411233: [Releng] Add RobotML to Releng

https://bugs.eclipse.org/bugs/show_bug.cgi?id=411233
author: cletavernie 2013-06-20 15:07:37 +0000
committer: cletavernie 2013-06-20 15:07:37 +0000
commit: ec75d2e39d2cb3b22ae476a6f75d8cc6784c12d5 (patch)
tree: 308378cbf46197651caf3d211944482a01049d3e /extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus
parent: 32df29f3718f67bf79e35973e5e84b0739f5d15e (diff)
download: org.eclipse.papyrus-ec75d2e39d2cb3b22ae476a6f75d8cc6784c12d5.tar.gz
org.eclipse.papyrus-ec75d2e39d2cb3b22ae476a6f75d8cc6784c12d5.tar.xz
org.eclipse.papyrus-ec75d2e39d2cb3b22ae476a6f75d8cc6784c12d5.zip
343 files changed, 103052 insertions, 0 deletions
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/ActuatorSystem.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/ActuatorSystem.java
new file mode 100644
index 00000000000..0a839d23167
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/ActuatorSystem.java
@@ -0,0 +1,26 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Actuator System</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getActuatorSystem()
+ * @model
+ * @generated
+ */
+public interface ActuatorSystem extends RoboticSystem {
+} // ActuatorSystem
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Agent.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Agent.java
new file mode 100644
index 00000000000..68873293931
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Agent.java
@@ -0,0 +1,50 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+import org.eclipse.emf.common.util.EList;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Agent</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.Agent#getMovesOver <em>Moves Over</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getAgent()
+ * @model
+ * @generated
+ */
+public interface Agent extends PhysicalObject {
+
+	/**
+	 * Returns the value of the '<em><b>Moves Over</b></em>' reference list.
+	 * The list contents are of type {@link org.eclipse.papyrus.RobotML.Surface}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Moves Over</em>' reference list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Moves Over</em>' reference list.
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getAgent_MovesOver()
+	 * @model ordered="false"
+	 * @generated
+	 */
+	EList<Surface> getMovesOver();
+
+} // Agent
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Algorithm.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Algorithm.java
new file mode 100644
index 00000000000..dfa4e4fb60f
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Algorithm.java
@@ -0,0 +1,184 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.uml2.uml.Operation;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Algorithm</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <!-- begin-model-doc -->
+ * LibFileFormat can be elf, matlab, etc
+ * <!-- end-model-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.Algorithm#getBase_Operation <em>Base Operation</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.Algorithm#isIsExternal <em>Is External</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.Algorithm#getExtFunctionName <em>Ext Function Name</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.Algorithm#getLibPath <em>Lib Path</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.Algorithm#getLibFileFormat <em>Lib File Format</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getAlgorithm()
+ * @model
+ * @generated
+ */
+public interface Algorithm extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Base Operation</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Base Operation</em>' reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Base Operation</em>' reference.
+	 * @see #setBase_Operation(Operation)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getAlgorithm_Base_Operation()
+	 * @model required="true" ordered="false"
+	 * @generated
+	 */
+	Operation getBase_Operation();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.Algorithm#getBase_Operation <em>Base Operation</em>}' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Base Operation</em>' reference.
+	 * @see #getBase_Operation()
+	 * @generated
+	 */
+	void setBase_Operation(Operation value);
+
+	/**
+	 * Returns the value of the '<em><b>Is External</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Is External</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Is External</em>' attribute.
+	 * @see #setIsExternal(boolean)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getAlgorithm_IsExternal()
+	 * @model dataType="org.eclipse.uml2.types.Boolean" required="true" ordered="false"
+	 * @generated
+	 */
+	boolean isIsExternal();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.Algorithm#isIsExternal <em>Is External</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Is External</em>' attribute.
+	 * @see #isIsExternal()
+	 * @generated
+	 */
+	void setIsExternal(boolean value);
+
+	/**
+	 * Returns the value of the '<em><b>Ext Function Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Ext Function Name</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Ext Function Name</em>' attribute.
+	 * @see #setExtFunctionName(String)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getAlgorithm_ExtFunctionName()
+	 * @model dataType="org.eclipse.uml2.types.String" required="true" ordered="false"
+	 * @generated
+	 */
+	String getExtFunctionName();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.Algorithm#getExtFunctionName <em>Ext Function Name</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Ext Function Name</em>' attribute.
+	 * @see #getExtFunctionName()
+	 * @generated
+	 */
+	void setExtFunctionName(String value);
+
+	/**
+	 * Returns the value of the '<em><b>Lib Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Lib Path</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Lib Path</em>' attribute.
+	 * @see #setLibPath(String)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getAlgorithm_LibPath()
+	 * @model dataType="org.eclipse.uml2.types.String" required="true" ordered="false"
+	 * @generated
+	 */
+	String getLibPath();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.Algorithm#getLibPath <em>Lib Path</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Lib Path</em>' attribute.
+	 * @see #getLibPath()
+	 * @generated
+	 */
+	void setLibPath(String value);
+
+	/**
+	 * Returns the value of the '<em><b>Lib File Format</b></em>' attribute.
+	 * The default value is <code>"elf"</code>.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Lib File Format</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Lib File Format</em>' attribute.
+	 * @see #setLibFileFormat(String)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getAlgorithm_LibFileFormat()
+	 * @model default="elf" dataType="org.eclipse.uml2.types.String" required="true" ordered="false"
+	 * @generated
+	 */
+	String getLibFileFormat();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.Algorithm#getLibFileFormat <em>Lib File Format</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Lib File Format</em>' attribute.
+	 * @see #getLibFileFormat()
+	 * @generated
+	 */
+	void setLibFileFormat(String value);
+
+} // Algorithm
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/AlgorithmLibrary.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/AlgorithmLibrary.java
new file mode 100644
index 00000000000..4315b9c4ec3
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/AlgorithmLibrary.java
@@ -0,0 +1,91 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Algorithm Library</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.AlgorithmLibrary#getBase_Class <em>Base Class</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.AlgorithmLibrary#getPath <em>Path</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getAlgorithmLibrary()
+ * @model
+ * @generated
+ */
+public interface AlgorithmLibrary extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Base Class</em>' reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Base Class</em>' reference.
+	 * @see #setBase_Class(org.eclipse.uml2.uml.Class)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getAlgorithmLibrary_Base_Class()
+	 * @model required="true" ordered="false"
+	 * @generated
+	 */
+	org.eclipse.uml2.uml.Class getBase_Class();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.AlgorithmLibrary#getBase_Class <em>Base Class</em>}' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Base Class</em>' reference.
+	 * @see #getBase_Class()
+	 * @generated
+	 */
+	void setBase_Class(org.eclipse.uml2.uml.Class value);
+
+	/**
+	 * Returns the value of the '<em><b>Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Path</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Path</em>' attribute.
+	 * @see #setPath(String)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getAlgorithmLibrary_Path()
+	 * @model dataType="org.eclipse.uml2.types.String" required="true" ordered="false"
+	 * @generated
+	 */
+	String getPath();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.AlgorithmLibrary#getPath <em>Path</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Path</em>' attribute.
+	 * @see #getPath()
+	 * @generated
+	 */
+	void setPath(String value);
+
+} // AlgorithmLibrary
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Allocate.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Allocate.java
new file mode 100644
index 00000000000..a465a83756f
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Allocate.java
@@ -0,0 +1,63 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.uml2.uml.Abstraction;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Allocate</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.Allocate#getBase_Abstraction <em>Base Abstraction</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getAllocate()
+ * @model
+ * @generated
+ */
+public interface Allocate extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Base Abstraction</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Base Abstraction</em>' reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Base Abstraction</em>' reference.
+	 * @see #setBase_Abstraction(Abstraction)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getAllocate_Base_Abstraction()
+	 * @model required="true" ordered="false"
+	 * @generated
+	 */
+	Abstraction getBase_Abstraction();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.Allocate#getBase_Abstraction <em>Base Abstraction</em>}' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Base Abstraction</em>' reference.
+	 * @see #getBase_Abstraction()
+	 * @generated
+	 */
+	void setBase_Abstraction(Abstraction value);
+
+} // Allocate
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/BlenderMorse.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/BlenderMorse.java
new file mode 100644
index 00000000000..663415d4e46
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/BlenderMorse.java
@@ -0,0 +1,152 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Blender Morse</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.BlenderMorse#isDebugMode <em>Debug Mode</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.BlenderMorse#isDebugDisplay <em>Debug Display</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.BlenderMorse#getGravity <em>Gravity</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.BlenderMorse#get_viewport_shade <em>viewport shade</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getBlenderMorse()
+ * @model
+ * @generated
+ */
+public interface BlenderMorse extends RoboticSimulator {
+
+	/**
+	 * Returns the value of the '<em><b>Debug Mode</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Debug Mode</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Debug Mode</em>' attribute.
+	 * @see #setDebugMode(boolean)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getBlenderMorse_DebugMode()
+	 * @model dataType="org.eclipse.uml2.types.Boolean" ordered="false"
+	 * @generated
+	 */
+	boolean isDebugMode();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.BlenderMorse#isDebugMode <em>Debug Mode</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Debug Mode</em>' attribute.
+	 * @see #isDebugMode()
+	 * @generated
+	 */
+	void setDebugMode(boolean value);
+
+	/**
+	 * Returns the value of the '<em><b>Debug Display</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Debug Display</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Debug Display</em>' attribute.
+	 * @see #setDebugDisplay(boolean)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getBlenderMorse_DebugDisplay()
+	 * @model dataType="org.eclipse.uml2.types.Boolean" ordered="false"
+	 * @generated
+	 */
+	boolean isDebugDisplay();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.BlenderMorse#isDebugDisplay <em>Debug Display</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Debug Display</em>' attribute.
+	 * @see #isDebugDisplay()
+	 * @generated
+	 */
+	void setDebugDisplay(boolean value);
+
+	/**
+	 * Returns the value of the '<em><b>Gravity</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Gravity</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Gravity</em>' attribute.
+	 * @see #setGravity(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getBlenderMorse_Gravity()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" ordered="false"
+	 * @generated
+	 */
+	float getGravity();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.BlenderMorse#getGravity <em>Gravity</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Gravity</em>' attribute.
+	 * @see #getGravity()
+	 * @generated
+	 */
+	void setGravity(float value);
+
+	/**
+	 * Returns the value of the '<em><b>viewport shade</b></em>' attribute.
+	 * The default value is <code>"WIREFRAME"</code>.
+	 * The literals are from the enumeration {@link org.eclipse.papyrus.RobotML.Shade}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>viewport shade</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>viewport shade</em>' attribute.
+	 * @see org.eclipse.papyrus.RobotML.Shade
+	 * @see #set_viewport_shade(Shade)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getBlenderMorse__viewport_shade()
+	 * @model default="WIREFRAME" ordered="false"
+	 * @generated
+	 */
+	Shade get_viewport_shade();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.BlenderMorse#get_viewport_shade <em>viewport shade</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>viewport shade</em>' attribute.
+	 * @see org.eclipse.papyrus.RobotML.Shade
+	 * @see #get_viewport_shade()
+	 * @generated
+	 */
+	void set_viewport_shade(Shade value);
+
+} // BlenderMorse
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Building.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Building.java
new file mode 100644
index 00000000000..0314af8b6df
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Building.java
@@ -0,0 +1,26 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Building</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getBuilding()
+ * @model
+ * @generated
+ */
+public interface Building extends PhysicalObject {
+} // Building
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/CameraSystem.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/CameraSystem.java
new file mode 100644
index 00000000000..ef55b97ae32
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/CameraSystem.java
@@ -0,0 +1,303 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point32;
+
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Camera System</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.CameraSystem#getWidth <em>Width</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.CameraSystem#getHeight <em>Height</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.CameraSystem#getAlpha_u <em>Alpha u</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.CameraSystem#getAlpha_v <em>Alpha v</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.CameraSystem#getU0 <em>U0</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.CameraSystem#getV0 <em>V0</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.CameraSystem#getColor_format <em>Color format</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.CameraSystem#getTranslate <em>Translate</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.CameraSystem#getRotate <em>Rotate</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getCameraSystem()
+ * @model
+ * @generated
+ */
+public interface CameraSystem extends ImageSensorSystem {
+
+	/**
+	 * Returns the value of the '<em><b>Width</b></em>' attribute.
+	 * The default value is <code>"0"</code>.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Width</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Width</em>' attribute.
+	 * @see #setWidth(long)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getCameraSystem_Width()
+	 * @model default="0" dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	long getWidth();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.CameraSystem#getWidth <em>Width</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Width</em>' attribute.
+	 * @see #getWidth()
+	 * @generated
+	 */
+	void setWidth(long value);
+
+	/**
+	 * Returns the value of the '<em><b>Height</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Height</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Height</em>' attribute.
+	 * @see #setHeight(long)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getCameraSystem_Height()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	long getHeight();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.CameraSystem#getHeight <em>Height</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Height</em>' attribute.
+	 * @see #getHeight()
+	 * @generated
+	 */
+	void setHeight(long value);
+
+	/**
+	 * Returns the value of the '<em><b>Alpha u</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Alpha u</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Alpha u</em>' attribute.
