDiagram" xmi:id="_ILxJwImhEeeIW_io9CMjng" id="org.eclipse.papyrus.robotml.diagram.componentdef" name="RobotML Component Definition Diagram" description="RobotML Component Diagram" icon="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/diagrams/componentdef/componentdef.gif" concerns="_lM664ImYEeeIW_io9CMjng" implementationID="CompositeStructure" customStyle="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/css/style.css" creationCommandClass="org.eclipse.papyrus.uml.diagram.composite.CreateCompositeDiagramCommand">
-      <modelRules xmi:id="_0kzWBvL_EeONXPQ2mbw9vA">
-        <element href="http://www.eclipse.org/uml2/5.0.0/UML#//Package"/>
-      </modelRules>
-      <owningRules xmi:id="_0kzWB_L_EeONXPQ2mbw9vA">
-        <element href="http://www.eclipse.org/uml2/5.0.0/UML#//Package"/>
-      </owningRules>
-      <childRules xmi:id="_0kzWCPL_EeONXPQ2mbw9vA"/>
-      <paletteRules xmi:id="_0kzWCfL_EeONXPQ2mbw9vA" permit="false" element="composite.group.*"/>
-      <palettes href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/diagrams/componentdef/componentdef.palette.paletteconfiguration#/"/>
-    </representationKinds>
-    <representationKinds xsi:type="gmfdiagrepresentation:PapyrusDiagram" xmi:id="_IpFX4ImhEeeIW_io9CMjng" id="org.eclipse.papyrus.robotml.diagram.datatypeD" name="RobotML Datatype Definition Diagram" description="RobotML DataType Diagram" icon="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/diagrams/datatypedef/datatypeD.gif" concerns="_lM664ImYEeeIW_io9CMjng" implementationID="PapyrusUMLClassDiagram" creationCommandClass="org.eclipse.papyrus.uml.diagram.clazz.CreateClassDiagramCommand">
-      <modelRules xmi:id="_0kzWC_L_EeONXPQ2mbw9vA">
-        <element href="http://www.eclipse.org/uml2/5.0.0/UML#//Package"/>
-      </modelRules>
-      <owningRules xmi:id="_0kzWDPL_EeONXPQ2mbw9vA">
-        <element href="http://www.eclipse.org/uml2/5.0.0/UML#//Package"/>
-      </owningRules>
-      <childRules xmi:id="_0kzWDfL_EeONXPQ2mbw9vA"/>
-      <paletteRules xmi:id="_0kz9EPL_EeONXPQ2mbw9vA" permit="false" element="clazz.group.*"/>
-      <paletteRules xmi:id="_0kz9EfL_EeONXPQ2mbw9vA" permit="false" element="org.eclipse.papyrus.robotml.diagram.clazz"/>
-      <palettes href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/diagrams/datatypedef/datatypedef.palette.paletteconfiguration#/"/>
-    </representationKinds>
-    <representationKinds xsi:type="gmfdiagrepresentation:PapyrusDiagram" xmi:id="_JEm2QImhEeeIW_io9CMjng" id="org.eclipse.papyrus.robotml.diagram.interfeceI" name="RobotML Interface Definition Diagram" description="RobotML Interface Diagram" icon="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/diagrams/interfacedef/interfaceI.gif" concerns="_lM664ImYEeeIW_io9CMjng" implementationID="PapyrusUMLClassDiagram" creationCommandClass="org.eclipse.papyrus.uml.diagram.clazz.CreateClassDiagramCommand">
-      <modelRules xmi:id="_0kz9E_L_EeONXPQ2mbw9vA">
-        <element href="http://www.eclipse.org/uml2/5.0.0/UML#//Package"/>
-      </modelRules>
-      <owningRules xmi:id="_0kz9FPL_EeONXPQ2mbw9vA">
-        <element href="http://www.eclipse.org/uml2/5.0.0/UML#//Package"/>
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-      <childRules xmi:id="_0kz9FfL_EeONXPQ2mbw9vA"/>
-      <paletteRules xmi:id="_0kz9FvL_EeONXPQ2mbw9vA" permit="false" element="clazz.group.*"/>
-      <paletteRules xmi:id="_0kz9F_L_EeONXPQ2mbw9vA" permit="false" element="org.eclipse.papyrus.robotml.diagram.clazz"/>
-      <palettes href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/diagrams/interfacedef/interfacedef.palette.paletteconfiguration#/"/>
-    </representationKinds>
-    <representationKinds xsi:type="gmfdiagrepresentation:PapyrusDiagram" xmi:id="_Ub6_EPBzEeezAe3_FaBUQg" id="org.eclipse.papyrus.uml.diagram.class" name="RobotML Class Diagram" description="RobotML Class Diagram" icon="platform:/plugin/org.eclipse.papyrus.uml.diagram.clazz/icons/obj16/Diagram_Class.gif" concerns="_lM664ImYEeeIW_io9CMjng" implementationID="PapyrusUMLClassDiagram" customStyle="" creationCommandClass="org.eclipse.papyrus.uml.diagram.clazz.CreateClassDiagramCommand">
-      <modelRules xmi:id="_zzf4gXDtEeWh-MssWmCB_A">
-        <element href="http://www.eclipse.org/uml2/5.0.0/UML#//Package"/>
-      </modelRules>
-      <owningRules xmi:id="_zzf4gnDtEeWh-MssWmCB_A">
-        <element href="http://www.eclipse.org/uml2/5.0.0/UML#//Package"/>
-      </owningRules>
-      <childRules xmi:id="_zzf4g3DtEeWh-MssWmCB_A"/>
-      <palettes href="platform:/plugin/org.eclipse.papyrus.uml.diagram.clazz/model/PapyrusUMLClassDiagram.paletteconfiguration#/"/>
-    </representationKinds>
-    <representationKinds xsi:type="gmfdiagrepresentation:PapyrusDiagram" xmi:id="_PwD0cHDvEeWh-MssWmCB_A" id="org.eclipse.papyrus.uml.diagram.stateMachine" name="RobotML State Machine Diagram" icon="platform:/plugin/org.eclipse.papyrus.uml.diagram.statemachine/icons/obj16/Diagram_StateMachine.gif" implementationID="PapyrusUMLStateMachineDiagram" creationCommandClass="org.eclipse.papyrus.uml.diagram.statemachine.CreateStateMachineDiagramCommand">
-      <modelRules xmi:id="_PwD0cXDvEeWh-MssWmCB_A">
-        <element href="http://www.eclipse.org/uml2/5.0.0/UML#//StateMachine"/>
-      </modelRules>
-      <modelRules xmi:id="_H-oCgB0UEea_bcpknMJ7-w">
-        <element href="http://www.eclipse.org/uml2/5.0.0/UML#//State"/>
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-      <owningRules xmi:id="_PwD0cnDvEeWh-MssWmCB_A">
-        <element href="http://www.eclipse.org/uml2/5.0.0/UML#//StateMachine"/>
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-      <owningRules xmi:id="_PwD0c3DvEeWh-MssWmCB_A">
-        <element href="http://www.eclipse.org/uml2/5.0.0/UML#//BehavioredClassifier"/>
-        <newModelPath xmi:id="_PwD0dHDvEeWh-MssWmCB_A" creationType="org.eclipse.papyrus.uml.StateMachine">
-          <feature href="http://www.eclipse.org/uml2/5.0.0/UML#//BehavioredClassifier/classifierBehavior"/>
-        </newModelPath>
-      </owningRules>
-      <owningRules xmi:id="_PwD0dXDvEeWh-MssWmCB_A">
-        <element href="http://www.eclipse.org/uml2/5.0.0/UML#//BehavioredClassifier"/>
-        <newModelPath xmi:id="_PwD0dnDvEeWh-MssWmCB_A" creationType="org.eclipse.papyrus.uml.StateMachine">
-          <feature href="http://www.eclipse.org/uml2/5.0.0/UML#//BehavioredClassifier/ownedBehavior"/>
-        </newModelPath>
-      </owningRules>
-      <owningRules xmi:id="_PwD0d3DvEeWh-MssWmCB_A">
-        <element href="http://www.eclipse.org/uml2/5.0.0/UML#//Package"/>
-        <newModelPath xmi:id="_PwD0eHDvEeWh-MssWmCB_A" creationType="org.eclipse.papyrus.uml.StateMachine">
-          <feature href="http://www.eclipse.org/uml2/5.0.0/UML#//Package/packagedElement"/>
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-      <owningRules xmi:id="_PwD0eXDvEeWh-MssWmCB_A">
-        <element href="http://www.eclipse.org/uml2/5.0.0/UML#//Interface"/>
-        <newModelPath xmi:id="_PwD0enDvEeWh-MssWmCB_A" creationType="org.eclipse.papyrus.uml.ProtocolStateMachine">
-          <feature href="http://www.eclipse.org/uml2/5.0.0/UML#//Interface/protocol"/>
-        </newModelPath>
-      </owningRules>
-      <owningRules xmi:id="_5kmMcB0UEea_bcpknMJ7-w">
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-      <childRules xmi:id="_PwD0e3DvEeWh-MssWmCB_A"/>
-      <palettes href="platform:/plugin/org.eclipse.papyrus.uml.diagram.statemachine/model/PapyrusUMLStateMachineDiagram.paletteconfiguration#/"/>
-    </representationKinds>
-    <metamodel href="http://www.eclipse.org/uml2/5.0.0/UML#/"/>
-    <profiles href="http://Papyrus/RobotML/1#/"/>
-  </contexts>
-</architecture:ArchitectureDomain>
+<?xml version="1.0" encoding="UTF-8"?>
+<architecture:ArchitectureDomain xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:architecture="http://www.eclipse.org/papyrus/infra/core/architecture" xmlns:gmfdiagrepresentation="http://www.eclipse.org/papyrus/infra/gmfdiag/representation" xmi:id="_uP7B4ImXEeeIW_io9CMjng" name="Robotic Systems Engineering">
+  <stakeholders xmi:id="_iYiuwImYEeeIW_io9CMjng" name="RobotML Modeler" description="Stakeholder involved in basic Robotic modeling" concerns="_lM664ImYEeeIW_io9CMjng"/>
+  <concerns xmi:id="_lM664ImYEeeIW_io9CMjng" name="Robotic System Design"/>
+  <contexts xsi:type="architecture:ArchitectureDescriptionLanguage" xmi:id="_ojRLoImYEeeIW_io9CMjng" id="org.eclipse.papyrus.robotml.context" name="RobotML" description="Architecture Descritpion Language for robotic models" icon="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/icons/robotml_16x16.png" defaultViewpoints="_z313MImYEeeIW_io9CMjng" creationCommandClass="org.eclipse.papyrus.robotml.diagram.common.commands.CreateRobotmlModelCommand">
+    <viewpoints xmi:id="_z313MImYEeeIW_io9CMjng" id="org.eclipse.papyrus.robotml.viewpoint" name="RobotML Viewpoint" description="RobotML Viewpoint to help designing robotic system" icon="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/icons/robotml_16x16.png" concerns="_lM664ImYEeeIW_io9CMjng" representationKinds="_FTKFQImeEeeIW_io9CMjng _ILxJwImhEeeIW_io9CMjng _IpFX4ImhEeeIW_io9CMjng _JEm2QImhEeeIW_io9CMjng _Ub6_EPBzEeezAe3_FaBUQg _PwD0cHDvEeWh-MssWmCB_A"/>
+    <elementTypes href="platform:/plugin/org.eclipse.papyrus.infra.emf/model/infra-emf.elementtypesconfigurations#_rWI4YHPzEeSnGJwaJWHCSg"/>
+    <elementTypes href="platform:/plugin/org.eclipse.papyrus.infra.gmfdiag.common/model/notation.elementtypesconfigurations#_ScP1oFYCEeS0WsAAtVmToA"/>
+    <elementTypes href="platform:/plugin/org.eclipse.papyrus.infra.gmfdiag.common/model/gmfdiag-common.elementtypesconfigurations#_rWI4YHPzEeSnGJwaJWHCSg"/>
+    <elementTypes href="platform:/plugin/org.eclipse.papyrus.infra.services.controlmode/model/controlmode.elementtypesconfigurations#_rWI4YHPzEeSnGJwaJWHCSg"/>
+    <elementTypes href="platform:/plugin/org.eclipse.papyrus.infra.services.edit/model/marker.elementtypesconfigurations#_rWI4YHPzEeSnGJwaJWHCSg"/>
+    <elementTypes href="platform:/plugin/org.eclipse.papyrus.infra.types.rulebased/model/rulebased.elementtypesconfigurations#_ScP1oFYCEeS0WsAAtVmToA"/>
+    <elementTypes href="platform:/plugin/org.eclipse.papyrus.uml.diagram.clazz/model/classdiagram.elementtypesconfigurations#_rWI4YHPzEeSnGJwaJWHCSg"/>
+    <elementTypes href="platform:/plugin/org.eclipse.papyrus.uml.diagram.communication/model/communicationdiagram.elementtypesconfigurations#_rWI4YHPzEeSnGJwaJWHCSg"/>
+    <elementTypes href="platform:/plugin/org.eclipse.papyrus.uml.diagram.composite/model/compositediagram.elementtypesconfigurations#_tL86sLazEeSbnofizoRSMQ"/>
+    <elementTypes href="platform:/plugin/org.eclipse.papyrus.uml.diagram.interactionoverview/model/interactionOverviewDiagram.elementtypesconfigurations#_x8G0YGaNEeSyJIsxLao1Pw"/>
+    <elementTypes href="platform:/plugin/org.eclipse.papyrus.uml.diagram.statemachine/model/stateMachineDiagram.elementtypesconfigurations#_wYwtMMeDEeSwP_9Vn5UnWg"/>
+    <elementTypes href="platform:/plugin/org.eclipse.papyrus.uml.diagram.stereotype.edition/model/stereotype-edit.elementtypesconfigurations#_ScP1oFYCEeS0WsAAtVmToA"/>
+    <elementTypes href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#_ScP1oFYCEeS0WsAAtVmToA"/>
+    <elementTypes href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml-containments.elementtypesconfigurations#_ScP1oFYCEeS0WsAAtVmToA"/>
+    <elementTypes href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/StandardProfile.elementtypesconfigurations#_jfoLkGT_EeSEqNuV3JpFCA"/>
+    <elementTypes href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/umldi.elementtypesconfigurations#_ScP1oFYCEeS0WsAAtVmToA"/>
+    <elementTypes href="platform:/plugin/org.eclipse.papyrus.uml.service.types.ui/model/uml-advice.elementtypesconfigurations#_ScP1oFYCEeS0WsAAtVmToA"/>
+    <elementTypes href="platform:/plugin/org.eclipse.papyrus.robotml/elementTypes/RobotMLProfile.typesconfigurations#/"/>
+    <elementTypes href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/diagrams/architecture/architecture.palette.di.typesconfigurations#/"/>
+    <elementTypes href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/diagrams/componentdef/componentdef.palette.di.typesconfigurations#/"/>
+    <elementTypes href="platform:/plugin/org.eclipse.papyrus.robotml/palettes/Palette_Class_RobotML.di.typesconfigurations#/"/>
+    <elementTypes href="platform:/plugin/org.eclipse.papyrus.robotml/palettes/Palette_SM_RobotML.di.typesconfigurations#/"/>
+    <representationKinds xsi:type="gmfdiagrepresentation:PapyrusDiagram" xmi:id="_FTKFQImeEeeIW_io9CMjng" id="org.eclipse.papyrus.robotml.diagram.architecture" name="RobotML Architecture Definition Diagram" description="RobotML Architecture Diagram" icon="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/diagrams/architecture/architecture.gif" concerns="_lM664ImYEeeIW_io9CMjng" implementationID="CompositeStructure" customStyle="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/css/style.css" creationCommandClass="org.eclipse.papyrus.uml.diagram.composite.CreateCompositeDiagramCommand">
+      <modelRules xmi:id="_0kzWAfL_EeONXPQ2mbw9vA">
+        <element href="http://www.eclipse.org/uml2/5.0.0/UML#//Package"/>
+      </modelRules>
+      <owningRules xmi:id="_0kzWAvL_EeONXPQ2mbw9vA">
+        <element href="http://www.eclipse.org/uml2/5.0.0/UML#//Package"/>
+      </owningRules>
+      <childRules xmi:id="_0kzWA_L_EeONXPQ2mbw9vA"/>
+      <paletteRules xmi:id="_0kzWBPL_EeONXPQ2mbw9vA" permit="false" element="composite.group.*"/>
+      <palettes href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/diagrams/architecture/architecture.palette.paletteconfiguration#/"/>
+    </representationKinds>
+    <representationKinds xsi:type="gmfdiagrepresentation:PapyrusDiagram" xmi:id="_ILxJwImhEeeIW_io9CMjng" id="org.eclipse.papyrus.robotml.diagram.componentdef" name="RobotML Component Definition Diagram" description="RobotML Component Diagram" icon="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/diagrams/componentdef/componentdef.gif" concerns="_lM664ImYEeeIW_io9CMjng" implementationID="CompositeStructure" customStyle="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/css/style.css" creationCommandClass="org.eclipse.papyrus.uml.diagram.composite.CreateCompositeDiagramCommand">
+      <modelRules xmi:id="_0kzWBvL_EeONXPQ2mbw9vA">
+        <element href="http://www.eclipse.org/uml2/5.0.0/UML#//Package"/>
+      </modelRules>
+      <owningRules xmi:id="_0kzWB_L_EeONXPQ2mbw9vA">
+        <element href="http://www.eclipse.org/uml2/5.0.0/UML#//Package"/>
+      </owningRules>
+      <childRules xmi:id="_0kzWCPL_EeONXPQ2mbw9vA"/>
+      <paletteRules xmi:id="_0kzWCfL_EeONXPQ2mbw9vA" permit="false" element="composite.group.*"/>
+      <palettes href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/diagrams/componentdef/componentdef.palette.paletteconfiguration#/"/>
+    </representationKinds>