+	 * @see #setAlpha_u(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getCameraSystem_Alpha_u()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getAlpha_u();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.CameraSystem#getAlpha_u <em>Alpha u</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Alpha u</em>' attribute.
+	 * @see #getAlpha_u()
+	 * @generated
+	 */
+	void setAlpha_u(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Alpha v</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Alpha v</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Alpha v</em>' attribute.
+	 * @see #setAlpha_v(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getCameraSystem_Alpha_v()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getAlpha_v();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.CameraSystem#getAlpha_v <em>Alpha v</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Alpha v</em>' attribute.
+	 * @see #getAlpha_v()
+	 * @generated
+	 */
+	void setAlpha_v(float value);
+
+	/**
+	 * Returns the value of the '<em><b>U0</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>U0</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>U0</em>' attribute.
+	 * @see #setU0(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getCameraSystem_U0()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getU0();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.CameraSystem#getU0 <em>U0</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>U0</em>' attribute.
+	 * @see #getU0()
+	 * @generated
+	 */
+	void setU0(float value);
+
+	/**
+	 * Returns the value of the '<em><b>V0</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>V0</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>V0</em>' attribute.
+	 * @see #setV0(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getCameraSystem_V0()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getV0();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.CameraSystem#getV0 <em>V0</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>V0</em>' attribute.
+	 * @see #getV0()
+	 * @generated
+	 */
+	void setV0(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Color format</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Color format</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Color format</em>' attribute.
+	 * @see #setColor_format(String)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getCameraSystem_Color_format()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.String" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	String getColor_format();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.CameraSystem#getColor_format <em>Color format</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Color format</em>' attribute.
+	 * @see #getColor_format()
+	 * @generated
+	 */
+	void setColor_format(String value);
+
+	/**
+	 * Returns the value of the '<em><b>Translate</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Translate</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Translate</em>' containment reference.
+	 * @see #setTranslate(Point32)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getCameraSystem_Translate()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Point32 getTranslate();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.CameraSystem#getTranslate <em>Translate</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Translate</em>' containment reference.
+	 * @see #getTranslate()
+	 * @generated
+	 */
+	void setTranslate(Point32 value);
+
+	/**
+	 * Returns the value of the '<em><b>Rotate</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Rotate</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Rotate</em>' containment reference.
+	 * @see #setRotate(Point32)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getCameraSystem_Rotate()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Point32 getRotate();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.CameraSystem#getRotate <em>Rotate</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Rotate</em>' containment reference.
+	 * @see #getRotate()
+	 * @generated
+	 */
+	void setRotate(Point32 value);
+
+} // CameraSystem
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/CycabTK.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/CycabTK.java
new file mode 100644
index 00000000000..1bdcb688714
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/CycabTK.java
@@ -0,0 +1,119 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Cycab TK</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.CycabTK#isUseRealTime <em>Use Real Time</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.CycabTK#getTimeStep <em>Time Step</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.CycabTK#getTimeFactor <em>Time Factor</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getCycabTK()
+ * @model
+ * @generated
+ */
+public interface CycabTK extends RoboticSimulator {
+
+	/**
+	 * Returns the value of the '<em><b>Use Real Time</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Use Real Time</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Use Real Time</em>' attribute.
+	 * @see #setUseRealTime(boolean)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getCycabTK_UseRealTime()
+	 * @model dataType="org.eclipse.uml2.types.Boolean" ordered="false"
+	 * @generated
+	 */
+	boolean isUseRealTime();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.CycabTK#isUseRealTime <em>Use Real Time</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Use Real Time</em>' attribute.
+	 * @see #isUseRealTime()
+	 * @generated
+	 */
+	void setUseRealTime(boolean value);
+
+	/**
+	 * Returns the value of the '<em><b>Time Step</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Time Step</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Time Step</em>' attribute.
+	 * @see #setTimeStep(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getCycabTK_TimeStep()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" ordered="false"
+	 * @generated
+	 */
+	float getTimeStep();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.CycabTK#getTimeStep <em>Time Step</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Time Step</em>' attribute.
+	 * @see #getTimeStep()
+	 * @generated
+	 */
+	void setTimeStep(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Time Factor</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Time Factor</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Time Factor</em>' attribute.
+	 * @see #setTimeFactor(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getCycabTK_TimeFactor()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" ordered="false"
+	 * @generated
+	 */
+	float getTimeFactor();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.CycabTK#getTimeFactor <em>Time Factor</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Time Factor</em>' attribute.
+	 * @see #getTimeFactor()
+	 * @generated
+	 */
+	void setTimeFactor(float value);
+
+} // CycabTK
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/DataFlowDirectionKind.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/DataFlowDirectionKind.java
new file mode 100644
index 00000000000..ae6cbcbb42c
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/DataFlowDirectionKind.java
@@ -0,0 +1,259 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+import java.util.Arrays;
+import java.util.Collections;
+import java.util.List;
+
+import org.eclipse.emf.common.util.Enumerator;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the literals of the enumeration '<em><b>Data Flow Direction Kind</b></em>',
+ * and utility methods for working with them.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getDataFlowDirectionKind()
+ * @model
+ * @generated
+ */
+public enum DataFlowDirectionKind implements Enumerator {
+	/**
+	 * The '<em><b>In</b></em>' literal object.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #IN_VALUE
+	 * @generated
+	 * @ordered
+	 */
+	IN(0, "in", "in"),
+
+	/**
+	 * The '<em><b>Out</b></em>' literal object.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #OUT_VALUE
+	 * @generated
+	 * @ordered
+	 */
+	OUT(1, "out", "out"),
+
+	/**
+	 * The '<em><b>Inout</b></em>' literal object.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #INOUT_VALUE
+	 * @generated
+	 * @ordered
+	 */
+	INOUT(2, "inout", "inout");
+
+	/**
+	 * The '<em><b>In</b></em>' literal value.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of '<em><b>In</b></em>' literal object isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #IN
+	 * @model name="in"
+	 * @generated
+	 * @ordered
+	 */
+	public static final int IN_VALUE = 0;
+
+	/**
+	 * The '<em><b>Out</b></em>' literal value.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of '<em><b>Out</b></em>' literal object isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #OUT
+	 * @model name="out"
+	 * @generated
+	 * @ordered
+	 */
+	public static final int OUT_VALUE = 1;
+
+	/**
+	 * The '<em><b>Inout</b></em>' literal value.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of '<em><b>Inout</b></em>' literal object isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #INOUT
+	 * @model name="inout"
+	 * @generated
+	 * @ordered
+	 */
+	public static final int INOUT_VALUE = 2;
+
+	/**
+	 * An array of all the '<em><b>Data Flow Direction Kind</b></em>' enumerators.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private static final DataFlowDirectionKind[] VALUES_ARRAY = new DataFlowDirectionKind[]{ IN, OUT, INOUT, };
+
+	/**
+	 * A public read-only list of all the '<em><b>Data Flow Direction Kind</b></em>' enumerators.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static final List<DataFlowDirectionKind> VALUES = Collections.unmodifiableList(Arrays.asList(VALUES_ARRAY));
+
+	/**
+	 * Returns the '<em><b>Data Flow Direction Kind</b></em>' literal with the specified literal value.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static DataFlowDirectionKind get(String literal) {
+		for(int i = 0; i < VALUES_ARRAY.length; ++i) {
+			DataFlowDirectionKind result = VALUES_ARRAY[i];
+			if(result.toString().equals(literal)) {
+				return result;
+			}
+		}
+		return null;
+	}
+
+	/**
+	 * Returns the '<em><b>Data Flow Direction Kind</b></em>' literal with the specified name.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static DataFlowDirectionKind getByName(String name) {
+		for(int i = 0; i < VALUES_ARRAY.length; ++i) {
+			DataFlowDirectionKind result = VALUES_ARRAY[i];
+			if(result.getName().equals(name)) {
+				return result;
+			}
+		}
+		return null;
+	}
+
+	/**
+	 * Returns the '<em><b>Data Flow Direction Kind</b></em>' literal with the specified integer value.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static DataFlowDirectionKind get(int value) {
+		switch(value) {
+		case IN_VALUE:
+			return IN;
+		case OUT_VALUE:
+			return OUT;
+		case INOUT_VALUE:
+			return INOUT;
+		}
+		return null;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private final int value;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private final String name;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private final String literal;
+
+	/**
+	 * Only this class can construct instances.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private DataFlowDirectionKind(int value, String name, String literal) {
+		this.value = value;
+		this.name = name;
+		this.literal = literal;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public int getValue() {
+		return value;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getName() {
+		return name;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getLiteral() {
+		return literal;
+	}
+
+	/**
+	 * Returns the literal value of the enumerator, which is its string representation.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		return literal;
+	}
+
+} //DataFlowDirectionKind
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/DataFlowPort.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/DataFlowPort.java
new file mode 100644
index 00000000000..081a9979f5a
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/DataFlowPort.java
@@ -0,0 +1,94 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Data Flow Port</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.DataFlowPort#getDirection <em>Direction</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.DataFlowPort#getBufferSize <em>Buffer Size</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getDataFlowPort()
+ * @model
+ * @generated
+ */
+public interface DataFlowPort extends Port {
+
+	/**
+	 * Returns the value of the '<em><b>Direction</b></em>' attribute.
+	 * The literals are from the enumeration {@link org.eclipse.papyrus.RobotML.DataFlowDirectionKind}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Direction</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Direction</em>' attribute.
+	 * @see org.eclipse.papyrus.RobotML.DataFlowDirectionKind
+	 * @see #setDirection(DataFlowDirectionKind)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getDataFlowPort_Direction()
+	 * @model required="true" ordered="false"
+	 * @generated
+	 */
+	DataFlowDirectionKind getDirection();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.DataFlowPort#getDirection <em>Direction</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Direction</em>' attribute.
+	 * @see org.eclipse.papyrus.RobotML.DataFlowDirectionKind
+	 * @see #getDirection()
+	 * @generated
+	 */
+	void setDirection(DataFlowDirectionKind value);
+
+	/**
+	 * Returns the value of the '<em><b>Buffer Size</b></em>' attribute.
+	 * The default value is <code>"0"</code>.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Buffer Size</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Buffer Size</em>' attribute.
+	 * @see #setBufferSize(int)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getDataFlowPort_BufferSize()
+	 * @model default="0" dataType="org.eclipse.uml2.types.Integer" required="true" ordered="false"
+	 * @generated
+	 */
+	int getBufferSize();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.DataFlowPort#getBufferSize <em>Buffer Size</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Buffer Size</em>' attribute.
+	 * @see #getBufferSize()
+	 * @generated
+	 */
+	void setBufferSize(int value);
+
+} // DataFlowPort
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/DataType.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/DataType.java
new file mode 100644
index 00000000000..e548929f7a1
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/DataType.java
@@ -0,0 +1,120 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Data Type</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.DataType#getBase_DataType <em>Base Data Type</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.DataType#isNative <em>Native</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.DataType#getLibraryPath <em>Library Path</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getDataType()
+ * @model
+ * @generated
+ */
+public interface DataType extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Base Data Type</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Base Data Type</em>' reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Base Data Type</em>' reference.
+	 * @see #setBase_DataType(org.eclipse.uml2.uml.DataType)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getDataType_Base_DataType()
+	 * @model required="true" ordered="false"
+	 * @generated
+	 */
+	org.eclipse.uml2.uml.DataType getBase_DataType();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.DataType#getBase_DataType <em>Base Data Type</em>}' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Base Data Type</em>' reference.
+	 * @see #getBase_DataType()
+	 * @generated
+	 */
+	void setBase_DataType(org.eclipse.uml2.uml.DataType value);
+
+	/**
+	 * Returns the value of the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Native</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Native</em>' attribute.
+	 * @see #setNative(boolean)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getDataType_Native()
+	 * @model dataType="org.eclipse.uml2.types.Boolean" required="true" ordered="false"
+	 * @generated
+	 */
+	boolean isNative();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.DataType#isNative <em>Native</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Native</em>' attribute.
+	 * @see #isNative()
+	 * @generated
+	 */
+	void setNative(boolean value);
+
+	/**
+	 * Returns the value of the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Library Path</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Library Path</em>' attribute.
+	 * @see #setLibraryPath(String)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getDataType_LibraryPath()
+	 * @model dataType="org.eclipse.uml2.types.String" required="true" ordered="false"
+	 * @generated
+	 */
+	String getLibraryPath();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.DataType#getLibraryPath <em>Library Path</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Library Path</em>' attribute.
+	 * @see #getLibraryPath()
+	 * @generated
+	 */
+	void setLibraryPath(String value);
+
+} // DataType
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/DeploymentPlan.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/DeploymentPlan.java
new file mode 100644
index 00000000000..22eca5c1f90
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/DeploymentPlan.java
@@ -0,0 +1,92 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.uml2.uml.InstanceSpecification;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Deployment Plan</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.DeploymentPlan#getBase_Package <em>Base Package</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.DeploymentPlan#getMainInstance <em>Main Instance</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getDeploymentPlan()
+ * @model
+ * @generated
+ */
+public interface DeploymentPlan extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Base Package</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Base Package</em>' reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Base Package</em>' reference.
+	 * @see #setBase_Package(org.eclipse.uml2.uml.Package)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getDeploymentPlan_Base_Package()
+	 * @model required="true" ordered="false"
+	 * @generated
+	 */
+	org.eclipse.uml2.uml.Package getBase_Package();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.DeploymentPlan#getBase_Package <em>Base Package</em>}' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Base Package</em>' reference.
+	 * @see #getBase_Package()
+	 * @generated
+	 */
+	void setBase_Package(org.eclipse.uml2.uml.Package value);
+
+	/**
+	 * Returns the value of the '<em><b>Main Instance</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Main Instance</em>' reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Main Instance</em>' reference.
+	 * @see #setMainInstance(InstanceSpecification)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getDeploymentPlan_MainInstance()
+	 * @model required="true" ordered="false"
+	 * @generated
+	 */
+	InstanceSpecification getMainInstance();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.DeploymentPlan#getMainInstance <em>Main Instance</em>}' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Main Instance</em>' reference.
+	 * @see #getMainInstance()
+	 * @generated
+	 */
+	void setMainInstance(InstanceSpecification value);
+
+} // DeploymentPlan
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/EngineSystem.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/EngineSystem.java
new file mode 100644
index 00000000000..9f6a065f9c2
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/EngineSystem.java
@@ -0,0 +1,211 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Engine System</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.EngineSystem#getVehicleTraction <em>Vehicle Traction</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.EngineSystem#getMaxEngineForce <em>Max Engine Force</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.EngineSystem#getMaxBreakingForce <em>Max Breaking Force</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.EngineSystem#getMaxAllowedSteering <em>Max Allowed Steering</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.EngineSystem#getMaxAllowedVelocity <em>Max Allowed Velocity</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.EngineSystem#getGear_ration <em>Gear ration</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getEngineSystem()
+ * @model
+ * @generated
+ */
+public interface EngineSystem extends ActuatorSystem {
+
+	/**
+	 * Returns the value of the '<em><b>Vehicle Traction</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Vehicle Traction</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Vehicle Traction</em>' attribute.
+	 * @see #setVehicleTraction(String)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getEngineSystem_VehicleTraction()
+	 * @model dataType="org.eclipse.uml2.types.String" required="true" ordered="false"
+	 * @generated
+	 */
+	String getVehicleTraction();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.EngineSystem#getVehicleTraction <em>Vehicle Traction</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Vehicle Traction</em>' attribute.
+	 * @see #getVehicleTraction()
+	 * @generated
+	 */
+	void setVehicleTraction(String value);
+
+	/**
+	 * Returns the value of the '<em><b>Max Engine Force</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Max Engine Force</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Max Engine Force</em>' attribute.
+	 * @see #setMaxEngineForce(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getEngineSystem_MaxEngineForce()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getMaxEngineForce();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.EngineSystem#getMaxEngineForce <em>Max Engine Force</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Max Engine Force</em>' attribute.
+	 * @see #getMaxEngineForce()
+	 * @generated
+	 */
+	void setMaxEngineForce(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Max Breaking Force</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Max Breaking Force</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Max Breaking Force</em>' attribute.
+	 * @see #setMaxBreakingForce(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getEngineSystem_MaxBreakingForce()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getMaxBreakingForce();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.EngineSystem#getMaxBreakingForce <em>Max Breaking Force</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Max Breaking Force</em>' attribute.
+	 * @see #getMaxBreakingForce()
+	 * @generated
+	 */
+	void setMaxBreakingForce(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Max Allowed Steering</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Max Allowed Steering</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Max Allowed Steering</em>' attribute.
+	 * @see #setMaxAllowedSteering(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getEngineSystem_MaxAllowedSteering()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getMaxAllowedSteering();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.EngineSystem#getMaxAllowedSteering <em>Max Allowed Steering</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Max Allowed Steering</em>' attribute.
+	 * @see #getMaxAllowedSteering()
+	 * @generated
+	 */
+	void setMaxAllowedSteering(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Max Allowed Velocity</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Max Allowed Velocity</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Max Allowed Velocity</em>' attribute.
+	 * @see #setMaxAllowedVelocity(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getEngineSystem_MaxAllowedVelocity()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getMaxAllowedVelocity();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.EngineSystem#getMaxAllowedVelocity <em>Max Allowed Velocity</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Max Allowed Velocity</em>' attribute.
+	 * @see #getMaxAllowedVelocity()
+	 * @generated
+	 */
+	void setMaxAllowedVelocity(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Gear ration</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Gear ration</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Gear ration</em>' attribute.
+	 * @see #setGear_ration(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getEngineSystem_Gear_ration()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getGear_ration();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.EngineSystem#getGear_ration <em>Gear ration</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Gear ration</em>' attribute.
+	 * @see #getGear_ration()
+	 * @generated
+	 */
+	void setGear_ration(float value);
+
+} // EngineSystem
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Environment.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Environment.java
new file mode 100644
index 00000000000..77e1c53129b
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Environment.java
@@ -0,0 +1,26 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Environment</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getEnvironment()
+ * @model
+ * @generated
+ */
+public interface Environment extends org.eclipse.papyrus.RobotML.System {
+} // Environment
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Floor.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Floor.java
new file mode 100644
index 00000000000..a22c09384dc
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Floor.java
@@ -0,0 +1,26 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Floor</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getFloor()
+ * @model
+ * @generated
+ */
+public interface Floor extends Ground {
+} // Floor
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/GPSSystem.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/GPSSystem.java
new file mode 100644
index 00000000000..164dd1740c8
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/GPSSystem.java
@@ -0,0 +1,62 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point32;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>GPS System</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.GPSSystem#getOriginPosition <em>Origin Position</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getGPSSystem()
+ * @model
+ * @generated
+ */
+public interface GPSSystem extends LocalizationSensorSystem {
+
+	/**
+	 * Returns the value of the '<em><b>Origin Position</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Origin Position</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Origin Position</em>' containment reference.
+	 * @see #setOriginPosition(Point32)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getGPSSystem_OriginPosition()
+	 * @model containment="true" ordered="false"
+	 * @generated
+	 */
+	Point32 getOriginPosition();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.GPSSystem#getOriginPosition <em>Origin Position</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Origin Position</em>' containment reference.
+	 * @see #getOriginPosition()
+	 * @generated
+	 */
+	void setOriginPosition(Point32 value);
+
+} // GPSSystem
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Ground.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Ground.java
new file mode 100644
index 00000000000..539c5c4c512
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Ground.java
@@ -0,0 +1,26 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Ground</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getGround()
+ * @model abstract="true"
+ * @generated
+ */
+public interface Ground extends Surface {
+} // Ground
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Gyroscope.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Gyroscope.java
new file mode 100644
index 00000000000..ccf1d1b4b61
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Gyroscope.java
@@ -0,0 +1,26 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Gyroscope</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getGyroscope()
+ * @model
+ * @generated
+ */
+public interface Gyroscope extends SensorSystem {
+} // Gyroscope
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Hardware.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Hardware.java
new file mode 100644
index 00000000000..083144e3278
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Hardware.java
@@ -0,0 +1,26 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Hardware</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getHardware()
+ * @model
+ * @generated
+ */
+public interface Hardware extends org.eclipse.papyrus.RobotML.System {
+} // Hardware
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Human.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Human.java
new file mode 100644
index 00000000000..5a2c5f68cf6
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Human.java
@@ -0,0 +1,26 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Human</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getHuman()
+ * @model
+ * @generated
+ */
+public interface Human extends Agent {
+} // Human
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/ImageSensorSystem.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/ImageSensorSystem.java
new file mode 100644
index 00000000000..88a7306e8b5
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/ImageSensorSystem.java
@@ -0,0 +1,26 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Image Sensor System</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getImageSensorSystem()
+ * @model
+ * @generated
+ */
+public interface ImageSensorSystem extends SensorSystem {
+} // ImageSensorSystem
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/InertialMeasurementUnitSystem.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/InertialMeasurementUnitSystem.java
new file mode 100644
index 00000000000..d72623e75f5
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/InertialMeasurementUnitSystem.java
@@ -0,0 +1,26 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Inertial Measurement Unit System</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getInertialMeasurementUnitSystem()
+ * @model
+ * @generated
+ */
+public interface InertialMeasurementUnitSystem extends SensorSystem {
+} // InertialMeasurementUnitSystem
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/InertialNavigationSystem.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/InertialNavigationSystem.java
new file mode 100644
index 00000000000..907adc98e51
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/InertialNavigationSystem.java
@@ -0,0 +1,26 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Inertial Navigation System</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getInertialNavigationSystem()
+ * @model
+ * @generated
+ */
+public interface InertialNavigationSystem extends GPSSystem {
+} // InertialNavigationSystem
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/InfraRedProximetrySystem.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/InfraRedProximetrySystem.java
new file mode 100644
index 00000000000..d7195457007
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/InfraRedProximetrySystem.java
@@ -0,0 +1,26 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Infra Red Proximetry System</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getInfraRedProximetrySystem()
+ * @model
+ * @generated
+ */
+public interface InfraRedProximetrySystem extends ObjectDetectionSensorSystem {
+} // InfraRedProximetrySystem
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/LandSurface.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/LandSurface.java
new file mode 100644
index 00000000000..041a8b2336c
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/LandSurface.java
@@ -0,0 +1,26 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Land Surface</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getLandSurface()
+ * @model
+ * @generated
+ */
+public interface LandSurface extends Ground {
+} // LandSurface
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/LidarSystem.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/LidarSystem.java
new file mode 100644
index 00000000000..37215910d6e
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/LidarSystem.java
@@ -0,0 +1,392 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Lidar System</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.LidarSystem#getNbLayers <em>Nb Layers</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.LidarSystem#getLayerAngleMin <em>Layer Angle Min</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.LidarSystem#getLayerAngleStep <em>Layer Angle Step</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.LidarSystem#isNoise <em>Noise</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.LidarSystem#getSigmaNoise <em>Sigma Noise</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.LidarSystem#getAngle_min <em>Angle min</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.LidarSystem#getAngle_max <em>Angle max</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.LidarSystem#getTime_increment <em>Time increment</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.LidarSystem#getScan_time <em>Scan time</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.LidarSystem#getRange_min <em>Range min</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.LidarSystem#getRange_max <em>Range max</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.LidarSystem#getNbRays <em>Nb Rays</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getLidarSystem()
+ * @model
+ * @generated
+ */
+public interface LidarSystem extends ObjectDetectionSensorSystem, ObjectTrackingSensorSystem {
+
+	/**
+	 * Returns the value of the '<em><b>Nb Layers</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Nb Layers</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Nb Layers</em>' attribute.
+	 * @see #setNbLayers(long)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getLidarSystem_NbLayers()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	long getNbLayers();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.LidarSystem#getNbLayers <em>Nb Layers</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Nb Layers</em>' attribute.
+	 * @see #getNbLayers()
+	 * @generated
+	 */
+	void setNbLayers(long value);
+
+	/**
+	 * Returns the value of the '<em><b>Layer Angle Min</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Layer Angle Min</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Layer Angle Min</em>' attribute.
+	 * @see #setLayerAngleMin(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getLidarSystem_LayerAngleMin()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getLayerAngleMin();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.LidarSystem#getLayerAngleMin <em>Layer Angle Min</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Layer Angle Min</em>' attribute.
+	 * @see #getLayerAngleMin()
+	 * @generated
+	 */
+	void setLayerAngleMin(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Layer Angle Step</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Layer Angle Step</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Layer Angle Step</em>' attribute.
+	 * @see #setLayerAngleStep(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getLidarSystem_LayerAngleStep()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getLayerAngleStep();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.LidarSystem#getLayerAngleStep <em>Layer Angle Step</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Layer Angle Step</em>' attribute.
+	 * @see #getLayerAngleStep()
+	 * @generated
+	 */
+	void setLayerAngleStep(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Noise</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Noise</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Noise</em>' attribute.
+	 * @see #setNoise(boolean)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getLidarSystem_Noise()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Bool" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	boolean isNoise();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.LidarSystem#isNoise <em>Noise</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Noise</em>' attribute.
+	 * @see #isNoise()
+	 * @generated
+	 */
+	void setNoise(boolean value);
+
+	/**
+	 * Returns the value of the '<em><b>Sigma Noise</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Sigma Noise</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Sigma Noise</em>' attribute.
+	 * @see #setSigmaNoise(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getLidarSystem_SigmaNoise()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getSigmaNoise();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.LidarSystem#getSigmaNoise <em>Sigma Noise</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Sigma Noise</em>' attribute.
+	 * @see #getSigmaNoise()
+	 * @generated
+	 */
+	void setSigmaNoise(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Angle min</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Angle min</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Angle min</em>' attribute.
+	 * @see #setAngle_min(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getLidarSystem_Angle_min()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getAngle_min();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.LidarSystem#getAngle_min <em>Angle min</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Angle min</em>' attribute.
+	 * @see #getAngle_min()
+	 * @generated
+	 */
+	void setAngle_min(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Angle max</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Angle max</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Angle max</em>' attribute.