+    <representationKinds xsi:type="gmfdiagrepresentation:PapyrusDiagram" xmi:id="_IpFX4ImhEeeIW_io9CMjng" id="org.eclipse.papyrus.robotml.diagram.datatypeD" name="RobotML Datatype Definition Diagram" description="RobotML DataType Diagram" icon="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/diagrams/datatypedef/datatypeD.gif" concerns="_lM664ImYEeeIW_io9CMjng" implementationID="PapyrusUMLClassDiagram" creationCommandClass="org.eclipse.papyrus.uml.diagram.clazz.CreateClassDiagramCommand">
+      <modelRules xmi:id="_0kzWC_L_EeONXPQ2mbw9vA">
+        <element href="http://www.eclipse.org/uml2/5.0.0/UML#//Package"/>
+      </modelRules>
+      <owningRules xmi:id="_0kzWDPL_EeONXPQ2mbw9vA">
+        <element href="http://www.eclipse.org/uml2/5.0.0/UML#//Package"/>
+      </owningRules>
+      <childRules xmi:id="_0kzWDfL_EeONXPQ2mbw9vA"/>
+      <paletteRules xmi:id="_0kz9EPL_EeONXPQ2mbw9vA" permit="false" element="clazz.group.*"/>
+      <paletteRules xmi:id="_0kz9EfL_EeONXPQ2mbw9vA" permit="false" element="org.eclipse.papyrus.robotml.diagram.clazz"/>
+      <palettes href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/diagrams/datatypedef/datatypedef.palette.paletteconfiguration#/"/>
+    </representationKinds>
+    <representationKinds xsi:type="gmfdiagrepresentation:PapyrusDiagram" xmi:id="_JEm2QImhEeeIW_io9CMjng" id="org.eclipse.papyrus.robotml.diagram.interfeceI" name="RobotML Interface Definition Diagram" description="RobotML Interface Diagram" icon="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/diagrams/interfacedef/interfaceI.gif" concerns="_lM664ImYEeeIW_io9CMjng" implementationID="PapyrusUMLClassDiagram" creationCommandClass="org.eclipse.papyrus.uml.diagram.clazz.CreateClassDiagramCommand">
+      <modelRules xmi:id="_0kz9E_L_EeONXPQ2mbw9vA">
+        <element href="http://www.eclipse.org/uml2/5.0.0/UML#//Package"/>
+      </modelRules>
+      <owningRules xmi:id="_0kz9FPL_EeONXPQ2mbw9vA">
+        <element href="http://www.eclipse.org/uml2/5.0.0/UML#//Package"/>
+      </owningRules>
+      <childRules xmi:id="_0kz9FfL_EeONXPQ2mbw9vA"/>
+      <paletteRules xmi:id="_0kz9FvL_EeONXPQ2mbw9vA" permit="false" element="clazz.group.*"/>
+      <paletteRules xmi:id="_0kz9F_L_EeONXPQ2mbw9vA" permit="false" element="org.eclipse.papyrus.robotml.diagram.clazz"/>
+      <palettes href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/diagrams/interfacedef/interfacedef.palette.paletteconfiguration#/"/>
+    </representationKinds>
+    <representationKinds xsi:type="gmfdiagrepresentation:PapyrusDiagram" xmi:id="_Ub6_EPBzEeezAe3_FaBUQg" id="org.eclipse.papyrus.uml.diagram.class" name="RobotML Class Diagram" description="RobotML Class Diagram" icon="platform:/plugin/org.eclipse.papyrus.uml.diagram.clazz/icons/obj16/Diagram_Class.gif" concerns="_lM664ImYEeeIW_io9CMjng" implementationID="PapyrusUMLClassDiagram" customStyle="" creationCommandClass="org.eclipse.papyrus.uml.diagram.clazz.CreateClassDiagramCommand">
+      <modelRules xmi:id="_zzf4gXDtEeWh-MssWmCB_A">
+        <element href="http://www.eclipse.org/uml2/5.0.0/UML#//Package"/>
+      </modelRules>
+      <owningRules xmi:id="_zzf4gnDtEeWh-MssWmCB_A">
+        <element href="http://www.eclipse.org/uml2/5.0.0/UML#//Package"/>
+      </owningRules>
+      <childRules xmi:id="_zzf4g3DtEeWh-MssWmCB_A"/>
+      <palettes href="platform:/plugin/org.eclipse.papyrus.uml.diagram.clazz/model/PapyrusUMLClassDiagram.paletteconfiguration#/"/>
+    </representationKinds>
+    <representationKinds xsi:type="gmfdiagrepresentation:PapyrusDiagram" xmi:id="_PwD0cHDvEeWh-MssWmCB_A" id="org.eclipse.papyrus.uml.diagram.stateMachine" name="RobotML State Machine Diagram" icon="platform:/plugin/org.eclipse.papyrus.uml.diagram.statemachine/icons/obj16/Diagram_StateMachine.gif" implementationID="PapyrusUMLStateMachineDiagram" creationCommandClass="org.eclipse.papyrus.uml.diagram.statemachine.CreateStateMachineDiagramCommand">
+      <modelRules xmi:id="_PwD0cXDvEeWh-MssWmCB_A">
+        <element href="http://www.eclipse.org/uml2/5.0.0/UML#//StateMachine"/>
+      </modelRules>
+      <modelRules xmi:id="_H-oCgB0UEea_bcpknMJ7-w">
+        <element href="http://www.eclipse.org/uml2/5.0.0/UML#//State"/>
+      </modelRules>
+      <owningRules xmi:id="_PwD0cnDvEeWh-MssWmCB_A">
+        <element href="http://www.eclipse.org/uml2/5.0.0/UML#//StateMachine"/>
+      </owningRules>
+      <owningRules xmi:id="_PwD0c3DvEeWh-MssWmCB_A">
+        <element href="http://www.eclipse.org/uml2/5.0.0/UML#//BehavioredClassifier"/>
+        <newModelPath xmi:id="_PwD0dHDvEeWh-MssWmCB_A" creationType="org.eclipse.papyrus.uml.StateMachine">
+          <feature href="http://www.eclipse.org/uml2/5.0.0/UML#//BehavioredClassifier/classifierBehavior"/>
+        </newModelPath>
+      </owningRules>
+      <owningRules xmi:id="_PwD0dXDvEeWh-MssWmCB_A">
+        <element href="http://www.eclipse.org/uml2/5.0.0/UML#//BehavioredClassifier"/>
+        <newModelPath xmi:id="_PwD0dnDvEeWh-MssWmCB_A" creationType="org.eclipse.papyrus.uml.StateMachine">
+          <feature href="http://www.eclipse.org/uml2/5.0.0/UML#//BehavioredClassifier/ownedBehavior"/>
+        </newModelPath>
+      </owningRules>
+      <owningRules xmi:id="_PwD0d3DvEeWh-MssWmCB_A">
+        <element href="http://www.eclipse.org/uml2/5.0.0/UML#//Package"/>
+        <newModelPath xmi:id="_PwD0eHDvEeWh-MssWmCB_A" creationType="org.eclipse.papyrus.uml.StateMachine">
+          <feature href="http://www.eclipse.org/uml2/5.0.0/UML#//Package/packagedElement"/>
+        </newModelPath>
+      </owningRules>
+      <owningRules xmi:id="_PwD0eXDvEeWh-MssWmCB_A">
+        <element href="http://www.eclipse.org/uml2/5.0.0/UML#//Interface"/>
+        <newModelPath xmi:id="_PwD0enDvEeWh-MssWmCB_A" creationType="org.eclipse.papyrus.uml.ProtocolStateMachine">
+          <feature href="http://www.eclipse.org/uml2/5.0.0/UML#//Interface/protocol"/>
+        </newModelPath>
+      </owningRules>
+      <owningRules xmi:id="_5kmMcB0UEea_bcpknMJ7-w">
+        <element href="http://www.eclipse.org/uml2/5.0.0/UML#//State"/>
+      </owningRules>
+      <childRules xmi:id="_PwD0e3DvEeWh-MssWmCB_A"/>
+      <palettes href="platform:/plugin/org.eclipse.papyrus.uml.diagram.statemachine/model/PapyrusUMLStateMachineDiagram.paletteconfiguration#/"/>
+    </representationKinds>
+    <metamodel href="http://www.eclipse.org/uml2/5.0.0/UML#/"/>
+    <profiles href="http://Papyrus/RobotML/1#/"/>
+  </contexts>
+</architecture:ArchitectureDomain>
diff --git a/org.eclipse.papyrus.robotml.diagram.common/plugin.xml b/org.eclipse.papyrus.robotml.diagram.common/plugin.xml
index 3a22e8a..c752344 100644
--- a/org.eclipse.papyrus.robotml.diagram.common/plugin.xml
+++ b/org.eclipse.papyrus.robotml.diagram.common/plugin.xml
@@ -3,13 +3,6 @@
 <plugin>
    <extension
          point="org.eclipse.papyrus.infra.ui.papyrusDiagram">
-      <diagramCategory
-            class="org.eclipse.papyrus.robotml.diagram.common.commands.CreateRobotmlModelCommand"
-            description="RobotML diagrams"
-            icon="platform:/plugin/org.eclipse.papyrus.robotml/icons/robotml/RobotML-32x32.png"
-            id="robotML"
-            label="RobotML">
-      </diagramCategory>
       <editorDiagram
             actionBarContributorId="org.eclipse.papyrus.uml.diagram.common.part.UMLDiagramActionBarContributor"
             factoryClass="org.eclipse.papyrus.robotml.diagram.common.factory.RobotMLArchitecture2CompositeDiagramFactory"
diff --git a/org.eclipse.papyrus.robotml/elementTypes/RobotMLProfile.typesconfigurations b/org.eclipse.papyrus.robotml/elementTypes/RobotMLProfile.typesconfigurations
index 17d2a2b..7c6f2ee 100644
--- a/org.eclipse.papyrus.robotml/elementTypes/RobotMLProfile.typesconfigurations
+++ b/org.eclipse.papyrus.robotml/elementTypes/RobotMLProfile.typesconfigurations
@@ -1,1011 +1,1011 @@
-<?xml version="1.0" encoding="ASCII"?>
-<elementtypesconfigurations:ElementTypeSetConfiguration xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:applystereotypeadvice="http://www.eclipse.org/papyrus/uml/types/applystereotypeadvice/1.1" xmlns:elementtypesconfigurations="http://www.eclipse.org/papyrus/infra/elementtypesconfigurations/1.2" xmlns:stereotypematcher="http://www.eclipse.org/papyrus/uml/types/stereotypematcher/1.1" identifier="org.eclipse.papyrus.robotML.elementTypes" name="PapyrusRobotMLProfile ElementTypes" metamodelNsURI="http://www.eclipse.org/uml2/5.0.0/UML">
-  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" identifier="org.eclipse.papyrus.robotML.ActuatedJoint" name="ActuatedJoint" hint="UML::Connector">
-    <iconEntry iconPath="/icons/full/obj16/Connector.gif" bundleId="org.eclipse.uml2.uml.edit"/>
-    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
-      <stereotypesQualifiedNames>RobotML::ActuatedJoint</stereotypesQualifiedNames>
-    </matcherConfiguration>
-    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="../../../plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Connector"/>
-  </elementTypeConfigurations>
-  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" identifier="org.eclipse.papyrus.robotML.ActuatorHardware" name="ActuatorHardware" hint="UML::Class">
-    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
-    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
-      <stereotypesQualifiedNames>RobotML::ActuatorHardware</stereotypesQualifiedNames>
-    </matcherConfiguration>
-    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="../../../plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
-  </elementTypeConfigurations>
-  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" identifier="org.eclipse.papyrus.robotML.ActuatorSystem" name="ActuatorSystem" hint="UML::Class">
-    <iconEntry iconPath="/icons/16x16/13_action.png" bundleId="org.eclipse.papyrus.robotml"/>
-    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
-      <stereotypesQualifiedNames>RobotML::ActuatorSystem</stereotypesQualifiedNames>
-    </matcherConfiguration>
-    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="../../../plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
-  </elementTypeConfigurations>
-  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" identifier="org.eclipse.papyrus.robotML.Agent" name="Agent" hint="UML::Class">
-    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
-    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
-      <stereotypesQualifiedNames>RobotML::Agent</stereotypesQualifiedNames>
-    </matcherConfiguration>
-    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="../../../plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
-  </elementTypeConfigurations>
-  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" identifier="org.eclipse.papyrus.robotML.Algorithm" name="Algorithm" hint="UML::Operation">
-    <iconEntry iconPath="/icons/full/obj16/Operation.gif" bundleId="org.eclipse.uml2.uml.edit"/>
-    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
-      <stereotypesQualifiedNames>RobotML::Algorithm</stereotypesQualifiedNames>
-    </matcherConfiguration>
-    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="../../../plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Operation"/>
-  </elementTypeConfigurations>
-  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" identifier="org.eclipse.papyrus.robotML.AlgorithmLibrary" name="AlgorithmLibrary" hint="UML::Class">
-    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
-    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
-      <stereotypesQualifiedNames>RobotML::AlgorithmLibrary</stereotypesQualifiedNames>
-    </matcherConfiguration>
-    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="../../../plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
-  </elementTypeConfigurations>
-  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" identifier="org.eclipse.papyrus.robotML.Allocate" name="Allocate" hint="UML::Abstraction">
-    <iconEntry iconPath="/icons/full/obj16/Abstraction.gif" bundleId="org.eclipse.uml2.uml.edit"/>
-    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
-      <stereotypesQualifiedNames>RobotML::Allocate</stereotypesQualifiedNames>
-    </matcherConfiguration>
-    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="../../../plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Abstraction"/>
-  </elementTypeConfigurations>
-  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" identifier="org.eclipse.papyrus.robotML.BlenderMorse_Class" name="BlenderMorse Class" hint="UML::Class">
-    <iconEntry iconPath="/icons/16x16/04_robotic_simulator.png" bundleId="org.eclipse.papyrus.robotml"/>
-    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
-      <stereotypesQualifiedNames>RobotML::BlenderMorse</stereotypesQualifiedNames>
-    </matcherConfiguration>
-    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="../../../plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
-  </elementTypeConfigurations>
-  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" identifier="org.eclipse.papyrus.robotML.BlenderMorse_Node" name="BlenderMorse Node" hint="UML::Node">
-    <iconEntry iconPath="/icons/16x16/04_robotic_simulator.png" bundleId="org.eclipse.papyrus.robotml"/>
-    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
-      <stereotypesQualifiedNames>RobotML::BlenderMorse</stereotypesQualifiedNames>
-    </matcherConfiguration>
-    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="../../../plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Node"/>
-  </elementTypeConfigurations>
-  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" identifier="org.eclipse.papyrus.robotML.Building" name="Building" hint="UML::Class">
-    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
-    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
-      <stereotypesQualifiedNames>RobotML::Building</stereotypesQualifiedNames>
-    </matcherConfiguration>
-    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="../../../plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
-  </elementTypeConfigurations>
-  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" identifier="org.eclipse.papyrus.robotML.CameraSystem" name="CameraSystem" hint="UML::Class">
-    <iconEntry iconPath="/icons/svg/10_camera_system.svg" bundleId="org.eclipse.papyrus.robotml"/>
-    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
-      <stereotypesQualifiedNames>RobotML::CameraSystem</stereotypesQualifiedNames>
-    </matcherConfiguration>
-    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="../../../plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
-  </elementTypeConfigurations>
-  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" identifier="org.eclipse.papyrus.robotML.Chassis" name="Chassis" hint="UML::Class">
-    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
-    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
-      <stereotypesQualifiedNames>RobotML::Chassis</stereotypesQualifiedNames>
-    </matcherConfiguration>
-    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="../../../plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
-  </elementTypeConfigurations>
-  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" identifier="org.eclipse.papyrus.robotML.ClosedLoopControlSystem" name="Closed-LoopControlSystem" hint="UML::Class">