+	 * @see #setAngle_max(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getLidarSystem_Angle_max()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getAngle_max();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.LidarSystem#getAngle_max <em>Angle max</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Angle max</em>' attribute.
+	 * @see #getAngle_max()
+	 * @generated
+	 */
+	void setAngle_max(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Time increment</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Time increment</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Time increment</em>' attribute.
+	 * @see #setTime_increment(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getLidarSystem_Time_increment()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getTime_increment();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.LidarSystem#getTime_increment <em>Time increment</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Time increment</em>' attribute.
+	 * @see #getTime_increment()
+	 * @generated
+	 */
+	void setTime_increment(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Scan time</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Scan time</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Scan time</em>' attribute.
+	 * @see #setScan_time(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getLidarSystem_Scan_time()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getScan_time();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.LidarSystem#getScan_time <em>Scan time</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Scan time</em>' attribute.
+	 * @see #getScan_time()
+	 * @generated
+	 */
+	void setScan_time(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Range min</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Range min</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Range min</em>' attribute.
+	 * @see #setRange_min(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getLidarSystem_Range_min()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getRange_min();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.LidarSystem#getRange_min <em>Range min</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Range min</em>' attribute.
+	 * @see #getRange_min()
+	 * @generated
+	 */
+	void setRange_min(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Range max</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Range max</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Range max</em>' attribute.
+	 * @see #setRange_max(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getLidarSystem_Range_max()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getRange_max();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.LidarSystem#getRange_max <em>Range max</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Range max</em>' attribute.
+	 * @see #getRange_max()
+	 * @generated
+	 */
+	void setRange_max(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Nb Rays</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Nb Rays</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Nb Rays</em>' attribute.
+	 * @see #setNbRays(long)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getLidarSystem_NbRays()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	long getNbRays();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.LidarSystem#getNbRays <em>Nb Rays</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Nb Rays</em>' attribute.
+	 * @see #getNbRays()
+	 * @generated
+	 */
+	void setNbRays(long value);
+
+} // LidarSystem
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/LocalizationSensorSystem.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/LocalizationSensorSystem.java
new file mode 100644
index 00000000000..957446618e9
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/LocalizationSensorSystem.java
@@ -0,0 +1,26 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Localization Sensor System</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getLocalizationSensorSystem()
+ * @model
+ * @generated
+ */
+public interface LocalizationSensorSystem extends SensorSystem {
+} // LocalizationSensorSystem
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/ObjectDetectionSensorSystem.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/ObjectDetectionSensorSystem.java
new file mode 100644
index 00000000000..eb41524cee2
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/ObjectDetectionSensorSystem.java
@@ -0,0 +1,26 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Object Detection Sensor System</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getObjectDetectionSensorSystem()
+ * @model
+ * @generated
+ */
+public interface ObjectDetectionSensorSystem extends SensorSystem {
+} // ObjectDetectionSensorSystem
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/ObjectTrackingSensorSystem.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/ObjectTrackingSensorSystem.java
new file mode 100644
index 00000000000..6f0a782852e
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/ObjectTrackingSensorSystem.java
@@ -0,0 +1,26 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Object Tracking Sensor System</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getObjectTrackingSensorSystem()
+ * @model
+ * @generated
+ */
+public interface ObjectTrackingSensorSystem extends SensorSystem {
+} // ObjectTrackingSensorSystem
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/OdometrySystem.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/OdometrySystem.java
new file mode 100644
index 00000000000..8f3de693b17
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/OdometrySystem.java
@@ -0,0 +1,26 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Odometry System</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getOdometrySystem()
+ * @model
+ * @generated
+ */
+public interface OdometrySystem extends LocalizationSensorSystem {
+} // OdometrySystem
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/OnPort.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/OnPort.java
new file mode 100644
index 00000000000..11e4157571a
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/OnPort.java
@@ -0,0 +1,92 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.uml2.uml.Parameter;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>On Port</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.OnPort#getPort <em>Port</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.OnPort#getBase_Parameter <em>Base Parameter</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getOnPort()
+ * @model
+ * @generated
+ */
+public interface OnPort extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Port</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Port</em>' reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Port</em>' reference.
+	 * @see #setPort(Port)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getOnPort_Port()
+	 * @model required="true" ordered="false"
+	 * @generated
+	 */
+	Port getPort();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.OnPort#getPort <em>Port</em>}' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Port</em>' reference.
+	 * @see #getPort()
+	 * @generated
+	 */
+	void setPort(Port value);
+
+	/**
+	 * Returns the value of the '<em><b>Base Parameter</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Base Parameter</em>' reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Base Parameter</em>' reference.
+	 * @see #setBase_Parameter(Parameter)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getOnPort_Base_Parameter()
+	 * @model required="true" ordered="false"
+	 * @generated
+	 */
+	Parameter getBase_Parameter();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.OnPort#getBase_Parameter <em>Base Parameter</em>}' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Base Parameter</em>' reference.
+	 * @see #getBase_Parameter()
+	 * @generated
+	 */
+	void setBase_Parameter(Parameter value);
+
+} // OnPort
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Pedestrian.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Pedestrian.java
new file mode 100644
index 00000000000..b80ef657f3e
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Pedestrian.java
@@ -0,0 +1,26 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Pedestrian</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getPedestrian()
+ * @model
+ * @generated
+ */
+public interface Pedestrian extends Human {
+} // Pedestrian
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/PhysicalObject.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/PhysicalObject.java
new file mode 100644
index 00000000000..edc9fb9423a
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/PhysicalObject.java
@@ -0,0 +1,79 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+import org.eclipse.emf.common.util.EList;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Physical Object</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.PhysicalObject#getEvelovesIn <em>Eveloves In</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.PhysicalObject#getHasSurface <em>Has Surface</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getPhysicalObject()
+ * @model
+ * @generated
+ */
+public interface PhysicalObject extends org.eclipse.papyrus.RobotML.System {
+
+	/**
+	 * Returns the value of the '<em><b>Eveloves In</b></em>' reference list.
+	 * The list contents are of type {@link org.eclipse.papyrus.RobotML.Environment}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Eveloves In</em>' reference list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Eveloves In</em>' reference list.
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getPhysicalObject_EvelovesIn()
+	 * @model ordered="false"
+	 * @generated
+	 */
+	EList<Environment> getEvelovesIn();
+
+	/**
+	 * Returns the value of the '<em><b>Has Surface</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Has Surface</em>' reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Has Surface</em>' reference.
+	 * @see #setHasSurface(Surface)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getPhysicalObject_HasSurface()
+	 * @model required="true" ordered="false"
+	 * @generated
+	 */
+	Surface getHasSurface();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.PhysicalObject#getHasSurface <em>Has Surface</em>}' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Has Surface</em>' reference.
+	 * @see #getHasSurface()
+	 * @generated
+	 */
+	void setHasSurface(Surface value);
+
+} // PhysicalObject
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Planet.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Planet.java
new file mode 100644
index 00000000000..7b6fabb82df
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Planet.java
@@ -0,0 +1,26 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Planet</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getPlanet()
+ * @model
+ * @generated
+ */
+public interface Planet extends PhysicalObject {
+} // Planet
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Platform.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Platform.java
new file mode 100644
index 00000000000..555e67fd759
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Platform.java
@@ -0,0 +1,62 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+import org.eclipse.uml2.uml.Node;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Platform</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.Platform#getBase_Node <em>Base Node</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getPlatform()
+ * @model
+ * @generated
+ */
+public interface Platform extends org.eclipse.papyrus.RobotML.System {
+
+	/**
+	 * Returns the value of the '<em><b>Base Node</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Base Node</em>' reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Base Node</em>' reference.
+	 * @see #setBase_Node(Node)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getPlatform_Base_Node()
+	 * @model required="true" ordered="false"
+	 * @generated
+	 */
+	Node getBase_Node();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.Platform#getBase_Node <em>Base Node</em>}' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Base Node</em>' reference.
+	 * @see #getBase_Node()
+	 * @generated
+	 */
+	void setBase_Node(Node value);
+
+} // Platform
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Port.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Port.java
new file mode 100644
index 00000000000..4bbfd60e6b9
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Port.java
@@ -0,0 +1,94 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Port</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.Port#getBase_Port <em>Base Port</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.Port#getSynchronizationPolicy <em>Synchronization Policy</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getPort()
+ * @model abstract="true"
+ * @generated
+ */
+public interface Port extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Base Port</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Base Port</em>' reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Base Port</em>' reference.
+	 * @see #setBase_Port(org.eclipse.uml2.uml.Port)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getPort_Base_Port()
+	 * @model required="true" ordered="false"
+	 * @generated
+	 */
+	org.eclipse.uml2.uml.Port getBase_Port();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.Port#getBase_Port <em>Base Port</em>}' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Base Port</em>' reference.
+	 * @see #getBase_Port()
+	 * @generated
+	 */
+	void setBase_Port(org.eclipse.uml2.uml.Port value);
+
+	/**
+	 * Returns the value of the '<em><b>Synchronization Policy</b></em>' attribute.
+	 * The literals are from the enumeration {@link org.eclipse.papyrus.RobotML.SynchronizationKind}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Synchronization Policy</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Synchronization Policy</em>' attribute.
+	 * @see org.eclipse.papyrus.RobotML.SynchronizationKind
+	 * @see #setSynchronizationPolicy(SynchronizationKind)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getPort_SynchronizationPolicy()
+	 * @model required="true" ordered="false"
+	 * @generated
+	 */
+	SynchronizationKind getSynchronizationPolicy();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.Port#getSynchronizationPolicy <em>Synchronization Policy</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Synchronization Policy</em>' attribute.
+	 * @see org.eclipse.papyrus.RobotML.SynchronizationKind
+	 * @see #getSynchronizationPolicy()
+	 * @generated
+	 */
+	void setSynchronizationPolicy(SynchronizationKind value);
+
+} // Port
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/PrimitiveData.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/PrimitiveData.java
new file mode 100644
index 00000000000..103f3d0f0e5
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/PrimitiveData.java
@@ -0,0 +1,62 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+import org.eclipse.uml2.uml.PrimitiveType;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Primitive Data</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.PrimitiveData#getBase_PrimitiveType <em>Base Primitive Type</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getPrimitiveData()
+ * @model
+ * @generated
+ */
+public interface PrimitiveData extends DataType {
+
+	/**
+	 * Returns the value of the '<em><b>Base Primitive Type</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Base Primitive Type</em>' reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Base Primitive Type</em>' reference.
+	 * @see #setBase_PrimitiveType(PrimitiveType)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getPrimitiveData_Base_PrimitiveType()
+	 * @model required="true" ordered="false"
+	 * @generated
+	 */
+	PrimitiveType getBase_PrimitiveType();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.PrimitiveData#getBase_PrimitiveType <em>Base Primitive Type</em>}' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Base Primitive Type</em>' reference.
+	 * @see #getBase_PrimitiveType()
+	 * @generated
+	 */
+	void setBase_PrimitiveType(PrimitiveType value);
+
+} // PrimitiveData
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Robot.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Robot.java
new file mode 100644
index 00000000000..ea432b7d61b
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Robot.java
@@ -0,0 +1,157 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Robot</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.Robot#getKind <em>Kind</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.Robot#getMass <em>Mass</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.Robot#getWidth <em>Width</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.Robot#getUgvKind <em>Ugv Kind</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getRobot()
+ * @model
+ * @generated
+ */
+public interface Robot extends Agent, org.eclipse.papyrus.RobotML.System {
+
+	/**
+	 * Returns the value of the '<em><b>Kind</b></em>' attribute.
+	 * The default value is <code>"UGV"</code>.
+	 * The literals are from the enumeration {@link org.eclipse.papyrus.RobotML.RobotKind}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Kind</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Kind</em>' attribute.
+	 * @see org.eclipse.papyrus.RobotML.RobotKind
+	 * @see #setKind(RobotKind)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getRobot_Kind()
+	 * @model default="UGV" required="true" ordered="false"
+	 * @generated
+	 */
+	RobotKind getKind();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.Robot#getKind <em>Kind</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Kind</em>' attribute.
+	 * @see org.eclipse.papyrus.RobotML.RobotKind
+	 * @see #getKind()
+	 * @generated
+	 */
+	void setKind(RobotKind value);
+
+	/**
+	 * Returns the value of the '<em><b>Mass</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Mass</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Mass</em>' attribute.
+	 * @see #setMass(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getRobot_Mass()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getMass();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.Robot#getMass <em>Mass</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Mass</em>' attribute.
+	 * @see #getMass()
+	 * @generated
+	 */
+	void setMass(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Width</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Width</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Width</em>' attribute.
+	 * @see #setWidth(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getRobot_Width()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getWidth();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.Robot#getWidth <em>Width</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Width</em>' attribute.
+	 * @see #getWidth()
+	 * @generated
+	 */
+	void setWidth(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Ugv Kind</b></em>' attribute.
+	 * The literals are from the enumeration {@link org.eclipse.papyrus.RobotML.UGVKind}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Ugv Kind</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Ugv Kind</em>' attribute.