-    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
-    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
-      <stereotypesQualifiedNames>RobotML::Closed-LoopControlSystem</stereotypesQualifiedNames>
-    </matcherConfiguration>
-    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="../../../plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
-  </elementTypeConfigurations>
-  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" identifier="org.eclipse.papyrus.robotML.CompleteBonding" name="CompleteBonding" hint="UML::Connector">
-    <iconEntry iconPath="/icons/full/obj16/Connector.gif" bundleId="org.eclipse.uml2.uml.edit"/>
-    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
-      <stereotypesQualifiedNames>RobotML::CompleteBonding</stereotypesQualifiedNames>
-    </matcherConfiguration>
-    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="../../../plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Connector"/>
-  </elementTypeConfigurations>
-  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" identifier="org.eclipse.papyrus.robotML.CyberPhysicalSystem" name="CyberPhysicalSystem" hint="UML::Class">
-    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
-    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
-      <stereotypesQualifiedNames>RobotML::CyberPhysicalSystem</stereotypesQualifiedNames>
-    </matcherConfiguration>
-    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="../../../plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
-  </elementTypeConfigurations>
-  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" identifier="org.eclipse.papyrus.robotML.CycabTK_Class" name="CycabTK Class" hint="UML::Class">
-    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
-    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
-      <stereotypesQualifiedNames>RobotML::CycabTK</stereotypesQualifiedNames>
-    </matcherConfiguration>
-    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="../../../plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
-  </elementTypeConfigurations>
-  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" identifier="org.eclipse.papyrus.robotML.CycabTK_Node" name="CycabTK Node" hint="UML::Node">
-    <iconEntry iconPath="/icons/full/obj16/Node.gif" bundleId="org.eclipse.uml2.uml.edit"/>
-    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
-      <stereotypesQualifiedNames>RobotML::CycabTK</stereotypesQualifiedNames>
-    </matcherConfiguration>
-    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="../../../plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Node"/>
-  </elementTypeConfigurations>
-  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" identifier="org.eclipse.papyrus.robotML.DataFlowPort" name="DataFlowPort" hint="UML::Port">
-    <iconEntry iconPath="/icons/ports/In.png" bundleId="org.eclipse.papyrus.robotml"/>
-    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
-      <stereotypesQualifiedNames>RobotML::DataFlowPort</stereotypesQualifiedNames>
-    </matcherConfiguration>
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-    <stereotypesToApply stereotypeQualifiedName="RobotML::BlenderMorse" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.blenderMorse" target="//@elementTypeConfigurations.7">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::BlenderMorse" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.building" target="//@elementTypeConfigurations.9">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::Building" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.cameraSystem" target="//@elementTypeConfigurations.10">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::CameraSystem" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.chassis" target="//@elementTypeConfigurations.11">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::Chassis" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.closed-LoopControlSystem" target="//@elementTypeConfigurations.12">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::Closed-LoopControlSystem" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.completeBonding" target="//@elementTypeConfigurations.13">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::CompleteBonding" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.cyberPhysicalSystem" target="//@elementTypeConfigurations.14">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::CyberPhysicalSystem" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.cycabTK" target="//@elementTypeConfigurations.16">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::CycabTK" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.cycabTK" target="//@elementTypeConfigurations.15">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::CycabTK" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.dataFlowPort" target="//@elementTypeConfigurations.17">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::DataFlowPort" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.deploymentPlan" target="//@elementTypeConfigurations.18">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::DeploymentPlan" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.engineSystem" target="//@elementTypeConfigurations.19">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::EngineSystem" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.environment" target="//@elementTypeConfigurations.20">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::Environment" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.externalLibrary" target="//@elementTypeConfigurations.21">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::ExternalLibrary" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.floor" target="//@elementTypeConfigurations.22">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::Floor" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.gPSSystem" target="//@elementTypeConfigurations.23">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::GPSSystem" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.graspingHardware" target="//@elementTypeConfigurations.24">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::GraspingHardware" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.graspingSystem" target="//@elementTypeConfigurations.25">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::GraspingSystem" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.ground" target="//@elementTypeConfigurations.26">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::Ground" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.gyroscope" target="//@elementTypeConfigurations.27">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::Gyroscope" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.hardware" target="//@elementTypeConfigurations.28">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::Hardware" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.human" target="//@elementTypeConfigurations.29">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::Human" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.imageSensorSystem" target="//@elementTypeConfigurations.30">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::ImageSensorSystem" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.inertialMeasurementUnitSystem" target="//@elementTypeConfigurations.31">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::InertialMeasurementUnitSystem" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.inertialNavigationSystem" target="//@elementTypeConfigurations.32">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::InertialNavigationSystem" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.infraRedProximetrySystem" target="//@elementTypeConfigurations.33">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::InfraRedProximetrySystem" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.joint" target="//@elementTypeConfigurations.34">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::Joint" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.joysticNavigationSystem" target="//@elementTypeConfigurations.35">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::JoysticNavigationSystem" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.landSurface" target="//@elementTypeConfigurations.36">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::LandSurface" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.leg" target="//@elementTypeConfigurations.37">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::Leg" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.legSystem" target="//@elementTypeConfigurations.38">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::LegSystem" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.lidarSystem" target="//@elementTypeConfigurations.39">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::LidarSystem" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.localizationSensorSystem" target="//@elementTypeConfigurations.40">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::LocalizationSensorSystem" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.locomotionHardware" target="//@elementTypeConfigurations.41">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::LocomotionHardware" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.locomotionSystem" target="//@elementTypeConfigurations.42">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::LocomotionSystem" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.manMachineInterfaceSystem" target="//@elementTypeConfigurations.43">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::ManMachineInterfaceSystem" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.manipulator" target="//@elementTypeConfigurations.44">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::Manipulator" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.mechanicalLinkage" target="//@elementTypeConfigurations.45">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::MechanicalLinkage" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.mobileRobot" target="//@elementTypeConfigurations.46">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::MobileRobot" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.navigationCommandSystem" target="//@elementTypeConfigurations.47">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::NavigationCommandSystem" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.objectDetectionSensorSystem" target="//@elementTypeConfigurations.48">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::ObjectDetectionSensorSystem" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.objectTrackingSensorSystem" target="//@elementTypeConfigurations.49">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::ObjectTrackingSensorSystem" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.odometrySystem" target="//@elementTypeConfigurations.50">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::OdometrySystem" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.onPort" target="//@elementTypeConfigurations.51">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::OnPort" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.onVariable" target="//@elementTypeConfigurations.52">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::OnVariable" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.open-LoopControlSystem" target="//@elementTypeConfigurations.53">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::Open-LoopControlSystem" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.pedestrian" target="//@elementTypeConfigurations.54">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::Pedestrian" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.physicalObject" target="//@elementTypeConfigurations.55">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::PhysicalObject" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.pilotedSystem" target="//@elementTypeConfigurations.56">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::PilotedSystem" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.planet" target="//@elementTypeConfigurations.57">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::Planet" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.platform" target="//@elementTypeConfigurations.59">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::Platform" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.platform" target="//@elementTypeConfigurations.58">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::Platform" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.port" target="//@elementTypeConfigurations.60">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::Port" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.powerHardware" target="//@elementTypeConfigurations.61">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::PowerHardware" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.robot" target="//@elementTypeConfigurations.62">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::Robot" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.roboticHead" target="//@elementTypeConfigurations.63">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::RoboticHead" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.roboticMiddleware" target="//@elementTypeConfigurations.65">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::RoboticMiddleware" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.roboticMiddleware" target="//@elementTypeConfigurations.64">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::RoboticMiddleware" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.roboticSimulator" target="//@elementTypeConfigurations.67">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::RoboticSimulator" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.roboticSimulator" target="//@elementTypeConfigurations.66">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::RoboticSimulator" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.roboticSystem" target="//@elementTypeConfigurations.68">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::RoboticSystem" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.sensorDriver" target="//@elementTypeConfigurations.69">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::SensorDriver" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.sensorHardware" target="//@elementTypeConfigurations.70">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::SensorHardware" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.sensorSystem" target="//@elementTypeConfigurations.71">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::SensorSystem" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.servicePort" target="//@elementTypeConfigurations.72">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::ServicePort" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.software" target="//@elementTypeConfigurations.73">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::Software" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.stairs" target="//@elementTypeConfigurations.74">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::Stairs" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.state" target="//@elementTypeConfigurations.75">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::State" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.steeredWheelHardware" target="//@elementTypeConfigurations.76">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::SteeredWheelHardware" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.steeredWheelSystem" target="//@elementTypeConfigurations.77">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::SteeredWheelSystem" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.supportingStructure" target="//@elementTypeConfigurations.78">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::SupportingStructure" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.surface" target="//@elementTypeConfigurations.79">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::Surface" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.system" target="//@elementTypeConfigurations.80">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::System" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.transition" target="//@elementTypeConfigurations.81">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::Transition" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.waterSurface" target="//@elementTypeConfigurations.82">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::WaterSurface" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.weaponSystem" target="//@elementTypeConfigurations.83">
-    <stereotypesToApply stereotypeQualifiedName="RobotML::WeaponSystem" updateName="true">
-      <requiredProfiles>RobotML</requiredProfiles>
-    </stereotypesToApply>
-  </adviceBindingsConfigurations>
-</elementtypesconfigurations:ElementTypeSetConfiguration>
+<?xml version="1.0" encoding="ASCII"?>
+<elementtypesconfigurations:ElementTypeSetConfiguration xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:applystereotypeadvice="http://www.eclipse.org/papyrus/uml/types/applystereotypeadvice/1.1" xmlns:elementtypesconfigurations="http://www.eclipse.org/papyrus/infra/elementtypesconfigurations/1.2" xmlns:stereotypematcher="http://www.eclipse.org/papyrus/uml/types/stereotypematcher/1.1" xmi:id="org.eclipse.papyrus.robotML.elementTypes" identifier="org.eclipse.papyrus.robotML.elementTypes" name="PapyrusRobotMLProfile ElementTypes" metamodelNsURI="http://www.eclipse.org/uml2/5.0.0/UML">
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.ActuatedJoint" identifier="org.eclipse.papyrus.robotML.ActuatedJoint" name="ActuatedJoint" hint="UML::Connector">
+    <iconEntry iconPath="/icons/full/obj16/Connector.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::ActuatedJoint</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Connector"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.ActuatorHardware" identifier="org.eclipse.papyrus.robotML.ActuatorHardware" name="ActuatorHardware" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::ActuatorHardware</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.ActuatorSystem" identifier="org.eclipse.papyrus.robotML.ActuatorSystem" name="ActuatorSystem" hint="UML::Class">
+    <iconEntry iconPath="/icons/16x16/13_action.png" bundleId="org.eclipse.papyrus.robotml"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::ActuatorSystem</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.Agent" identifier="org.eclipse.papyrus.robotML.Agent" name="Agent" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::Agent</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.Algorithm" identifier="org.eclipse.papyrus.robotML.Algorithm" name="Algorithm" hint="UML::Operation">
+    <iconEntry iconPath="/icons/full/obj16/Operation.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::Algorithm</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Operation"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.AlgorithmLibrary" identifier="org.eclipse.papyrus.robotML.AlgorithmLibrary" name="AlgorithmLibrary" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::AlgorithmLibrary</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.Allocate" identifier="org.eclipse.papyrus.robotML.Allocate" name="Allocate" hint="UML::Abstraction">
+    <iconEntry iconPath="/icons/full/obj16/Abstraction.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::Allocate</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Abstraction"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.BlenderMorse_Class" identifier="org.eclipse.papyrus.robotML.BlenderMorse_Class" name="BlenderMorse Class" hint="UML::Class">
+    <iconEntry iconPath="/icons/16x16/04_robotic_simulator.png" bundleId="org.eclipse.papyrus.robotml"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::BlenderMorse</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.BlenderMorse_Node" identifier="org.eclipse.papyrus.robotML.BlenderMorse_Node" name="BlenderMorse Node" hint="UML::Node">
+    <iconEntry iconPath="/icons/16x16/04_robotic_simulator.png" bundleId="org.eclipse.papyrus.robotml"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::BlenderMorse</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Node"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.Building" identifier="org.eclipse.papyrus.robotML.Building" name="Building" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::Building</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.CameraSystem" identifier="org.eclipse.papyrus.robotML.CameraSystem" name="CameraSystem" hint="UML::Class">
+    <iconEntry iconPath="/icons/svg/10_camera_system.svg" bundleId="org.eclipse.papyrus.robotml"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::CameraSystem</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.Chassis" identifier="org.eclipse.papyrus.robotML.Chassis" name="Chassis" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::Chassis</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.ClosedLoopControlSystem" identifier="org.eclipse.papyrus.robotML.ClosedLoopControlSystem" name="Closed-LoopControlSystem" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::Closed-LoopControlSystem</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.CompleteBonding" identifier="org.eclipse.papyrus.robotML.CompleteBonding" name="CompleteBonding" hint="UML::Connector">
+    <iconEntry iconPath="/icons/full/obj16/Connector.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::CompleteBonding</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Connector"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.CyberPhysicalSystem" identifier="org.eclipse.papyrus.robotML.CyberPhysicalSystem" name="CyberPhysicalSystem" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::CyberPhysicalSystem</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.CycabTK_Class" identifier="org.eclipse.papyrus.robotML.CycabTK_Class" name="CycabTK Class" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::CycabTK</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.CycabTK_Node" identifier="org.eclipse.papyrus.robotML.CycabTK_Node" name="CycabTK Node" hint="UML::Node">
+    <iconEntry iconPath="/icons/full/obj16/Node.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::CycabTK</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Node"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.DataFlowPort" identifier="org.eclipse.papyrus.robotML.DataFlowPort" name="DataFlowPort" hint="UML::Port">
+    <iconEntry iconPath="/icons/ports/In.png" bundleId="org.eclipse.papyrus.robotml"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::DataFlowPort</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Port"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.DeploymentPlan" identifier="org.eclipse.papyrus.robotML.DeploymentPlan" name="DeploymentPlan" hint="UML::Package">
+    <iconEntry iconPath="/icons/full/obj16/Package.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::DeploymentPlan</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Package"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.EngineSystem" identifier="org.eclipse.papyrus.robotML.EngineSystem" name="EngineSystem" hint="UML::Class">
+    <iconEntry iconPath="/icons/16x16/14_engine_system.png" bundleId="org.eclipse.papyrus.robotml"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::EngineSystem</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.Environment" identifier="org.eclipse.papyrus.robotML.Environment" name="Environment" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::Environment</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.ExternalLibrary" identifier="org.eclipse.papyrus.robotML.ExternalLibrary" name="ExternalLibrary" hint="UML::Interface">
+    <iconEntry iconPath="/icons/full/obj16/Interface.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::ExternalLibrary</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Interface"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.Floor" identifier="org.eclipse.papyrus.robotML.Floor" name="Floor" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::Floor</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.GPSSystem" identifier="org.eclipse.papyrus.robotML.GPSSystem" name="GPSSystem" hint="UML::Class">
+    <iconEntry iconPath="/icons/16x16/19_gps.png" bundleId="org.eclipse.papyrus.robotml"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::GPSSystem</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.GraspingHardware" identifier="org.eclipse.papyrus.robotML.GraspingHardware" name="GraspingHardware" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::GraspingHardware</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.GraspingSystem" identifier="org.eclipse.papyrus.robotML.GraspingSystem" name="GraspingSystem" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::GraspingSystem</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.Ground" identifier="org.eclipse.papyrus.robotML.Ground" name="Ground" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::Ground</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.Gyroscope" identifier="org.eclipse.papyrus.robotML.Gyroscope" name="Gyroscope" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::Gyroscope</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.Hardware" identifier="org.eclipse.papyrus.robotML.Hardware" name="Hardware" hint="UML::Class">
+    <iconEntry iconPath="/icons/16x16/17_hardware.png" bundleId="org.eclipse.papyrus.robotml"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::Hardware</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.Human" identifier="org.eclipse.papyrus.robotML.Human" name="Human" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::Human</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.ImageSensorSystem" identifier="org.eclipse.papyrus.robotML.ImageSensorSystem" name="ImageSensorSystem" hint="UML::Class">
+    <iconEntry iconPath="/icons/16x16/20_image_sensor_system.png" bundleId="org.eclipse.papyrus.robotml"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::ImageSensorSystem</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.InertialMeasurementUnitSystem" identifier="org.eclipse.papyrus.robotML.InertialMeasurementUnitSystem" name="InertialMeasurementUnitSystem" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::InertialMeasurementUnitSystem</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.InertialNavigationSystem" identifier="org.eclipse.papyrus.robotML.InertialNavigationSystem" name="InertialNavigationSystem" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::InertialNavigationSystem</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.InfraRedProximetrySystem" identifier="org.eclipse.papyrus.robotML.InfraRedProximetrySystem" name="InfraRedProximetrySystem" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::InfraRedProximetrySystem</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.Joint" identifier="org.eclipse.papyrus.robotML.Joint" name="Joint" hint="UML::Connector">
+    <iconEntry iconPath="/icons/full/obj16/Connector.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::Joint</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Connector"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.JoysticNavigationSystem" identifier="org.eclipse.papyrus.robotML.JoysticNavigationSystem" name="JoysticNavigationSystem" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::JoysticNavigationSystem</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.LandSurface" identifier="org.eclipse.papyrus.robotML.LandSurface" name="LandSurface" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::LandSurface</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.Leg" identifier="org.eclipse.papyrus.robotML.Leg" name="Leg" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::Leg</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.LegSystem" identifier="org.eclipse.papyrus.robotML.LegSystem" name="LegSystem" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::LegSystem</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.LidarSystem" identifier="org.eclipse.papyrus.robotML.LidarSystem" name="LidarSystem" hint="UML::Class">
+    <iconEntry iconPath="/icons/16x16/09_lidar_system.png" bundleId="org.eclipse.papyrus.robotml"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::LidarSystem</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.LocalizationSensorSystem" identifier="org.eclipse.papyrus.robotML.LocalizationSensorSystem" name="LocalizationSensorSystem" hint="UML::Class">
+    <iconEntry iconPath="/icons/16x16/07_sensor_driver.png" bundleId="org.eclipse.papyrus.robotml"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::LocalizationSensorSystem</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.LocomotionHardware" identifier="org.eclipse.papyrus.robotML.LocomotionHardware" name="LocomotionHardware" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::LocomotionHardware</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.LocomotionSystem" identifier="org.eclipse.papyrus.robotML.LocomotionSystem" name="LocomotionSystem" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::LocomotionSystem</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.ManMachineInterfaceSystem" identifier="org.eclipse.papyrus.robotML.ManMachineInterfaceSystem" name="ManMachineInterfaceSystem" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::ManMachineInterfaceSystem</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.Manipulator" identifier="org.eclipse.papyrus.robotML.Manipulator" name="Manipulator" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::Manipulator</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.MechanicalLinkage" identifier="org.eclipse.papyrus.robotML.MechanicalLinkage" name="MechanicalLinkage" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::MechanicalLinkage</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.MobileRobot" identifier="org.eclipse.papyrus.robotML.MobileRobot" name="MobileRobot" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::MobileRobot</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.NavigationCommandSystem" identifier="org.eclipse.papyrus.robotML.NavigationCommandSystem" name="NavigationCommandSystem" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::NavigationCommandSystem</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.ObjectDetectionSensorSystem" identifier="org.eclipse.papyrus.robotML.ObjectDetectionSensorSystem" name="ObjectDetectionSensorSystem" hint="UML::Class">