+	 * @see org.eclipse.papyrus.RobotML.UGVKind
+	 * @see #setUgvKind(UGVKind)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getRobot_UgvKind()
+	 * @model ordered="false"
+	 * @generated
+	 */
+	UGVKind getUgvKind();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.Robot#getUgvKind <em>Ugv Kind</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Ugv Kind</em>' attribute.
+	 * @see org.eclipse.papyrus.RobotML.UGVKind
+	 * @see #getUgvKind()
+	 * @generated
+	 */
+	void setUgvKind(UGVKind value);
+
+} // Robot
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/RobotKind.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/RobotKind.java
new file mode 100644
index 00000000000..0c719064a3b
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/RobotKind.java
@@ -0,0 +1,339 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+import java.util.Arrays;
+import java.util.Collections;
+import java.util.List;
+
+import org.eclipse.emf.common.util.Enumerator;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the literals of the enumeration '<em><b>Robot Kind</b></em>',
+ * and utility methods for working with them.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getRobotKind()
+ * @model
+ * @generated
+ */
+public enum RobotKind implements Enumerator {
+	/**
+	 * The '<em><b>UUV</b></em>' literal object.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #UUV_VALUE
+	 * @generated
+	 * @ordered
+	 */
+	UUV(0, "UUV", "UUV"),
+
+	/**
+	 * The '<em><b>UG Vcar</b></em>' literal object.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #UG_VCAR_VALUE
+	 * @generated
+	 * @ordered
+	 */
+	UG_VCAR(1, "UGVcar", "UGVcar"), /**
+	 * The '<em><b>UG Vdifferential</b></em>' literal object.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #UG_VDIFFERENTIAL_VALUE
+	 * @generated
+	 * @ordered
+	 */
+	UG_VDIFFERENTIAL(2, "UGVdifferential", "UGVdifferential"), /**
+	 * The '<em><b>UAV</b></em>' literal object.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #UAV_VALUE
+	 * @generated
+	 * @ordered
+	 */
+	UAV(3, "UAV", "UAV"),
+
+	/**
+	 * The '<em><b>USV</b></em>' literal object.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #USV_VALUE
+	 * @generated
+	 * @ordered
+	 */
+	USV(4, "USV", "USV"),
+
+	/**
+	 * The '<em><b>Piloted</b></em>' literal object.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #PILOTED_VALUE
+	 * @generated
+	 * @ordered
+	 */
+	PILOTED(5, "piloted", "piloted");
+
+	/**
+	 * The '<em><b>UUV</b></em>' literal value.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of '<em><b>UUV</b></em>' literal object isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #UUV
+	 * @model
+	 * @generated
+	 * @ordered
+	 */
+	public static final int UUV_VALUE = 0;
+
+	/**
+	 * The '<em><b>UG Vcar</b></em>' literal value.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of '<em><b>UG Vcar</b></em>' literal object isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #UG_VCAR
+	 * @model name="UGVcar"
+	 * @generated
+	 * @ordered
+	 */
+	public static final int UG_VCAR_VALUE = 1;
+
+	/**
+	 * The '<em><b>UG Vdifferential</b></em>' literal value.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of '<em><b>UG Vdifferential</b></em>' literal object isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #UG_VDIFFERENTIAL
+	 * @model name="UGVdifferential"
+	 * @generated
+	 * @ordered
+	 */
+	public static final int UG_VDIFFERENTIAL_VALUE = 2;
+
+	/**
+	 * The '<em><b>UAV</b></em>' literal value.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of '<em><b>UAV</b></em>' literal object isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #UAV
+	 * @model
+	 * @generated
+	 * @ordered
+	 */
+	public static final int UAV_VALUE = 3;
+
+	/**
+	 * The '<em><b>USV</b></em>' literal value.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of '<em><b>USV</b></em>' literal object isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #USV
+	 * @model
+	 * @generated
+	 * @ordered
+	 */
+	public static final int USV_VALUE = 4;
+
+	/**
+	 * The '<em><b>Piloted</b></em>' literal value.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of '<em><b>Piloted</b></em>' literal object isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #PILOTED
+	 * @model name="piloted"
+	 * @generated
+	 * @ordered
+	 */
+	public static final int PILOTED_VALUE = 5;
+
+	/**
+	 * An array of all the '<em><b>Robot Kind</b></em>' enumerators.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private static final RobotKind[] VALUES_ARRAY = new RobotKind[]{ UUV, UG_VCAR, UG_VDIFFERENTIAL, UAV, USV, PILOTED, };
+
+	/**
+	 * A public read-only list of all the '<em><b>Robot Kind</b></em>' enumerators.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static final List<RobotKind> VALUES = Collections.unmodifiableList(Arrays.asList(VALUES_ARRAY));
+
+	/**
+	 * Returns the '<em><b>Robot Kind</b></em>' literal with the specified literal value.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static RobotKind get(String literal) {
+		for(int i = 0; i < VALUES_ARRAY.length; ++i) {
+			RobotKind result = VALUES_ARRAY[i];
+			if(result.toString().equals(literal)) {
+				return result;
+			}
+		}
+		return null;
+	}
+
+	/**
+	 * Returns the '<em><b>Robot Kind</b></em>' literal with the specified name.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static RobotKind getByName(String name) {
+		for(int i = 0; i < VALUES_ARRAY.length; ++i) {
+			RobotKind result = VALUES_ARRAY[i];
+			if(result.getName().equals(name)) {
+				return result;
+			}
+		}
+		return null;
+	}
+
+	/**
+	 * Returns the '<em><b>Robot Kind</b></em>' literal with the specified integer value.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static RobotKind get(int value) {
+		switch(value) {
+		case UUV_VALUE:
+			return UUV;
+		case UG_VCAR_VALUE:
+			return UG_VCAR;
+		case UG_VDIFFERENTIAL_VALUE:
+			return UG_VDIFFERENTIAL;
+		case UAV_VALUE:
+			return UAV;
+		case USV_VALUE:
+			return USV;
+		case PILOTED_VALUE:
+			return PILOTED;
+		}
+		return null;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private final int value;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private final String name;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private final String literal;
+
+	/**
+	 * Only this class can construct instances.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private RobotKind(int value, String name, String literal) {
+		this.value = value;
+		this.name = name;
+		this.literal = literal;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public int getValue() {
+		return value;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getName() {
+		return name;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getLiteral() {
+		return literal;
+	}
+
+	/**
+	 * Returns the literal value of the enumerator, which is its string representation.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		return literal;
+	}
+
+} //RobotKind
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/RobotMLFactory.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/RobotMLFactory.java
new file mode 100644
index 00000000000..71546ab6348
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/RobotMLFactory.java
@@ -0,0 +1,556 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+import org.eclipse.emf.ecore.EFactory;
+
+/**
+ * <!-- begin-user-doc -->
+ * The <b>Factory</b> for the model.
+ * It provides a create method for each non-abstract class of the model.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage
+ * @generated
+ */
+public interface RobotMLFactory extends EFactory {
+
+	/**
+	 * The singleton instance of the factory.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	RobotMLFactory eINSTANCE = org.eclipse.papyrus.RobotML.impl.RobotMLFactoryImpl.init();
+
+	/**
+	 * Returns a new object of class '<em>Transition</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Transition</em>'.
+	 * @generated
+	 */
+	Transition createTransition();
+
+	/**
+	 * Returns a new object of class '<em>Algorithm</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Algorithm</em>'.
+	 * @generated
+	 */
+	Algorithm createAlgorithm();
+
+	/**
+	 * Returns a new object of class '<em>Robot</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Robot</em>'.
+	 * @generated
+	 */
+	Robot createRobot();
+
+	/**
+	 * Returns a new object of class '<em>System</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>System</em>'.
+	 * @generated
+	 */
+	System createSystem();
+
+	/**
+	 * Returns a new object of class '<em>Agent</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Agent</em>'.
+	 * @generated
+	 */
+	Agent createAgent();
+
+	/**
+	 * Returns a new object of class '<em>Physical Object</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Physical Object</em>'.
+	 * @generated
+	 */
+	PhysicalObject createPhysicalObject();
+
+	/**
+	 * Returns a new object of class '<em>Environment</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Environment</em>'.
+	 * @generated
+	 */
+	Environment createEnvironment();
+
+	/**
+	 * Returns a new object of class '<em>Surface</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Surface</em>'.
+	 * @generated
+	 */
+	Surface createSurface();
+
+	/**
+	 * Returns a new object of class '<em>Data Flow Port</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Data Flow Port</em>'.
+	 * @generated
+	 */
+	DataFlowPort createDataFlowPort();
+
+	/**
+	 * Returns a new object of class '<em>Service Port</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Service Port</em>'.
+	 * @generated
+	 */
+	ServicePort createServicePort();
+
+	/**
+	 * Returns a new object of class '<em>Actuator System</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Actuator System</em>'.
+	 * @generated
+	 */
+	ActuatorSystem createActuatorSystem();
+
+	/**
+	 * Returns a new object of class '<em>Robotic System</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Robotic System</em>'.
+	 * @generated
+	 */
+	RoboticSystem createRoboticSystem();
+
+	/**
+	 * Returns a new object of class '<em>Sensor System</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Sensor System</em>'.
+	 * @generated
+	 */
+	SensorSystem createSensorSystem();
+
+	/**
+	 * Returns a new object of class '<em>Hardware</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Hardware</em>'.
+	 * @generated
+	 */
+	Hardware createHardware();
+
+	/**
+	 * Returns a new object of class '<em>Software</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Software</em>'.
+	 * @generated
+	 */
+	Software createSoftware();
+
+	/**
+	 * Returns a new object of class '<em>Primitive Data</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Primitive Data</em>'.
+	 * @generated
+	 */
+	PrimitiveData createPrimitiveData();
+
+	/**
+	 * Returns a new object of class '<em>Data Type</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Data Type</em>'.
+	 * @generated
+	 */
+	DataType createDataType();
+
+	/**
+	 * Returns a new object of class '<em>Engine System</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Engine System</em>'.
+	 * @generated
+	 */
+	EngineSystem createEngineSystem();
+
+	/**
+	 * Returns a new object of class '<em>Wheel System</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Wheel System</em>'.
+	 * @generated
+	 */
+	WheelSystem createWheelSystem();
+
+	/**
+	 * Returns a new object of class '<em>Image Sensor System</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Image Sensor System</em>'.
+	 * @generated
+	 */
+	ImageSensorSystem createImageSensorSystem();
+
+	/**
+	 * Returns a new object of class '<em>Camera System</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Camera System</em>'.
+	 * @generated
+	 */
+	CameraSystem createCameraSystem();
+
+	/**
+	 * Returns a new object of class '<em>Object Detection Sensor System</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Object Detection Sensor System</em>'.
+	 * @generated
+	 */
+	ObjectDetectionSensorSystem createObjectDetectionSensorSystem();
+
+	/**
+	 * Returns a new object of class '<em>Object Tracking Sensor System</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Object Tracking Sensor System</em>'.
+	 * @generated
+	 */
+	ObjectTrackingSensorSystem createObjectTrackingSensorSystem();
+
+	/**
+	 * Returns a new object of class '<em>Lidar System</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Lidar System</em>'.
+	 * @generated
+	 */
+	LidarSystem createLidarSystem();
+
+	/**
+	 * Returns a new object of class '<em>Localization Sensor System</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Localization Sensor System</em>'.
+	 * @generated
+	 */
+	LocalizationSensorSystem createLocalizationSensorSystem();
+
+	/**
+	 * Returns a new object of class '<em>GPS System</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>GPS System</em>'.
+	 * @generated
+	 */
+	GPSSystem createGPSSystem();
+
+	/**
+	 * Returns a new object of class '<em>Simulated System</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Simulated System</em>'.
+	 * @generated
+	 */
+	SimulatedSystem createSimulatedSystem();
+
+	/**
+	 * Returns a new object of class '<em>Algorithm Library</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Algorithm Library</em>'.
+	 * @generated
+	 */
+	AlgorithmLibrary createAlgorithmLibrary();
+
+	/**
+	 * Returns a new object of class '<em>State</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>State</em>'.
+	 * @generated
+	 */
+	State createState();
+
+	/**
+	 * Returns a new object of class '<em>Sensor Driver</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Sensor Driver</em>'.
+	 * @generated
+	 */
+	SensorDriver createSensorDriver();
+
+	/**
+	 * Returns a new object of class '<em>Building</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Building</em>'.
+	 * @generated
+	 */
+	Building createBuilding();
+
+	/**
+	 * Returns a new object of class '<em>Planet</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Planet</em>'.
+	 * @generated
+	 */
+	Planet createPlanet();
+
+	/**
+	 * Returns a new object of class '<em>Land Surface</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Land Surface</em>'.
+	 * @generated
+	 */
+	LandSurface createLandSurface();
+
+	/**
+	 * Returns a new object of class '<em>Floor</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Floor</em>'.
+	 * @generated
+	 */
+	Floor createFloor();
+
+	/**
+	 * Returns a new object of class '<em>Water Surface</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Water Surface</em>'.
+	 * @generated
+	 */
+	WaterSurface createWaterSurface();
+
+	/**
+	 * Returns a new object of class '<em>Human</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Human</em>'.
+	 * @generated
+	 */
+	Human createHuman();
+
+	/**
+	 * Returns a new object of class '<em>Pedestrian</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Pedestrian</em>'.
+	 * @generated
+	 */
+	Pedestrian createPedestrian();
+
+	/**
+	 * Returns a new object of class '<em>Stairs</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Stairs</em>'.
+	 * @generated
+	 */
+	Stairs createStairs();
+
+	/**
+	 * Returns a new object of class '<em>Platform</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Platform</em>'.
+	 * @generated
+	 */
+	Platform createPlatform();
+
+	/**
+	 * Returns a new object of class '<em>Robotic Middleware</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Robotic Middleware</em>'.
+	 * @generated
+	 */
+	RoboticMiddleware createRoboticMiddleware();
+
+	/**
+	 * Returns a new object of class '<em>Robotic Simulator</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Robotic Simulator</em>'.
+	 * @generated
+	 */
+	RoboticSimulator createRoboticSimulator();
+
+	/**
+	 * Returns a new object of class '<em>Cycab TK</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Cycab TK</em>'.
+	 * @generated
+	 */
+	CycabTK createCycabTK();
+
+	/**
+	 * Returns a new object of class '<em>Blender Morse</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Blender Morse</em>'.
+	 * @generated
+	 */
+	BlenderMorse createBlenderMorse();
+
+	/**
+	 * Returns a new object of class '<em>On Port</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>On Port</em>'.
+	 * @generated
+	 */
+	OnPort createOnPort();
+
+	/**
+	 * Returns a new object of class '<em>Allocate</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Allocate</em>'.
+	 * @generated
+	 */
+	Allocate createAllocate();
+
+	/**
+	 * Returns a new object of class '<em>Inertial Measurement Unit System</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Inertial Measurement Unit System</em>'.
+	 * @generated
+	 */
+	InertialMeasurementUnitSystem createInertialMeasurementUnitSystem();
+
+	/**
+	 * Returns a new object of class '<em>Inertial Navigation System</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Inertial Navigation System</em>'.
+	 * @generated
+	 */
+	InertialNavigationSystem createInertialNavigationSystem();
+
+	/**
+	 * Returns a new object of class '<em>Odometry System</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Odometry System</em>'.
+	 * @generated
+	 */
+	OdometrySystem createOdometrySystem();
+
+	/**
+	 * Returns a new object of class '<em>Infra Red Proximetry System</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Infra Red Proximetry System</em>'.
+	 * @generated
+	 */
+	InfraRedProximetrySystem createInfraRedProximetrySystem();
+
+	/**
+	 * Returns a new object of class '<em>Deployment Plan</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Deployment Plan</em>'.
+	 * @generated
+	 */
+	DeploymentPlan createDeploymentPlan();
+
+	/**
+	 * Returns a new object of class '<em>Gyroscope</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Gyroscope</em>'.
+	 * @generated
+	 */
+	Gyroscope createGyroscope();
+
+	/**
+	 * Returns the package supported by this factory.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the package supported by this factory.
+	 * @generated
+	 */
+	RobotMLPackage getRobotMLPackage();
+
+} //RobotMLFactory
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/RobotMLPackage.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/RobotMLPackage.java
new file mode 100644
index 00000000000..08ae91bb636
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/RobotMLPackage.java
@@ -0,0 +1,8451 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+import org.eclipse.emf.ecore.EAttribute;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.EEnum;
+import org.eclipse.emf.ecore.EPackage;
+import org.eclipse.emf.ecore.EReference;
+
+/**
+ * <!-- begin-user-doc -->
+ * The <b>Package</b> for the model.
+ * It contains accessors for the meta objects to represent
+ * <ul>
+ * <li>each class,</li>
+ * <li>each feature of each class,</li>
+ * <li>each enum,</li>
+ * <li>and each data type</li>
+ * </ul>
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLFactory
+ * @model kind="package"
+ * @generated
+ */
+public interface RobotMLPackage extends EPackage {
+
+	/**
+	 * The package name.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	String eNAME = "RobotML";
+
+	/**
+	 * The package namespace URI.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	String eNS_URI = "http://Papyrus/RobotML/1";
+
+	/**
+	 * The package namespace name.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	String eNS_PREFIX = "RobotML";
+
+	/**
+	 * The singleton instance of the package.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	RobotMLPackage eINSTANCE = org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl.init();
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.TransitionImpl <em>Transition</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.TransitionImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getTransition()
+	 * @generated
+	 */
+	int TRANSITION = 0;
+
+	/**
+	 * The feature id for the '<em><b>Base Transition</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int TRANSITION__BASE_TRANSITION = 0;
+
+	/**
+	 * The feature id for the '<em><b>Guard</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int TRANSITION__GUARD = 1;
+
+	/**
+	 * The feature id for the '<em><b>Effect</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int TRANSITION__EFFECT = 2;
+
+	/**
+	 * The number of structural features of the '<em>Transition</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int TRANSITION_FEATURE_COUNT = 3;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.AlgorithmImpl <em>Algorithm</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.AlgorithmImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getAlgorithm()
+	 * @generated
+	 */
+	int ALGORITHM = 1;
+
+	/**
+	 * The feature id for the '<em><b>Base Operation</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ALGORITHM__BASE_OPERATION = 0;
+
+	/**
+	 * The feature id for the '<em><b>Is External</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ALGORITHM__IS_EXTERNAL = 1;
+
+	/**
+	 * The feature id for the '<em><b>Ext Function Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ALGORITHM__EXT_FUNCTION_NAME = 2;
+
+	/**
+	 * The feature id for the '<em><b>Lib Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ALGORITHM__LIB_PATH = 3;
+
+	/**
+	 * The feature id for the '<em><b>Lib File Format</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ALGORITHM__LIB_FILE_FORMAT = 4;
+
+	/**
+	 * The number of structural features of the '<em>Algorithm</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ALGORITHM_FEATURE_COUNT = 5;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.SystemImpl <em>System</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.SystemImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getSystem()
+	 * @generated
+	 */
+	int SYSTEM = 3;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SYSTEM__BASE_CLASS = 0;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SYSTEM__NATIVE = 1;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SYSTEM__LIBRARY_PATH = 2;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SYSTEM__LIBRARY_COMPONENT_NAME = 3;
+
+	/**
+	 * The number of structural features of the '<em>System</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SYSTEM_FEATURE_COUNT = 4;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.PhysicalObjectImpl <em>Physical Object</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.PhysicalObjectImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getPhysicalObject()
+	 * @generated
+	 */
+	int PHYSICAL_OBJECT = 5;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PHYSICAL_OBJECT__BASE_CLASS = SYSTEM__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PHYSICAL_OBJECT__NATIVE = SYSTEM__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PHYSICAL_OBJECT__LIBRARY_PATH = SYSTEM__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PHYSICAL_OBJECT__LIBRARY_COMPONENT_NAME = SYSTEM__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The feature id for the '<em><b>Eveloves In</b></em>' reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PHYSICAL_OBJECT__EVELOVES_IN = SYSTEM_FEATURE_COUNT + 0;
+
+	/**
+	 * The feature id for the '<em><b>Has Surface</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PHYSICAL_OBJECT__HAS_SURFACE = SYSTEM_FEATURE_COUNT + 1;
+
+	/**
+	 * The number of structural features of the '<em>Physical Object</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PHYSICAL_OBJECT_FEATURE_COUNT = SYSTEM_FEATURE_COUNT + 2;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.AgentImpl <em>Agent</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.AgentImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getAgent()
+	 * @generated
+	 */
+	int AGENT = 4;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int AGENT__BASE_CLASS = PHYSICAL_OBJECT__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int AGENT__NATIVE = PHYSICAL_OBJECT__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int AGENT__LIBRARY_PATH = PHYSICAL_OBJECT__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int AGENT__LIBRARY_COMPONENT_NAME = PHYSICAL_OBJECT__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The feature id for the '<em><b>Eveloves In</b></em>' reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int AGENT__EVELOVES_IN = PHYSICAL_OBJECT__EVELOVES_IN;
+
+	/**
+	 * The feature id for the '<em><b>Has Surface</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int AGENT__HAS_SURFACE = PHYSICAL_OBJECT__HAS_SURFACE;
+
+	/**
+	 * The feature id for the '<em><b>Moves Over</b></em>' reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int AGENT__MOVES_OVER = PHYSICAL_OBJECT_FEATURE_COUNT + 0;
+
+	/**
+	 * The number of structural features of the '<em>Agent</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int AGENT_FEATURE_COUNT = PHYSICAL_OBJECT_FEATURE_COUNT + 1;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.RobotImpl <em>Robot</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getRobot()
+	 * @generated
+	 */
+	int ROBOT = 2;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ROBOT__BASE_CLASS = AGENT__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ROBOT__NATIVE = AGENT__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ROBOT__LIBRARY_PATH = AGENT__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ROBOT__LIBRARY_COMPONENT_NAME = AGENT__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The feature id for the '<em><b>Eveloves In</b></em>' reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ROBOT__EVELOVES_IN = AGENT__EVELOVES_IN;
+
+	/**
+	 * The feature id for the '<em><b>Has Surface</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ROBOT__HAS_SURFACE = AGENT__HAS_SURFACE;
+
+	/**
+	 * The feature id for the '<em><b>Moves Over</b></em>' reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ROBOT__MOVES_OVER = AGENT__MOVES_OVER;
+
+	/**
+	 * The feature id for the '<em><b>Kind</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ROBOT__KIND = AGENT_FEATURE_COUNT + 0;
+
+	/**
+	 * The feature id for the '<em><b>Mass</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ROBOT__MASS = AGENT_FEATURE_COUNT + 1;
+
+	/**
+	 * The feature id for the '<em><b>Width</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ROBOT__WIDTH = AGENT_FEATURE_COUNT + 2;
+
+	/**
+	 * The feature id for the '<em><b>Ugv Kind</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ROBOT__UGV_KIND = AGENT_FEATURE_COUNT + 3;
+
+	/**
+	 * The number of structural features of the '<em>Robot</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ROBOT_FEATURE_COUNT = AGENT_FEATURE_COUNT + 4;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.EnvironmentImpl <em>Environment</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.EnvironmentImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getEnvironment()
+	 * @generated
+	 */
+	int ENVIRONMENT = 6;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ENVIRONMENT__BASE_CLASS = SYSTEM__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ENVIRONMENT__NATIVE = SYSTEM__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ENVIRONMENT__LIBRARY_PATH = SYSTEM__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ENVIRONMENT__LIBRARY_COMPONENT_NAME = SYSTEM__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The number of structural features of the '<em>Environment</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ENVIRONMENT_FEATURE_COUNT = SYSTEM_FEATURE_COUNT + 0;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.SurfaceImpl <em>Surface</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.SurfaceImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getSurface()
+	 * @generated
+	 */
+	int SURFACE = 7;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SURFACE__BASE_CLASS = PHYSICAL_OBJECT__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SURFACE__NATIVE = PHYSICAL_OBJECT__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SURFACE__LIBRARY_PATH = PHYSICAL_OBJECT__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SURFACE__LIBRARY_COMPONENT_NAME = PHYSICAL_OBJECT__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The feature id for the '<em><b>Eveloves In</b></em>' reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SURFACE__EVELOVES_IN = PHYSICAL_OBJECT__EVELOVES_IN;
+
+	/**
+	 * The feature id for the '<em><b>Has Surface</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SURFACE__HAS_SURFACE = PHYSICAL_OBJECT__HAS_SURFACE;
+
+	/**
+	 * The number of structural features of the '<em>Surface</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SURFACE_FEATURE_COUNT = PHYSICAL_OBJECT_FEATURE_COUNT + 0;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.PortImpl <em>Port</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.PortImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getPort()
+	 * @generated
+	 */
+	int PORT = 9;
+
+	/**
+	 * The feature id for the '<em><b>Base Port</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PORT__BASE_PORT = 0;