+    <iconEntry iconPath="/icons/16x16/12_object_detection_system.png" bundleId="org.eclipse.papyrus.robotml"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::ObjectDetectionSensorSystem</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.ObjectTrackingSensorSystem" identifier="org.eclipse.papyrus.robotML.ObjectTrackingSensorSystem" name="ObjectTrackingSensorSystem" hint="UML::Class">
+    <iconEntry iconPath="/icons/16x16/11_tracking_sensor.png" bundleId="org.eclipse.papyrus.robotml"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::ObjectTrackingSensorSystem</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.OdometrySystem" identifier="org.eclipse.papyrus.robotML.OdometrySystem" name="OdometrySystem" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::OdometrySystem</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.OnPort" identifier="org.eclipse.papyrus.robotML.OnPort" name="OnPort" hint="UML::Parameter">
+    <iconEntry iconPath="/icons/full/obj16/Parameter.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::OnPort</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Parameter"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.OnVariable" identifier="org.eclipse.papyrus.robotML.OnVariable" name="OnVariable" hint="UML::Parameter">
+    <iconEntry iconPath="/icons/full/obj16/Parameter.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::OnVariable</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Parameter"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.OpenLoopControlSystem" identifier="org.eclipse.papyrus.robotML.OpenLoopControlSystem" name="Open-LoopControlSystem" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::Open-LoopControlSystem</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.Pedestrian" identifier="org.eclipse.papyrus.robotML.Pedestrian" name="Pedestrian" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::Pedestrian</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.PhysicalObject" identifier="org.eclipse.papyrus.robotML.PhysicalObject" name="PhysicalObject" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::PhysicalObject</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.PilotedSystem" identifier="org.eclipse.papyrus.robotML.PilotedSystem" name="PilotedSystem" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::PilotedSystem</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.Planet" identifier="org.eclipse.papyrus.robotML.Planet" name="Planet" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::Planet</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.Platform_Class" identifier="org.eclipse.papyrus.robotML.Platform_Class" name="Platform Class" hint="UML::Class">
+    <iconEntry iconPath="/icons/16x16/05_robotic_platform.png" bundleId="org.eclipse.papyrus.robotml"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::Platform</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.Platform_Node" identifier="org.eclipse.papyrus.robotML.Platform_Node" name="Platform Node" hint="UML::Node">
+    <iconEntry iconPath="/icons/16x16/05_robotic_platform.png" bundleId="org.eclipse.papyrus.robotml"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::Platform</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Node"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.Port" identifier="org.eclipse.papyrus.robotML.Port" name="Port" hint="UML::Port">
+    <iconEntry iconPath="/icons/full/obj16/Port.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::Port</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Port"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.PowerHardware" identifier="org.eclipse.papyrus.robotML.PowerHardware" name="PowerHardware" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::PowerHardware</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.Robot" identifier="org.eclipse.papyrus.robotML.Robot" name="Robot" hint="UML::Class">
+    <iconEntry iconPath="/icons/16x16/03_robot_system.png" bundleId="org.eclipse.papyrus.robotml"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::Robot</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.RoboticHead" identifier="org.eclipse.papyrus.robotML.RoboticHead" name="RoboticHead" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::RoboticHead</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.RoboticMiddleware_Class" identifier="org.eclipse.papyrus.robotML.RoboticMiddleware_Class" name="RoboticMiddleware Class" hint="UML::Class">
+    <iconEntry iconPath="/icons/16x16/05_robotic_middleware.png" bundleId="org.eclipse.papyrus.robotml"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::RoboticMiddleware</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.RoboticMiddleware_Node" identifier="org.eclipse.papyrus.robotML.RoboticMiddleware_Node" name="RoboticMiddleware Node" hint="UML::Node">
+    <iconEntry iconPath="/icons/16x16/05_robotic_middleware.png" bundleId="org.eclipse.papyrus.robotml"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::RoboticMiddleware</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Node"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.RoboticSimulator_Class" identifier="org.eclipse.papyrus.robotML.RoboticSimulator_Class" name="RoboticSimulator Class" hint="UML::Class">
+    <iconEntry iconPath="/icons/16x16/04_robotic_simulator.png" bundleId="org.eclipse.papyrus.robotml"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::RoboticSimulator</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.RoboticSimulator_Node" identifier="org.eclipse.papyrus.robotML.RoboticSimulator_Node" name="RoboticSimulator Node" hint="UML::Node">
+    <iconEntry iconPath="/icons/16x16/04_robotic_simulator.png" bundleId="org.eclipse.papyrus.robotml"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::RoboticSimulator</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Node"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.RoboticSystem" identifier="org.eclipse.papyrus.robotML.RoboticSystem" name="RoboticSystem" hint="UML::Class">
+    <iconEntry iconPath="/icons/16x16/02_system.png" bundleId="org.eclipse.papyrus.robotml"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::RoboticSystem</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.SensorDriver" identifier="org.eclipse.papyrus.robotML.SensorDriver" name="SensorDriver" hint="UML::Class">
+    <iconEntry iconPath="/icons/16x16/07_sensor_driver.png" bundleId="org.eclipse.papyrus.robotml"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::SensorDriver</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.SensorHardware" identifier="org.eclipse.papyrus.robotML.SensorHardware" name="SensorHardware" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::SensorHardware</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.SensorSystem" identifier="org.eclipse.papyrus.robotML.SensorSystem" name="SensorSystem" hint="UML::Class">
+    <iconEntry iconPath="/icons/16x16/07_sensor_driver.png" bundleId="org.eclipse.papyrus.robotml"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::SensorSystem</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.ServicePort" identifier="org.eclipse.papyrus.robotML.ServicePort" name="ServicePort" hint="UML::Port">
+    <iconEntry iconPath="/icons/ports/Provided.png" bundleId="org.eclipse.papyrus.robotml"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::ServicePort</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Port"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.Software" identifier="org.eclipse.papyrus.robotML.Software" name="Software" hint="UML::Class">
+    <iconEntry iconPath="/icons/16x16/18_software.png" bundleId="org.eclipse.papyrus.robotml"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::Software</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.Stairs" identifier="org.eclipse.papyrus.robotML.Stairs" name="Stairs" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::Stairs</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.State" identifier="org.eclipse.papyrus.robotML.State" name="State" hint="UML::State">
+    <iconEntry iconPath="/icons/full/obj16/State.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::State</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.State"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.SteeredWheelHardware" identifier="org.eclipse.papyrus.robotML.SteeredWheelHardware" name="SteeredWheelHardware" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::SteeredWheelHardware</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.SteeredWheelSystem" identifier="org.eclipse.papyrus.robotML.SteeredWheelSystem" name="SteeredWheelSystem" hint="UML::Class">
+    <iconEntry iconPath="/icons/16x16/15_wheel_system.png" bundleId="org.eclipse.papyrus.robotml"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::SteeredWheelSystem</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.SupportingStructure" identifier="org.eclipse.papyrus.robotML.SupportingStructure" name="SupportingStructure" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::SupportingStructure</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.Surface" identifier="org.eclipse.papyrus.robotML.Surface" name="Surface" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::Surface</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.System" identifier="org.eclipse.papyrus.robotML.System" name="System" hint="UML::Class">
+    <iconEntry iconPath="/icons/16x16/02_system.png" bundleId="org.eclipse.papyrus.robotml"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::System</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.Transition" identifier="org.eclipse.papyrus.robotML.Transition" name="Transition" hint="UML::Transition">
+    <iconEntry iconPath="/icons/full/obj16/Transition.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::Transition</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Transition"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.WaterSurface" identifier="org.eclipse.papyrus.robotML.WaterSurface" name="WaterSurface" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::WaterSurface</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.WeaponSystem" identifier="org.eclipse.papyrus.robotML.WeaponSystem" name="WeaponSystem" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <matcherConfiguration xsi:type="stereotypematcher:StereotypeApplicationMatcherConfiguration">
+      <stereotypesQualifiedNames>RobotML::WeaponSystem</stereotypesQualifiedNames>
+    </matcherConfiguration>
+    <specializedTypes xsi:type="elementtypesconfigurations:MetamodelTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/uml.elementtypesconfigurations#org.eclipse.papyrus.uml.Class"/>
+  </elementTypeConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.actuatedJoint" identifier="org.eclipse.papyrus.robotML.actuatedJoint" target="//@elementTypeConfigurations.0">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::ActuatedJoint" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.actuatorHardware" identifier="org.eclipse.papyrus.robotML.actuatorHardware" target="//@elementTypeConfigurations.1">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::ActuatorHardware" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.actuatorSystem" identifier="org.eclipse.papyrus.robotML.actuatorSystem" target="//@elementTypeConfigurations.2">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::ActuatorSystem" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.agent" identifier="org.eclipse.papyrus.robotML.agent" target="//@elementTypeConfigurations.3">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::Agent" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.algorithm" identifier="org.eclipse.papyrus.robotML.algorithm" target="//@elementTypeConfigurations.4">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::Algorithm" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.algorithmLibrary" identifier="org.eclipse.papyrus.robotML.algorithmLibrary" target="//@elementTypeConfigurations.5">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::AlgorithmLibrary" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.allocate" identifier="org.eclipse.papyrus.robotML.allocate" target="//@elementTypeConfigurations.6">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::Allocate" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.blenderMorse" identifier="org.eclipse.papyrus.robotML.blenderMorse" target="//@elementTypeConfigurations.8">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::BlenderMorse" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.blenderMorse" identifier="org.eclipse.papyrus.robotML.blenderMorse" target="//@elementTypeConfigurations.7">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::BlenderMorse" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.building" identifier="org.eclipse.papyrus.robotML.building" target="//@elementTypeConfigurations.9">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::Building" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.cameraSystem" identifier="org.eclipse.papyrus.robotML.cameraSystem" target="//@elementTypeConfigurations.10">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::CameraSystem" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.chassis" identifier="org.eclipse.papyrus.robotML.chassis" target="//@elementTypeConfigurations.11">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::Chassis" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.closed-LoopControlSystem" target="//@elementTypeConfigurations.12">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::Closed-LoopControlSystem" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.completeBonding" identifier="org.eclipse.papyrus.robotML.completeBonding" target="//@elementTypeConfigurations.13">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::CompleteBonding" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.cyberPhysicalSystem" identifier="org.eclipse.papyrus.robotML.cyberPhysicalSystem" target="//@elementTypeConfigurations.14">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::CyberPhysicalSystem" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.cycabTK" identifier="org.eclipse.papyrus.robotML.cycabTK" target="//@elementTypeConfigurations.16">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::CycabTK" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.cycabTK" identifier="org.eclipse.papyrus.robotML.cycabTK" target="//@elementTypeConfigurations.15">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::CycabTK" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.dataFlowPort" identifier="org.eclipse.papyrus.robotML.dataFlowPort" target="//@elementTypeConfigurations.17">