+
+	/**
+	 * The feature id for the '<em><b>Synchronization Policy</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PORT__SYNCHRONIZATION_POLICY = 1;
+
+	/**
+	 * The number of structural features of the '<em>Port</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PORT_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.DataFlowPortImpl <em>Data Flow Port</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.DataFlowPortImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getDataFlowPort()
+	 * @generated
+	 */
+	int DATA_FLOW_PORT = 8;
+
+	/**
+	 * The feature id for the '<em><b>Base Port</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int DATA_FLOW_PORT__BASE_PORT = PORT__BASE_PORT;
+
+	/**
+	 * The feature id for the '<em><b>Synchronization Policy</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int DATA_FLOW_PORT__SYNCHRONIZATION_POLICY = PORT__SYNCHRONIZATION_POLICY;
+
+	/**
+	 * The feature id for the '<em><b>Direction</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int DATA_FLOW_PORT__DIRECTION = PORT_FEATURE_COUNT + 0;
+
+	/**
+	 * The feature id for the '<em><b>Buffer Size</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int DATA_FLOW_PORT__BUFFER_SIZE = PORT_FEATURE_COUNT + 1;
+
+	/**
+	 * The number of structural features of the '<em>Data Flow Port</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int DATA_FLOW_PORT_FEATURE_COUNT = PORT_FEATURE_COUNT + 2;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.ServicePortImpl <em>Service Port</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.ServicePortImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getServicePort()
+	 * @generated
+	 */
+	int SERVICE_PORT = 10;
+
+	/**
+	 * The feature id for the '<em><b>Base Port</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SERVICE_PORT__BASE_PORT = PORT__BASE_PORT;
+
+	/**
+	 * The feature id for the '<em><b>Synchronization Policy</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SERVICE_PORT__SYNCHRONIZATION_POLICY = PORT__SYNCHRONIZATION_POLICY;
+
+	/**
+	 * The feature id for the '<em><b>Kind</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SERVICE_PORT__KIND = PORT_FEATURE_COUNT + 0;
+
+	/**
+	 * The number of structural features of the '<em>Service Port</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SERVICE_PORT_FEATURE_COUNT = PORT_FEATURE_COUNT + 1;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.RoboticSystemImpl <em>Robotic System</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.RoboticSystemImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getRoboticSystem()
+	 * @generated
+	 */
+	int ROBOTIC_SYSTEM = 12;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ROBOTIC_SYSTEM__BASE_CLASS = SYSTEM__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ROBOTIC_SYSTEM__NATIVE = SYSTEM__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ROBOTIC_SYSTEM__LIBRARY_PATH = SYSTEM__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ROBOTIC_SYSTEM__LIBRARY_COMPONENT_NAME = SYSTEM__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The feature id for the '<em><b>Local Position</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ROBOTIC_SYSTEM__LOCAL_POSITION = SYSTEM_FEATURE_COUNT + 0;
+
+	/**
+	 * The feature id for the '<em><b>Local Orientation</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ROBOTIC_SYSTEM__LOCAL_ORIENTATION = SYSTEM_FEATURE_COUNT + 1;
+
+	/**
+	 * The number of structural features of the '<em>Robotic System</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ROBOTIC_SYSTEM_FEATURE_COUNT = SYSTEM_FEATURE_COUNT + 2;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.ActuatorSystemImpl <em>Actuator System</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.ActuatorSystemImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getActuatorSystem()
+	 * @generated
+	 */
+	int ACTUATOR_SYSTEM = 11;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ACTUATOR_SYSTEM__BASE_CLASS = ROBOTIC_SYSTEM__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ACTUATOR_SYSTEM__NATIVE = ROBOTIC_SYSTEM__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ACTUATOR_SYSTEM__LIBRARY_PATH = ROBOTIC_SYSTEM__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ACTUATOR_SYSTEM__LIBRARY_COMPONENT_NAME = ROBOTIC_SYSTEM__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The feature id for the '<em><b>Local Position</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ACTUATOR_SYSTEM__LOCAL_POSITION = ROBOTIC_SYSTEM__LOCAL_POSITION;
+
+	/**
+	 * The feature id for the '<em><b>Local Orientation</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ACTUATOR_SYSTEM__LOCAL_ORIENTATION = ROBOTIC_SYSTEM__LOCAL_ORIENTATION;
+
+	/**
+	 * The number of structural features of the '<em>Actuator System</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ACTUATOR_SYSTEM_FEATURE_COUNT = ROBOTIC_SYSTEM_FEATURE_COUNT + 0;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.SensorSystemImpl <em>Sensor System</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.SensorSystemImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getSensorSystem()
+	 * @generated
+	 */
+	int SENSOR_SYSTEM = 13;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SENSOR_SYSTEM__BASE_CLASS = ROBOTIC_SYSTEM__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SENSOR_SYSTEM__NATIVE = ROBOTIC_SYSTEM__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SENSOR_SYSTEM__LIBRARY_PATH = ROBOTIC_SYSTEM__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SENSOR_SYSTEM__LIBRARY_COMPONENT_NAME = ROBOTIC_SYSTEM__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The feature id for the '<em><b>Local Position</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SENSOR_SYSTEM__LOCAL_POSITION = ROBOTIC_SYSTEM__LOCAL_POSITION;
+
+	/**
+	 * The feature id for the '<em><b>Local Orientation</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SENSOR_SYSTEM__LOCAL_ORIENTATION = ROBOTIC_SYSTEM__LOCAL_ORIENTATION;
+
+	/**
+	 * The feature id for the '<em><b>Frequency</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SENSOR_SYSTEM__FREQUENCY = ROBOTIC_SYSTEM_FEATURE_COUNT + 0;
+
+	/**
+	 * The feature id for the '<em><b>Identifier</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SENSOR_SYSTEM__IDENTIFIER = ROBOTIC_SYSTEM_FEATURE_COUNT + 1;
+
+	/**
+	 * The number of structural features of the '<em>Sensor System</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SENSOR_SYSTEM_FEATURE_COUNT = ROBOTIC_SYSTEM_FEATURE_COUNT + 2;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.HardwareImpl <em>Hardware</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.HardwareImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getHardware()
+	 * @generated
+	 */
+	int HARDWARE = 14;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int HARDWARE__BASE_CLASS = SYSTEM__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int HARDWARE__NATIVE = SYSTEM__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int HARDWARE__LIBRARY_PATH = SYSTEM__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int HARDWARE__LIBRARY_COMPONENT_NAME = SYSTEM__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The number of structural features of the '<em>Hardware</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int HARDWARE_FEATURE_COUNT = SYSTEM_FEATURE_COUNT + 0;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.SoftwareImpl <em>Software</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.SoftwareImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getSoftware()
+	 * @generated
+	 */
+	int SOFTWARE = 15;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SOFTWARE__BASE_CLASS = SYSTEM__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SOFTWARE__NATIVE = SYSTEM__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SOFTWARE__LIBRARY_PATH = SYSTEM__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SOFTWARE__LIBRARY_COMPONENT_NAME = SYSTEM__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The feature id for the '<em><b>Is Periodic</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SOFTWARE__IS_PERIODIC = SYSTEM_FEATURE_COUNT + 0;
+
+	/**
+	 * The feature id for the '<em><b>Period</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SOFTWARE__PERIOD = SYSTEM_FEATURE_COUNT + 1;
+
+	/**
+	 * The feature id for the '<em><b>Priority</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SOFTWARE__PRIORITY = SYSTEM_FEATURE_COUNT + 2;
+
+	/**
+	 * The feature id for the '<em><b>Deadline</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SOFTWARE__DEADLINE = SYSTEM_FEATURE_COUNT + 3;
+
+	/**
+	 * The feature id for the '<em><b>Wcet</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SOFTWARE__WCET = SYSTEM_FEATURE_COUNT + 4;
+
+	/**
+	 * The number of structural features of the '<em>Software</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SOFTWARE_FEATURE_COUNT = SYSTEM_FEATURE_COUNT + 5;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.DataTypeImpl <em>Data Type</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.DataTypeImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getDataType()
+	 * @generated
+	 */
+	int DATA_TYPE = 17;
+
+	/**
+	 * The feature id for the '<em><b>Base Data Type</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int DATA_TYPE__BASE_DATA_TYPE = 0;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int DATA_TYPE__NATIVE = 1;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int DATA_TYPE__LIBRARY_PATH = 2;
+
+	/**
+	 * The number of structural features of the '<em>Data Type</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int DATA_TYPE_FEATURE_COUNT = 3;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.PrimitiveDataImpl <em>Primitive Data</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.PrimitiveDataImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getPrimitiveData()
+	 * @generated
+	 */
+	int PRIMITIVE_DATA = 16;
+
+	/**
+	 * The feature id for the '<em><b>Base Data Type</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PRIMITIVE_DATA__BASE_DATA_TYPE = DATA_TYPE__BASE_DATA_TYPE;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PRIMITIVE_DATA__NATIVE = DATA_TYPE__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PRIMITIVE_DATA__LIBRARY_PATH = DATA_TYPE__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Base Primitive Type</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PRIMITIVE_DATA__BASE_PRIMITIVE_TYPE = DATA_TYPE_FEATURE_COUNT + 0;
+
+	/**
+	 * The number of structural features of the '<em>Primitive Data</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PRIMITIVE_DATA_FEATURE_COUNT = DATA_TYPE_FEATURE_COUNT + 1;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.EngineSystemImpl <em>Engine System</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.EngineSystemImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getEngineSystem()
+	 * @generated
+	 */
+	int ENGINE_SYSTEM = 18;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ENGINE_SYSTEM__BASE_CLASS = ACTUATOR_SYSTEM__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ENGINE_SYSTEM__NATIVE = ACTUATOR_SYSTEM__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ENGINE_SYSTEM__LIBRARY_PATH = ACTUATOR_SYSTEM__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ENGINE_SYSTEM__LIBRARY_COMPONENT_NAME = ACTUATOR_SYSTEM__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The feature id for the '<em><b>Local Position</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ENGINE_SYSTEM__LOCAL_POSITION = ACTUATOR_SYSTEM__LOCAL_POSITION;
+
+	/**
+	 * The feature id for the '<em><b>Local Orientation</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ENGINE_SYSTEM__LOCAL_ORIENTATION = ACTUATOR_SYSTEM__LOCAL_ORIENTATION;
+
+	/**
+	 * The feature id for the '<em><b>Vehicle Traction</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ENGINE_SYSTEM__VEHICLE_TRACTION = ACTUATOR_SYSTEM_FEATURE_COUNT + 0;
+
+	/**
+	 * The feature id for the '<em><b>Max Engine Force</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ENGINE_SYSTEM__MAX_ENGINE_FORCE = ACTUATOR_SYSTEM_FEATURE_COUNT + 1;
+
+	/**
+	 * The feature id for the '<em><b>Max Breaking Force</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ENGINE_SYSTEM__MAX_BREAKING_FORCE = ACTUATOR_SYSTEM_FEATURE_COUNT + 2;
+
+	/**
+	 * The feature id for the '<em><b>Max Allowed Steering</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ENGINE_SYSTEM__MAX_ALLOWED_STEERING = ACTUATOR_SYSTEM_FEATURE_COUNT + 3;
+
+	/**
+	 * The feature id for the '<em><b>Max Allowed Velocity</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ENGINE_SYSTEM__MAX_ALLOWED_VELOCITY = ACTUATOR_SYSTEM_FEATURE_COUNT + 4;
+
+	/**
+	 * The feature id for the '<em><b>Gear ration</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ENGINE_SYSTEM__GEAR_RATION = ACTUATOR_SYSTEM_FEATURE_COUNT + 5;
+
+	/**
+	 * The number of structural features of the '<em>Engine System</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ENGINE_SYSTEM_FEATURE_COUNT = ACTUATOR_SYSTEM_FEATURE_COUNT + 6;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.WheelSystemImpl <em>Wheel System</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.WheelSystemImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getWheelSystem()
+	 * @generated
+	 */
+	int WHEEL_SYSTEM = 19;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int WHEEL_SYSTEM__BASE_CLASS = ACTUATOR_SYSTEM__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int WHEEL_SYSTEM__NATIVE = ACTUATOR_SYSTEM__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int WHEEL_SYSTEM__LIBRARY_PATH = ACTUATOR_SYSTEM__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int WHEEL_SYSTEM__LIBRARY_COMPONENT_NAME = ACTUATOR_SYSTEM__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The feature id for the '<em><b>Local Position</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int WHEEL_SYSTEM__LOCAL_POSITION = ACTUATOR_SYSTEM__LOCAL_POSITION;
+
+	/**