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::DataFlowPort" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.deploymentPlan" identifier="org.eclipse.papyrus.robotML.deploymentPlan" target="//@elementTypeConfigurations.18">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::DeploymentPlan" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.engineSystem" identifier="org.eclipse.papyrus.robotML.engineSystem" target="//@elementTypeConfigurations.19">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::EngineSystem" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.environment" identifier="org.eclipse.papyrus.robotML.environment" target="//@elementTypeConfigurations.20">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::Environment" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.externalLibrary" identifier="org.eclipse.papyrus.robotML.externalLibrary" target="//@elementTypeConfigurations.21">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::ExternalLibrary" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.floor" identifier="org.eclipse.papyrus.robotML.floor" target="//@elementTypeConfigurations.22">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::Floor" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.gPSSystem" identifier="org.eclipse.papyrus.robotML.gPSSystem" target="//@elementTypeConfigurations.23">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::GPSSystem" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.graspingHardware" identifier="org.eclipse.papyrus.robotML.graspingHardware" target="//@elementTypeConfigurations.24">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::GraspingHardware" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.graspingSystem" identifier="org.eclipse.papyrus.robotML.graspingSystem" target="//@elementTypeConfigurations.25">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::GraspingSystem" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.ground" identifier="org.eclipse.papyrus.robotML.ground" target="//@elementTypeConfigurations.26">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::Ground" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.gyroscope" identifier="org.eclipse.papyrus.robotML.gyroscope" target="//@elementTypeConfigurations.27">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::Gyroscope" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.hardware" identifier="org.eclipse.papyrus.robotML.hardware" target="//@elementTypeConfigurations.28">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::Hardware" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.human" identifier="org.eclipse.papyrus.robotML.human" target="//@elementTypeConfigurations.29">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::Human" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.imageSensorSystem" identifier="org.eclipse.papyrus.robotML.imageSensorSystem" target="//@elementTypeConfigurations.30">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::ImageSensorSystem" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.inertialMeasurementUnitSystem" identifier="org.eclipse.papyrus.robotML.inertialMeasurementUnitSystem" target="//@elementTypeConfigurations.31">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::InertialMeasurementUnitSystem" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.inertialNavigationSystem" identifier="org.eclipse.papyrus.robotML.inertialNavigationSystem" target="//@elementTypeConfigurations.32">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::InertialNavigationSystem" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.infraRedProximetrySystem" identifier="org.eclipse.papyrus.robotML.infraRedProximetrySystem" target="//@elementTypeConfigurations.33">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::InfraRedProximetrySystem" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.joint" identifier="org.eclipse.papyrus.robotML.joint" target="//@elementTypeConfigurations.34">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::Joint" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.joysticNavigationSystem" identifier="org.eclipse.papyrus.robotML.joysticNavigationSystem" target="//@elementTypeConfigurations.35">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::JoysticNavigationSystem" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.landSurface" identifier="org.eclipse.papyrus.robotML.landSurface" target="//@elementTypeConfigurations.36">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::LandSurface" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.leg" identifier="org.eclipse.papyrus.robotML.leg" target="//@elementTypeConfigurations.37">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::Leg" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.legSystem" identifier="org.eclipse.papyrus.robotML.legSystem" target="//@elementTypeConfigurations.38">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::LegSystem" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.lidarSystem" identifier="org.eclipse.papyrus.robotML.lidarSystem" target="//@elementTypeConfigurations.39">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::LidarSystem" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.localizationSensorSystem" identifier="org.eclipse.papyrus.robotML.localizationSensorSystem" target="//@elementTypeConfigurations.40">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::LocalizationSensorSystem" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.locomotionHardware" identifier="org.eclipse.papyrus.robotML.locomotionHardware" target="//@elementTypeConfigurations.41">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::LocomotionHardware" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.locomotionSystem" identifier="org.eclipse.papyrus.robotML.locomotionSystem" target="//@elementTypeConfigurations.42">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::LocomotionSystem" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.manMachineInterfaceSystem" identifier="org.eclipse.papyrus.robotML.manMachineInterfaceSystem" target="//@elementTypeConfigurations.43">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::ManMachineInterfaceSystem" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.manipulator" identifier="org.eclipse.papyrus.robotML.manipulator" target="//@elementTypeConfigurations.44">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::Manipulator" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.mechanicalLinkage" identifier="org.eclipse.papyrus.robotML.mechanicalLinkage" target="//@elementTypeConfigurations.45">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::MechanicalLinkage" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.mobileRobot" identifier="org.eclipse.papyrus.robotML.mobileRobot" target="//@elementTypeConfigurations.46">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::MobileRobot" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.navigationCommandSystem" identifier="org.eclipse.papyrus.robotML.navigationCommandSystem" target="//@elementTypeConfigurations.47">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::NavigationCommandSystem" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.objectDetectionSensorSystem" identifier="org.eclipse.papyrus.robotML.objectDetectionSensorSystem" target="//@elementTypeConfigurations.48">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::ObjectDetectionSensorSystem" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.objectTrackingSensorSystem" identifier="org.eclipse.papyrus.robotML.objectTrackingSensorSystem" target="//@elementTypeConfigurations.49">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::ObjectTrackingSensorSystem" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.odometrySystem" identifier="org.eclipse.papyrus.robotML.odometrySystem" target="//@elementTypeConfigurations.50">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::OdometrySystem" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.onPort" identifier="org.eclipse.papyrus.robotML.onPort" target="//@elementTypeConfigurations.51">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::OnPort" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.onVariable" identifier="org.eclipse.papyrus.robotML.onVariable" target="//@elementTypeConfigurations.52">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::OnVariable" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" identifier="org.eclipse.papyrus.robotML.open-LoopControlSystem" target="//@elementTypeConfigurations.53">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::Open-LoopControlSystem" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.pedestrian" identifier="org.eclipse.papyrus.robotML.pedestrian" target="//@elementTypeConfigurations.54">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::Pedestrian" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.physicalObject" identifier="org.eclipse.papyrus.robotML.physicalObject" target="//@elementTypeConfigurations.55">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::PhysicalObject" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.pilotedSystem" identifier="org.eclipse.papyrus.robotML.pilotedSystem" target="//@elementTypeConfigurations.56">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::PilotedSystem" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.planet" identifier="org.eclipse.papyrus.robotML.planet" target="//@elementTypeConfigurations.57">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::Planet" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.platform" identifier="org.eclipse.papyrus.robotML.platform" target="//@elementTypeConfigurations.59">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::Platform" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.platform" identifier="org.eclipse.papyrus.robotML.platform" target="//@elementTypeConfigurations.58">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::Platform" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.port" identifier="org.eclipse.papyrus.robotML.port" target="//@elementTypeConfigurations.60">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::Port" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.powerHardware" identifier="org.eclipse.papyrus.robotML.powerHardware" target="//@elementTypeConfigurations.61">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::PowerHardware" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.robot" identifier="org.eclipse.papyrus.robotML.robot" target="//@elementTypeConfigurations.62">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::Robot" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.roboticHead" identifier="org.eclipse.papyrus.robotML.roboticHead" target="//@elementTypeConfigurations.63">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::RoboticHead" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.roboticMiddleware" identifier="org.eclipse.papyrus.robotML.roboticMiddleware" target="//@elementTypeConfigurations.65">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::RoboticMiddleware" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.roboticMiddleware" identifier="org.eclipse.papyrus.robotML.roboticMiddleware" target="//@elementTypeConfigurations.64">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::RoboticMiddleware" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.roboticSimulator" identifier="org.eclipse.papyrus.robotML.roboticSimulator" target="//@elementTypeConfigurations.67">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::RoboticSimulator" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.roboticSimulator" identifier="org.eclipse.papyrus.robotML.roboticSimulator" target="//@elementTypeConfigurations.66">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::RoboticSimulator" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.roboticSystem" identifier="org.eclipse.papyrus.robotML.roboticSystem" target="//@elementTypeConfigurations.68">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::RoboticSystem" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.sensorDriver" identifier="org.eclipse.papyrus.robotML.sensorDriver" target="//@elementTypeConfigurations.69">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::SensorDriver" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.sensorHardware" identifier="org.eclipse.papyrus.robotML.sensorHardware" target="//@elementTypeConfigurations.70">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::SensorHardware" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.sensorSystem" identifier="org.eclipse.papyrus.robotML.sensorSystem" target="//@elementTypeConfigurations.71">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::SensorSystem" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.servicePort" identifier="org.eclipse.papyrus.robotML.servicePort" target="//@elementTypeConfigurations.72">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::ServicePort" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.software" identifier="org.eclipse.papyrus.robotML.software" target="//@elementTypeConfigurations.73">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::Software" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.stairs" identifier="org.eclipse.papyrus.robotML.stairs" target="//@elementTypeConfigurations.74">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::Stairs" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.state" identifier="org.eclipse.papyrus.robotML.state" target="//@elementTypeConfigurations.75">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::State" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.steeredWheelHardware" identifier="org.eclipse.papyrus.robotML.steeredWheelHardware" target="//@elementTypeConfigurations.76">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::SteeredWheelHardware" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.steeredWheelSystem" identifier="org.eclipse.papyrus.robotML.steeredWheelSystem" target="//@elementTypeConfigurations.77">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::SteeredWheelSystem" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.supportingStructure" identifier="org.eclipse.papyrus.robotML.supportingStructure" target="//@elementTypeConfigurations.78">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::SupportingStructure" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.surface" identifier="org.eclipse.papyrus.robotML.surface" target="//@elementTypeConfigurations.79">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::Surface" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.system" identifier="org.eclipse.papyrus.robotML.system" target="//@elementTypeConfigurations.80">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::System" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.transition" identifier="org.eclipse.papyrus.robotML.transition" target="//@elementTypeConfigurations.81">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::Transition" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.waterSurface" identifier="org.eclipse.papyrus.robotML.waterSurface" target="//@elementTypeConfigurations.82">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::WaterSurface" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+  <adviceBindingsConfigurations xsi:type="applystereotypeadvice:ApplyStereotypeAdviceConfiguration" xmi:id="org.eclipse.papyrus.robotML.weaponSystem" identifier="org.eclipse.papyrus.robotML.weaponSystem" target="//@elementTypeConfigurations.83">
+    <stereotypesToApply stereotypeQualifiedName="RobotML::WeaponSystem" updateName="true">
+      <requiredProfiles>RobotML</requiredProfiles>
+    </stereotypesToApply>
+  </adviceBindingsConfigurations>
+</elementtypesconfigurations:ElementTypeSetConfiguration>
diff --git a/org.eclipse.papyrus.robotml/palettes/Palette_Class_RobotML.di.typesconfigurations b/org.eclipse.papyrus.robotml/palettes/Palette_Class_RobotML.di.typesconfigurations
index 9c51813..8762765 100644
--- a/org.eclipse.papyrus.robotml/palettes/Palette_Class_RobotML.di.typesconfigurations
+++ b/org.eclipse.papyrus.robotml/palettes/Palette_Class_RobotML.di.typesconfigurations
@@ -1,26 +1,26 @@
-<?xml version="1.0" encoding="ASCII"?>
-<elementtypesconfigurations:ElementTypeSetConfiguration xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:elementtypesconfigurations="http://www.eclipse.org/papyrus/infra/elementtypesconfigurations/1.2" identifier="org.eclipse.papyrus.di.Palette_Class_RobotML.xml" name="DI element types for Palette_Class_RobotML.xml" metamodelNsURI="http://www.eclipse.org/uml2/5.0.0/UML">
-  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" identifier="org.eclipse.papyrus.robotML.System.di" name="DI org.eclipse.papyrus.robotML.System" hint="UML::Class">
-    <iconEntry iconPath="/icons/16x16/02_system.png" bundleId="org.eclipse.papyrus.robotml"/>
-    <specializedTypes xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.robotml/elementTypes/RobotMLProfile.typesconfigurations#//@elementTypeConfigurations.80"/>
-    <specializedTypes xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/umldi.elementtypesconfigurations#org.eclipse.papyrus.umldi.Class_Shape"/>
-  </elementTypeConfigurations>
-  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" identifier="org.eclipse.papyrus.robotML.System.di_cn" name="DI org.eclipse.papyrus.robotML.System CN" hint="UML::Class">
-    <specializedTypes xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.robotml/elementTypes/RobotMLProfile.typesconfigurations#//@elementTypeConfigurations.80"/>
-    <specializedTypes xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/umldi.elementtypesconfigurations#org.eclipse.papyrus.umldi.Class_Shape_CN"/>
-  </elementTypeConfigurations>
-  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" identifier="org.eclipse.papyrus.robotML.AlgorithmLibrary.di" name="DI org.eclipse.papyrus.robotML.AlgorithmLibrary" hint="UML::Class">
-    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
-    <specializedTypes xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.robotml/elementTypes/RobotMLProfile.typesconfigurations#//@elementTypeConfigurations.5"/>
-    <specializedTypes xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/umldi.elementtypesconfigurations#org.eclipse.papyrus.umldi.Class_Shape"/>
-  </elementTypeConfigurations>
-  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" identifier="org.eclipse.papyrus.robotML.AlgorithmLibrary.di_cn" name="DI org.eclipse.papyrus.robotML.AlgorithmLibrary CN" hint="UML::Class">
-    <specializedTypes xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.robotml/elementTypes/RobotMLProfile.typesconfigurations#//@elementTypeConfigurations.5"/>
-    <specializedTypes xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/umldi.elementtypesconfigurations#org.eclipse.papyrus.umldi.Class_Shape_CN"/>
-  </elementTypeConfigurations>
-  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" identifier="org.eclipse.papyrus.robotML.Algorithm.di" name="DI org.eclipse.papyrus.robotML.Algorithm" hint="UML::Operation">
-    <iconEntry iconPath="/icons/full/obj16/Operation.gif" bundleId="org.eclipse.uml2.uml.edit"/>
-    <specializedTypes xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.robotml/elementTypes/RobotMLProfile.typesconfigurations#//@elementTypeConfigurations.4"/>
-    <specializedTypes xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/umldi.elementtypesconfigurations#org.eclipse.papyrus.umldi.Operation_ClassOperationLabel"/>
-  </elementTypeConfigurations>
-</elementtypesconfigurations:ElementTypeSetConfiguration>
+<?xml version="1.0" encoding="ASCII"?>
+<elementtypesconfigurations:ElementTypeSetConfiguration xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:elementtypesconfigurations="http://www.eclipse.org/papyrus/infra/elementtypesconfigurations/1.2" xmi:id="org.eclipse.papyrus.di.Palette_Class_RobotML.xml" identifier="org.eclipse.papyrus.di.Palette_Class_RobotML.xml" name="DI element types for Palette_Class_RobotML.xml" metamodelNsURI="http://www.eclipse.org/uml2/5.0.0/UML">
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.System.di" identifier="org.eclipse.papyrus.robotML.System.di" name="DI org.eclipse.papyrus.robotML.System" hint="UML::Class">
+    <iconEntry iconPath="/icons/16x16/02_system.png" bundleId="org.eclipse.papyrus.robotml"/>
+    <specializedTypes xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.robotml/elementTypes/RobotMLProfile.typesconfigurations#org.eclipse.papyrus.robotML.System"/>
+    <specializedTypes xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/umldi.elementtypesconfigurations#org.eclipse.papyrus.umldi.Class_Shape"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.System.di_cn" identifier="org.eclipse.papyrus.robotML.System.di_cn" name="DI org.eclipse.papyrus.robotML.System CN" hint="UML::Class">
+    <specializedTypes xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.robotml/elementTypes/RobotMLProfile.typesconfigurations#org.eclipse.papyrus.robotML.System"/>
+    <specializedTypes xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/umldi.elementtypesconfigurations#org.eclipse.papyrus.umldi.Class_Shape_CN"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.AlgorithmLibrary.di" identifier="org.eclipse.papyrus.robotML.AlgorithmLibrary.di" name="DI org.eclipse.papyrus.robotML.AlgorithmLibrary" hint="UML::Class">
+    <iconEntry iconPath="/icons/full/obj16/Class.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <specializedTypes xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.robotml/elementTypes/RobotMLProfile.typesconfigurations#org.eclipse.papyrus.robotML.AlgorithmLibrary"/>
+    <specializedTypes xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/umldi.elementtypesconfigurations#org.eclipse.papyrus.umldi.Class_Shape"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.AlgorithmLibrary.di_cn" identifier="org.eclipse.papyrus.robotML.AlgorithmLibrary.di_cn" name="DI org.eclipse.papyrus.robotML.AlgorithmLibrary CN" hint="UML::Class">
+    <specializedTypes xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.robotml/elementTypes/RobotMLProfile.typesconfigurations#org.eclipse.papyrus.robotML.AlgorithmLibrary"/>
+    <specializedTypes xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/umldi.elementtypesconfigurations#org.eclipse.papyrus.umldi.Class_Shape_CN"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.Algorithm.di" identifier="org.eclipse.papyrus.robotML.Algorithm.di" name="DI org.eclipse.papyrus.robotML.Algorithm" hint="UML::Operation">
+    <iconEntry iconPath="/icons/full/obj16/Operation.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <specializedTypes xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.robotml/elementTypes/RobotMLProfile.typesconfigurations#org.eclipse.papyrus.robotML.Algorithm"/>
+    <specializedTypes xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/umldi.elementtypesconfigurations#org.eclipse.papyrus.umldi.Operation_ClassOperationLabel"/>
+  </elementTypeConfigurations>
+</elementtypesconfigurations:ElementTypeSetConfiguration>
diff --git a/org.eclipse.papyrus.robotml/palettes/Palette_Class_RobotML.paletteconfiguration b/org.eclipse.papyrus.robotml/palettes/Palette_Class_RobotML.paletteconfiguration
index c1fd9ad..794f238 100644
--- a/org.eclipse.papyrus.robotml/palettes/Palette_Class_RobotML.paletteconfiguration
+++ b/org.eclipse.papyrus.robotml/palettes/Palette_Class_RobotML.paletteconfiguration
@@ -1,56 +1,56 @@
-<?xml version="1.0" encoding="ASCII"?>
-<paletteconfiguration:PaletteConfiguration xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:elementtypesconfigurations="http://www.eclipse.org/papyrus/infra/elementtypesconfigurations/1.2" xmlns:paletteconfiguration="http://www.eclipse.org/papyrus/diagram/paletteconfiguration/0.8">
-  <drawerConfigurations id="org.eclipse.papyrus.robotml.diagram.clazz" label="RobotML" description="RobotML">
-    <ownedConfigurations xsi:type="paletteconfiguration:ToolConfiguration" id="clazz.tool.system" label="System" description="Create a new Robotic System">
-      <icon pluginID="org.eclipse.papyrus.robotml" iconPath="icons/16x16/03_robot_system.png"/>
-      <elementDescriptors>
-        <elementType xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="Palette_Class_RobotML.di.typesconfigurations#//@elementTypeConfigurations.0"/>
-      </elementDescriptors>
-      <elementDescriptors>
-        <elementType xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="Palette_Class_RobotML.di.typesconfigurations#//@elementTypeConfigurations.1"/>
-      </elementDescriptors>
-    </ownedConfigurations>
-    <ownedConfigurations xsi:type="paletteconfiguration:ToolConfiguration" id="clazz.tool.AlgorithmLibrary" label="AlgorithmLibrary" description="Create a new AlgorithmLibrary">
-      <icon pluginID="org.eclipse.uml2.uml.edit" iconPath="icons/full/obj16/Class.gif"/>
-      <elementDescriptors>
-        <elementType xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="Palette_Class_RobotML.di.typesconfigurations#//@elementTypeConfigurations.2"/>
-      </elementDescriptors>
-      <elementDescriptors>
-        <elementType xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="Palette_Class_RobotML.di.typesconfigurations#//@elementTypeConfigurations.3"/>
-      </elementDescriptors>
-    </ownedConfigurations>
-    <ownedConfigurations xsi:type="paletteconfiguration:ToolConfiguration" id="clazz.tool.algorithm" label="Operation" description="Create an operation">
-      <icon pluginID="org.eclipse.uml2.uml.edit" iconPath="icons/full/obj16/Operation.gif"/>
-      <elementDescriptors>
-        <elementType xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="Palette_Class_RobotML.di.typesconfigurations#//@elementTypeConfigurations.4"/>
-      </elementDescriptors>
-    </ownedConfigurations>
-    <ownedConfigurations xsi:type="paletteconfiguration:ToolConfiguration" id="clazz.tool.property_1323777408057" label="Property" description="Create a new Property">
-      <icon pluginID="org.eclipse.uml2.uml.edit" iconPath="icons/full/obj16/Property.gif"/>
-      <elementDescriptors>
-        <elementType xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/umldi.elementtypesconfigurations#org.eclipse.papyrus.umldi.Property_ComponentAttributeLabel"/>
-      </elementDescriptors>
-      <elementDescriptors>
-        <elementType xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/umldi.elementtypesconfigurations#org.eclipse.papyrus.umldi.Property_SignalAttributeLabel"/>
-      </elementDescriptors>
-      <elementDescriptors>
-        <elementType xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/umldi.elementtypesconfigurations#org.eclipse.papyrus.umldi.Property_InterfaceAttributeLabel"/>
-      </elementDescriptors>
-      <elementDescriptors>
-        <elementType xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/umldi.elementtypesconfigurations#org.eclipse.papyrus.umldi.Property_ClassAttributeLabel"/>
-      </elementDescriptors>
-      <elementDescriptors>
-        <elementType xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/umldi.elementtypesconfigurations#org.eclipse.papyrus.umldi.Property_DataTypeAttributeLabel"/>
-      </elementDescriptors>
-      <elementDescriptors>
-        <elementType xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/umldi.elementtypesconfigurations#org.eclipse.papyrus.umldi.Property_PrimitiveTypeAttributeLabel"/>
-      </elementDescriptors>
-    </ownedConfigurations>
-    <ownedConfigurations xsi:type="paletteconfiguration:ToolConfiguration" id="clazz.tool.generalization_1323777545778" label="Generalization" description="Create a generalization">
-      <icon pluginID="org.eclipse.uml2.uml.edit" iconPath="icons/full/obj16/Generalization.gif"/>
-       <elementDescriptors>
-        <elementType xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/umldi.elementtypesconfigurations#org.eclipse.papyrus.umldi.Generalization_Edge"/>
-      </elementDescriptors>
-    </ownedConfigurations>
-  </drawerConfigurations>
-</paletteconfiguration:PaletteConfiguration>
+<?xml version="1.0" encoding="ASCII"?>
+<paletteconfiguration:PaletteConfiguration xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:elementtypesconfigurations="http://www.eclipse.org/papyrus/infra/elementtypesconfigurations/1.2" xmlns:paletteconfiguration="http://www.eclipse.org/papyrus/diagram/paletteconfiguration/0.8">
+  <drawerConfigurations id="org.eclipse.papyrus.robotml.diagram.clazz" label="RobotML" description="RobotML">
+    <ownedConfigurations xsi:type="paletteconfiguration:ToolConfiguration" id="clazz.tool.system" label="System" description="Create a new Robotic System">
+      <icon pluginID="org.eclipse.papyrus.robotml" iconPath="icons/16x16/03_robot_system.png"/>
+      <elementDescriptors>
+        <elementType xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="Palette_Class_RobotML.di.typesconfigurations#//@elementTypeConfigurations.0"/>
+      </elementDescriptors>
+      <elementDescriptors>
+        <elementType xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="Palette_Class_RobotML.di.typesconfigurations#//@elementTypeConfigurations.1"/>
+      </elementDescriptors>
+    </ownedConfigurations>
+    <ownedConfigurations xsi:type="paletteconfiguration:ToolConfiguration" id="clazz.tool.AlgorithmLibrary" label="AlgorithmLibrary" description="Create a new AlgorithmLibrary">
+      <icon pluginID="org.eclipse.uml2.uml.edit" iconPath="icons/full/obj16/Class.gif"/>
+      <elementDescriptors>
+        <elementType xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="Palette_Class_RobotML.di.typesconfigurations#//@elementTypeConfigurations.2"/>
+      </elementDescriptors>
+      <elementDescriptors>
+        <elementType xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="Palette_Class_RobotML.di.typesconfigurations#//@elementTypeConfigurations.3"/>
+      </elementDescriptors>
+    </ownedConfigurations>
+    <ownedConfigurations xsi:type="paletteconfiguration:ToolConfiguration" id="clazz.tool.algorithm" label="Operation" description="Create an operation">
+      <icon pluginID="org.eclipse.uml2.uml.edit" iconPath="icons/full/obj16/Operation.gif"/>
+      <elementDescriptors>
+        <elementType xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="Palette_Class_RobotML.di.typesconfigurations#//@elementTypeConfigurations.4"/>
+      </elementDescriptors>
+    </ownedConfigurations>
+    <ownedConfigurations xsi:type="paletteconfiguration:ToolConfiguration" id="clazz.tool.property_1323777408057" label="Property" description="Create a new Property">
+      <icon pluginID="org.eclipse.uml2.uml.edit" iconPath="icons/full/obj16/Property.gif"/>
+      <elementDescriptors>
+        <elementType xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/umldi.elementtypesconfigurations#org.eclipse.papyrus.umldi.Property_ComponentAttributeLabel"/>
+      </elementDescriptors>
+      <elementDescriptors>
+        <elementType xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/umldi.elementtypesconfigurations#org.eclipse.papyrus.umldi.Property_SignalAttributeLabel"/>
+      </elementDescriptors>
+      <elementDescriptors>
+        <elementType xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/umldi.elementtypesconfigurations#org.eclipse.papyrus.umldi.Property_InterfaceAttributeLabel"/>
+      </elementDescriptors>
+      <elementDescriptors>
+        <elementType xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/umldi.elementtypesconfigurations#org.eclipse.papyrus.umldi.Property_ClassAttributeLabel"/>
+      </elementDescriptors>
+      <elementDescriptors>
+        <elementType xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/umldi.elementtypesconfigurations#org.eclipse.papyrus.umldi.Property_DataTypeAttributeLabel"/>
+      </elementDescriptors>
+      <elementDescriptors>
+        <elementType xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/umldi.elementtypesconfigurations#org.eclipse.papyrus.umldi.Property_PrimitiveTypeAttributeLabel"/>
+      </elementDescriptors>
+    </ownedConfigurations>
+    <ownedConfigurations xsi:type="paletteconfiguration:ToolConfiguration" id="clazz.tool.generalization_1323777545778" label="Generalization" description="Create a generalization">
+      <icon pluginID="org.eclipse.uml2.uml.edit" iconPath="icons/full/obj16/Generalization.gif"/>
+       <elementDescriptors>
+        <elementType xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/umldi.elementtypesconfigurations#org.eclipse.papyrus.umldi.Generalization_Edge"/>
+      </elementDescriptors>
+    </ownedConfigurations>
+  </drawerConfigurations>
+</paletteconfiguration:PaletteConfiguration>
diff --git a/org.eclipse.papyrus.robotml/palettes/Palette_SM_RobotML.di.typesconfigurations b/org.eclipse.papyrus.robotml/palettes/Palette_SM_RobotML.di.typesconfigurations
index b15c839..c3f7ceb 100644
--- a/org.eclipse.papyrus.robotml/palettes/Palette_SM_RobotML.di.typesconfigurations
+++ b/org.eclipse.papyrus.robotml/palettes/Palette_SM_RobotML.di.typesconfigurations
@@ -1,17 +1,17 @@
-<?xml version="1.0" encoding="ASCII"?>
-<elementtypesconfigurations:ElementTypeSetConfiguration xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:elementtypesconfigurations="http://www.eclipse.org/papyrus/infra/elementtypesconfigurations/1.2" identifier="org.eclipse.papyrus.di.Palette_SM_RobotML.xml" name="DI element types for Palette_SM_RobotML.xml" metamodelNsURI="http://www.eclipse.org/uml2/5.0.0/UML">
-  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" identifier="org.eclipse.papyrus.robotML.State.di" name="DI org.eclipse.papyrus.robotML.State" hint="State_Shape">
-    <iconEntry iconPath="/icons/full/obj16/State.gif" bundleId="org.eclipse.uml2.uml.edit"/>
-    <specializedTypes xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="../../../plugin/org.eclipse.papyrus.robotml/elementTypes/RobotMLProfile.typesconfigurations#//@elementTypeConfigurations.75"/>
-    <specializedTypes xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="../../../plugin/org.eclipse.papyrus.uml.service.types/model/umldi.elementtypesconfigurations#org.eclipse.papyrus.umldi.State_Shape"/>
-  </elementTypeConfigurations>
-  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" identifier="org.eclipse.papyrus.robotML.State.di_cn" name="DI org.eclipse.papyrus.robotML.State CN" hint="State_Shape_CN">
-    <specializedTypes xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="../../../plugin/org.eclipse.papyrus.robotml/elementTypes/RobotMLProfile.typesconfigurations#//@elementTypeConfigurations.75"/>
-    <specializedTypes xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="../../../plugin/org.eclipse.papyrus.uml.service.types/model/umldi.elementtypesconfigurations#org.eclipse.papyrus.umldi.State_Shape_CN"/>
-  </elementTypeConfigurations>
-  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" identifier="org.eclipse.papyrus.robotML.Transition.di" name="DI org.eclipse.papyrus.robotML.Transition" hint="Transition_Edge">
-    <iconEntry iconPath="/icons/full/obj16/Transition.gif" bundleId="org.eclipse.uml2.uml.edit"/>
-    <specializedTypes xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="../../../plugin/org.eclipse.papyrus.robotml/elementTypes/RobotMLProfile.typesconfigurations#//@elementTypeConfigurations.81"/>
-    <specializedTypes xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="../../../plugin/org.eclipse.papyrus.uml.service.types/model/umldi.elementtypesconfigurations#org.eclipse.papyrus.umldi.Transition_Edge"/>
-  </elementTypeConfigurations>
-</elementtypesconfigurations:ElementTypeSetConfiguration>
+<?xml version="1.0" encoding="ASCII"?>
+<elementtypesconfigurations:ElementTypeSetConfiguration xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:elementtypesconfigurations="http://www.eclipse.org/papyrus/infra/elementtypesconfigurations/1.2" xmi:id="org.eclipse.papyrus.di.Palette_SM_RobotML.xml" identifier="org.eclipse.papyrus.di.Palette_SM_RobotML.xml" name="DI element types for Palette_SM_RobotML.xml" metamodelNsURI="http://www.eclipse.org/uml2/5.0.0/UML">
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.State.di" identifier="org.eclipse.papyrus.robotML.State.di" name="DI org.eclipse.papyrus.robotML.State" hint="State_Shape">
+    <iconEntry iconPath="/icons/full/obj16/State.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <specializedTypes xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.robotml/elementTypes/RobotMLProfile.typesconfigurations#org.eclipse.papyrus.robotML.State"/>
+    <specializedTypes xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/umldi.elementtypesconfigurations#org.eclipse.papyrus.umldi.State_Shape"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.State.di_cn" identifier="org.eclipse.papyrus.robotML.State.di_cn" name="DI org.eclipse.papyrus.robotML.State CN" hint="State_Shape_CN">
+    <specializedTypes xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.robotml/elementTypes/RobotMLProfile.typesconfigurations#org.eclipse.papyrus.robotML.State"/>
+    <specializedTypes xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/umldi.elementtypesconfigurations#org.eclipse.papyrus.umldi.State_Shape_CN"/>
+  </elementTypeConfigurations>
+  <elementTypeConfigurations xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" xmi:id="org.eclipse.papyrus.robotML.Transition.di" identifier="org.eclipse.papyrus.robotML.Transition.di" name="DI org.eclipse.papyrus.robotML.Transition" hint="Transition_Edge">
+    <iconEntry iconPath="/icons/full/obj16/Transition.gif" bundleId="org.eclipse.uml2.uml.edit"/>
+    <specializedTypes xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.robotml/elementTypes/RobotMLProfile.typesconfigurations#org.eclipse.papyrus.robotML.Transition"/>
+    <specializedTypes xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/umldi.elementtypesconfigurations#org.eclipse.papyrus.umldi.Transition_Edge"/>
+  </elementTypeConfigurations>
+</elementtypesconfigurations:ElementTypeSetConfiguration>
diff --git a/org.eclipse.papyrus.robotml/palettes/Palette_SM_RobotML.paletteconfiguration b/org.eclipse.papyrus.robotml/palettes/Palette_SM_RobotML.paletteconfiguration
index 2d91fde..e9586c1 100644
--- a/org.eclipse.papyrus.robotml/palettes/Palette_SM_RobotML.paletteconfiguration
+++ b/org.eclipse.papyrus.robotml/palettes/Palette_SM_RobotML.paletteconfiguration
@@ -1,32 +1,32 @@
-<?xml version="1.0" encoding="ASCII"?>
-<paletteconfiguration:PaletteConfiguration xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:elementtypesconfigurations="http://www.eclipse.org/papyrus/infra/elementtypesconfigurations/1.2" xmlns:paletteconfiguration="http://www.eclipse.org/papyrus/diagram/paletteconfiguration/0.8">
-  <drawerConfigurations id="drawer_1315919914240" label="RobotML" description="RobotML">
-    <ownedConfigurations xsi:type="paletteconfiguration:ToolConfiguration" id="createStateCreationTool_1315919977929" label="State" description="State">
-      <icon pluginID="org.eclipse.uml2.uml.edit" iconPath="icons/full/obj16/State.gif"/>
-      <elementDescriptors>
-        <elementType xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="Palette_SM_RobotML.di.typesconfigurations#//@elementTypeConfigurations.0"/>
-      </elementDescriptors>
-      <elementDescriptors>
-        <elementType xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="Palette_SM_RobotML.di.typesconfigurations#//@elementTypeConfigurations.1"/>
-      </elementDescriptors>
-    </ownedConfigurations>
-    <ownedConfigurations xsi:type="paletteconfiguration:ToolConfiguration" id="createFinalStateCreationTool_1315920419625" label="FinalState" description="FinalState">
-      <icon pluginID="org.eclipse.uml2.uml.edit" iconPath="icons/full/obj16/FinalState.gif"/>
-      <elementDescriptors>
-        <elementType xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="../../../plugin/org.eclipse.papyrus.uml.service.types/model/umldi.elementtypesconfigurations#org.eclipse.papyrus.umldi.FinalState_Shape"/>
-      </elementDescriptors>
-    </ownedConfigurations>
-    <ownedConfigurations xsi:type="paletteconfiguration:ToolConfiguration" id="createInitialCreationTool_1315920509328" label="InitialState" description="InitialState">
-      <icon pluginID="org.eclipse.uml2.uml.edit" iconPath="icons/full/obj16/Pseudostate_initial.gif"/>
-      <elementDescriptors>
-        <elementType xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="../../../plugin/org.eclipse.papyrus.uml.service.types/model/umldi.elementtypesconfigurations#org.eclipse.papyrus.umldi.Pseudostate_InitialShape"/>
-      </elementDescriptors>
-    </ownedConfigurations>
-    <ownedConfigurations xsi:type="paletteconfiguration:ToolConfiguration" id="createTransitionCreationTool_1315920536016" label="Transition" description="Transition" kind="ConnectionTool">
-      <icon pluginID="org.eclipse.uml2.uml.edit" iconPath="icons/full/obj16/Transition_local.gif"/>
-      <elementDescriptors>
-        <elementType xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="Palette_SM_RobotML.di.typesconfigurations#//@elementTypeConfigurations.2"/>
-      </elementDescriptors>
-    </ownedConfigurations>
-  </drawerConfigurations>
-</paletteconfiguration:PaletteConfiguration>
+<?xml version="1.0" encoding="ASCII"?>
+<paletteconfiguration:PaletteConfiguration xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:elementtypesconfigurations="http://www.eclipse.org/papyrus/infra/elementtypesconfigurations/1.2" xmlns:paletteconfiguration="http://www.eclipse.org/papyrus/diagram/paletteconfiguration/0.8">
+  <drawerConfigurations id="drawer_1315919914240" label="RobotML" description="RobotML">
+    <ownedConfigurations xsi:type="paletteconfiguration:ToolConfiguration" id="createStateCreationTool_1315919977929" label="State" description="State">
+      <icon pluginID="org.eclipse.uml2.uml.edit" iconPath="icons/full/obj16/State.gif"/>
+      <elementDescriptors>
+        <elementType xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="Palette_SM_RobotML.di.typesconfigurations#//@elementTypeConfigurations.0"/>
+      </elementDescriptors>
+      <elementDescriptors>
+        <elementType xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="Palette_SM_RobotML.di.typesconfigurations#//@elementTypeConfigurations.1"/>
+      </elementDescriptors>
+    </ownedConfigurations>
+    <ownedConfigurations xsi:type="paletteconfiguration:ToolConfiguration" id="createFinalStateCreationTool_1315920419625" label="FinalState" description="FinalState">
+      <icon pluginID="org.eclipse.uml2.uml.edit" iconPath="icons/full/obj16/FinalState.gif"/>
+      <elementDescriptors>
+        <elementType xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/umldi.elementtypesconfigurations#org.eclipse.papyrus.umldi.FinalState_Shape"/>
+      </elementDescriptors>
+    </ownedConfigurations>
+    <ownedConfigurations xsi:type="paletteconfiguration:ToolConfiguration" id="createInitialCreationTool_1315920509328" label="InitialState" description="InitialState">
+      <icon pluginID="org.eclipse.uml2.uml.edit" iconPath="icons/full/obj16/Pseudostate_initial.gif"/>
+      <elementDescriptors>
+        <elementType xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="platform:/plugin/org.eclipse.papyrus.uml.service.types/model/umldi.elementtypesconfigurations#org.eclipse.papyrus.umldi.Pseudostate_InitialShape"/>
+      </elementDescriptors>
+    </ownedConfigurations>
+    <ownedConfigurations xsi:type="paletteconfiguration:ToolConfiguration" id="createTransitionCreationTool_1315920536016" label="Transition" description="Transition" kind="ConnectionTool">
+      <icon pluginID="org.eclipse.uml2.uml.edit" iconPath="icons/full/obj16/Transition_local.gif"/>
+      <elementDescriptors>
+        <elementType xsi:type="elementtypesconfigurations:SpecializationTypeConfiguration" href="Palette_SM_RobotML.di.typesconfigurations#//@elementTypeConfigurations.2"/>
+      </elementDescriptors>
+    </ownedConfigurations>
+  </drawerConfigurations>
+</paletteconfiguration:PaletteConfiguration>
diff --git a/org.eclipse.papyrus.robotml/plugin.xml b/org.eclipse.papyrus.robotml/plugin.xml
index 4954a5d..bf1dd27 100644
--- a/org.eclipse.papyrus.robotml/plugin.xml
+++ b/org.eclipse.papyrus.robotml/plugin.xml
@@ -169,7 +169,7 @@
          <context contextModel="properties/RobotMLProfile.ctx">
       </context>
    </extension>
-   <extension
+   <!-- <extension
          point="org.eclipse.papyrus.infra.gmfdiag.common.paletteDefinition">
       <paletteDefinition
             ID="Palette_Class_RobotML"
@@ -185,7 +185,7 @@
                id="org.eclipse.papyrus.uml.diagram.clazz">
          </editor>
       </paletteDefinition>
-   </extension>
+   </extension> -->
    <extension
          point="org.eclipse.papyrus.infra.types.core.elementTypeSetConfiguration">
       <elementTypeSet
@@ -200,7 +200,7 @@
             path="palettes/Palette_SM_RobotML.di.typesconfigurations">
       </elementTypeSet>
    </extension>
-   <extension
+   <!-- <extension
          point="org.eclipse.papyrus.infra.gmfdiag.common.paletteDefinition">
       <paletteDefinition
             ID="Palette_SM_RobotML"
@@ -214,5 +214,5 @@
          <editor
                id="org.eclipse.papyrus.uml.diagram.statemachine"></editor>
       </paletteDefinition>
-   </extension>
+   </extension> -->
 </plugin>