+	 * The feature id for the '<em><b>Local Orientation</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int WHEEL_SYSTEM__LOCAL_ORIENTATION = ACTUATOR_SYSTEM__LOCAL_ORIENTATION;
+
+	/**
+	 * The feature id for the '<em><b>Wheel Radius</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int WHEEL_SYSTEM__WHEEL_RADIUS = ACTUATOR_SYSTEM_FEATURE_COUNT + 0;
+
+	/**
+	 * The feature id for the '<em><b>Wheel Width</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int WHEEL_SYSTEM__WHEEL_WIDTH = ACTUATOR_SYSTEM_FEATURE_COUNT + 1;
+
+	/**
+	 * The feature id for the '<em><b>Suspension Rest Length</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int WHEEL_SYSTEM__SUSPENSION_REST_LENGTH = ACTUATOR_SYSTEM_FEATURE_COUNT + 2;
+
+	/**
+	 * The feature id for the '<em><b>Wheel Connection Height</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int WHEEL_SYSTEM__WHEEL_CONNECTION_HEIGHT = ACTUATOR_SYSTEM_FEATURE_COUNT + 3;
+
+	/**
+	 * The feature id for the '<em><b>Type Of Wheel</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int WHEEL_SYSTEM__TYPE_OF_WHEEL = ACTUATOR_SYSTEM_FEATURE_COUNT + 4;
+
+	/**
+	 * The feature id for the '<em><b>Wheel Velocity PI Dkp</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKP = ACTUATOR_SYSTEM_FEATURE_COUNT + 5;
+
+	/**
+	 * The feature id for the '<em><b>Wheel Velocity PI Dki</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKI = ACTUATOR_SYSTEM_FEATURE_COUNT + 6;
+
+	/**
+	 * The feature id for the '<em><b>Wheel Velocity PI Dkd</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKD = ACTUATOR_SYSTEM_FEATURE_COUNT + 7;
+
+	/**
+	 * The feature id for the '<em><b>Wheel Steering PI Dkp</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int WHEEL_SYSTEM__WHEEL_STEERING_PI_DKP = ACTUATOR_SYSTEM_FEATURE_COUNT + 8;
+
+	/**
+	 * The feature id for the '<em><b>Wheel Steering PI Dkd</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int WHEEL_SYSTEM__WHEEL_STEERING_PI_DKD = ACTUATOR_SYSTEM_FEATURE_COUNT + 9;
+
+	/**
+	 * The feature id for the '<em><b>Wheel Friction</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int WHEEL_SYSTEM__WHEEL_FRICTION = ACTUATOR_SYSTEM_FEATURE_COUNT + 10;
+
+	/**
+	 * The feature id for the '<em><b>Suspension Stiffness</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int WHEEL_SYSTEM__SUSPENSION_STIFFNESS = ACTUATOR_SYSTEM_FEATURE_COUNT + 11;
+
+	/**
+	 * The feature id for the '<em><b>Suspension Damping</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int WHEEL_SYSTEM__SUSPENSION_DAMPING = ACTUATOR_SYSTEM_FEATURE_COUNT + 12;
+
+	/**
+	 * The feature id for the '<em><b>Suspension Compression</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int WHEEL_SYSTEM__SUSPENSION_COMPRESSION = ACTUATOR_SYSTEM_FEATURE_COUNT + 13;
+
+	/**
+	 * The feature id for the '<em><b>Wheel Velocity PI Dmax Sum</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DMAX_SUM = ACTUATOR_SYSTEM_FEATURE_COUNT + 14;
+
+	/**
+	 * The feature id for the '<em><b>Wheel Velocity PI Dmax Val</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DMAX_VAL = ACTUATOR_SYSTEM_FEATURE_COUNT + 15;
+
+	/**
+	 * The number of structural features of the '<em>Wheel System</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int WHEEL_SYSTEM_FEATURE_COUNT = ACTUATOR_SYSTEM_FEATURE_COUNT + 16;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.ImageSensorSystemImpl <em>Image Sensor System</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.ImageSensorSystemImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getImageSensorSystem()
+	 * @generated
+	 */
+	int IMAGE_SENSOR_SYSTEM = 20;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int IMAGE_SENSOR_SYSTEM__BASE_CLASS = SENSOR_SYSTEM__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int IMAGE_SENSOR_SYSTEM__NATIVE = SENSOR_SYSTEM__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int IMAGE_SENSOR_SYSTEM__LIBRARY_PATH = SENSOR_SYSTEM__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int IMAGE_SENSOR_SYSTEM__LIBRARY_COMPONENT_NAME = SENSOR_SYSTEM__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The feature id for the '<em><b>Local Position</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int IMAGE_SENSOR_SYSTEM__LOCAL_POSITION = SENSOR_SYSTEM__LOCAL_POSITION;
+
+	/**
+	 * The feature id for the '<em><b>Local Orientation</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int IMAGE_SENSOR_SYSTEM__LOCAL_ORIENTATION = SENSOR_SYSTEM__LOCAL_ORIENTATION;
+
+	/**
+	 * The feature id for the '<em><b>Frequency</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int IMAGE_SENSOR_SYSTEM__FREQUENCY = SENSOR_SYSTEM__FREQUENCY;
+
+	/**
+	 * The feature id for the '<em><b>Identifier</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int IMAGE_SENSOR_SYSTEM__IDENTIFIER = SENSOR_SYSTEM__IDENTIFIER;
+
+	/**
+	 * The number of structural features of the '<em>Image Sensor System</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int IMAGE_SENSOR_SYSTEM_FEATURE_COUNT = SENSOR_SYSTEM_FEATURE_COUNT + 0;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.CameraSystemImpl <em>Camera System</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.CameraSystemImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getCameraSystem()
+	 * @generated
+	 */
+	int CAMERA_SYSTEM = 21;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAMERA_SYSTEM__BASE_CLASS = IMAGE_SENSOR_SYSTEM__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAMERA_SYSTEM__NATIVE = IMAGE_SENSOR_SYSTEM__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAMERA_SYSTEM__LIBRARY_PATH = IMAGE_SENSOR_SYSTEM__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAMERA_SYSTEM__LIBRARY_COMPONENT_NAME = IMAGE_SENSOR_SYSTEM__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The feature id for the '<em><b>Local Position</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAMERA_SYSTEM__LOCAL_POSITION = IMAGE_SENSOR_SYSTEM__LOCAL_POSITION;
+
+	/**
+	 * The feature id for the '<em><b>Local Orientation</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAMERA_SYSTEM__LOCAL_ORIENTATION = IMAGE_SENSOR_SYSTEM__LOCAL_ORIENTATION;
+
+	/**
+	 * The feature id for the '<em><b>Frequency</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAMERA_SYSTEM__FREQUENCY = IMAGE_SENSOR_SYSTEM__FREQUENCY;
+
+	/**
+	 * The feature id for the '<em><b>Identifier</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAMERA_SYSTEM__IDENTIFIER = IMAGE_SENSOR_SYSTEM__IDENTIFIER;
+
+	/**
+	 * The feature id for the '<em><b>Width</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAMERA_SYSTEM__WIDTH = IMAGE_SENSOR_SYSTEM_FEATURE_COUNT + 0;
+
+	/**
+	 * The feature id for the '<em><b>Height</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAMERA_SYSTEM__HEIGHT = IMAGE_SENSOR_SYSTEM_FEATURE_COUNT + 1;
+
+	/**
+	 * The feature id for the '<em><b>Alpha u</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAMERA_SYSTEM__ALPHA_U = IMAGE_SENSOR_SYSTEM_FEATURE_COUNT + 2;
+
+	/**
+	 * The feature id for the '<em><b>Alpha v</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAMERA_SYSTEM__ALPHA_V = IMAGE_SENSOR_SYSTEM_FEATURE_COUNT + 3;
+
+	/**
+	 * The feature id for the '<em><b>U0</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAMERA_SYSTEM__U0 = IMAGE_SENSOR_SYSTEM_FEATURE_COUNT + 4;
+
+	/**
+	 * The feature id for the '<em><b>V0</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAMERA_SYSTEM__V0 = IMAGE_SENSOR_SYSTEM_FEATURE_COUNT + 5;
+
+	/**
+	 * The feature id for the '<em><b>Color format</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAMERA_SYSTEM__COLOR_FORMAT = IMAGE_SENSOR_SYSTEM_FEATURE_COUNT + 6;
+
+	/**
+	 * The feature id for the '<em><b>Translate</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAMERA_SYSTEM__TRANSLATE = IMAGE_SENSOR_SYSTEM_FEATURE_COUNT + 7;
+
+	/**
+	 * The feature id for the '<em><b>Rotate</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAMERA_SYSTEM__ROTATE = IMAGE_SENSOR_SYSTEM_FEATURE_COUNT + 8;
+
+	/**
+	 * The number of structural features of the '<em>Camera System</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAMERA_SYSTEM_FEATURE_COUNT = IMAGE_SENSOR_SYSTEM_FEATURE_COUNT + 9;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.ObjectDetectionSensorSystemImpl <em>Object Detection Sensor System</em>}'
+	 * class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.ObjectDetectionSensorSystemImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getObjectDetectionSensorSystem()
+	 * @generated
+	 */
+	int OBJECT_DETECTION_SENSOR_SYSTEM = 22;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int OBJECT_DETECTION_SENSOR_SYSTEM__BASE_CLASS = SENSOR_SYSTEM__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int OBJECT_DETECTION_SENSOR_SYSTEM__NATIVE = SENSOR_SYSTEM__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int OBJECT_DETECTION_SENSOR_SYSTEM__LIBRARY_PATH = SENSOR_SYSTEM__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int OBJECT_DETECTION_SENSOR_SYSTEM__LIBRARY_COMPONENT_NAME = SENSOR_SYSTEM__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The feature id for the '<em><b>Local Position</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int OBJECT_DETECTION_SENSOR_SYSTEM__LOCAL_POSITION = SENSOR_SYSTEM__LOCAL_POSITION;
+
+	/**
+	 * The feature id for the '<em><b>Local Orientation</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int OBJECT_DETECTION_SENSOR_SYSTEM__LOCAL_ORIENTATION = SENSOR_SYSTEM__LOCAL_ORIENTATION;
+
+	/**
+	 * The feature id for the '<em><b>Frequency</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int OBJECT_DETECTION_SENSOR_SYSTEM__FREQUENCY = SENSOR_SYSTEM__FREQUENCY;
+
+	/**
+	 * The feature id for the '<em><b>Identifier</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int OBJECT_DETECTION_SENSOR_SYSTEM__IDENTIFIER = SENSOR_SYSTEM__IDENTIFIER;
+
+	/**
+	 * The number of structural features of the '<em>Object Detection Sensor System</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int OBJECT_DETECTION_SENSOR_SYSTEM_FEATURE_COUNT = SENSOR_SYSTEM_FEATURE_COUNT + 0;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.ObjectTrackingSensorSystemImpl <em>Object Tracking Sensor System</em>}'
+	 * class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.ObjectTrackingSensorSystemImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getObjectTrackingSensorSystem()
+	 * @generated
+	 */
+	int OBJECT_TRACKING_SENSOR_SYSTEM = 23;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int OBJECT_TRACKING_SENSOR_SYSTEM__BASE_CLASS = SENSOR_SYSTEM__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int OBJECT_TRACKING_SENSOR_SYSTEM__NATIVE = SENSOR_SYSTEM__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int OBJECT_TRACKING_SENSOR_SYSTEM__LIBRARY_PATH = SENSOR_SYSTEM__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int OBJECT_TRACKING_SENSOR_SYSTEM__LIBRARY_COMPONENT_NAME = SENSOR_SYSTEM__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The feature id for the '<em><b>Local Position</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int OBJECT_TRACKING_SENSOR_SYSTEM__LOCAL_POSITION = SENSOR_SYSTEM__LOCAL_POSITION;
+
+	/**
+	 * The feature id for the '<em><b>Local Orientation</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int OBJECT_TRACKING_SENSOR_SYSTEM__LOCAL_ORIENTATION = SENSOR_SYSTEM__LOCAL_ORIENTATION;
+
+	/**
+	 * The feature id for the '<em><b>Frequency</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int OBJECT_TRACKING_SENSOR_SYSTEM__FREQUENCY = SENSOR_SYSTEM__FREQUENCY;
+
+	/**
+	 * The feature id for the '<em><b>Identifier</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int OBJECT_TRACKING_SENSOR_SYSTEM__IDENTIFIER = SENSOR_SYSTEM__IDENTIFIER;
+
+	/**
+	 * The number of structural features of the '<em>Object Tracking Sensor System</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int OBJECT_TRACKING_SENSOR_SYSTEM_FEATURE_COUNT = SENSOR_SYSTEM_FEATURE_COUNT + 0;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.LidarSystemImpl <em>Lidar System</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.LidarSystemImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getLidarSystem()
+	 * @generated
+	 */
+	int LIDAR_SYSTEM = 24;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LIDAR_SYSTEM__BASE_CLASS = OBJECT_DETECTION_SENSOR_SYSTEM__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LIDAR_SYSTEM__NATIVE = OBJECT_DETECTION_SENSOR_SYSTEM__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LIDAR_SYSTEM__LIBRARY_PATH = OBJECT_DETECTION_SENSOR_SYSTEM__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LIDAR_SYSTEM__LIBRARY_COMPONENT_NAME = OBJECT_DETECTION_SENSOR_SYSTEM__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The feature id for the '<em><b>Local Position</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LIDAR_SYSTEM__LOCAL_POSITION = OBJECT_DETECTION_SENSOR_SYSTEM__LOCAL_POSITION;
+
+	/**
+	 * The feature id for the '<em><b>Local Orientation</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LIDAR_SYSTEM__LOCAL_ORIENTATION = OBJECT_DETECTION_SENSOR_SYSTEM__LOCAL_ORIENTATION;
+
+	/**
+	 * The feature id for the '<em><b>Frequency</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LIDAR_SYSTEM__FREQUENCY = OBJECT_DETECTION_SENSOR_SYSTEM__FREQUENCY;
+
+	/**
+	 * The feature id for the '<em><b>Identifier</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LIDAR_SYSTEM__IDENTIFIER = OBJECT_DETECTION_SENSOR_SYSTEM__IDENTIFIER;
+
+	/**
+	 * The feature id for the '<em><b>Nb Layers</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LIDAR_SYSTEM__NB_LAYERS = OBJECT_DETECTION_SENSOR_SYSTEM_FEATURE_COUNT + 0;
+
+	/**
+	 * The feature id for the '<em><b>Layer Angle Min</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LIDAR_SYSTEM__LAYER_ANGLE_MIN = OBJECT_DETECTION_SENSOR_SYSTEM_FEATURE_COUNT + 1;
+
+	/**
+	 * The feature id for the '<em><b>Layer Angle Step</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LIDAR_SYSTEM__LAYER_ANGLE_STEP = OBJECT_DETECTION_SENSOR_SYSTEM_FEATURE_COUNT + 2;
+
+	/**
+	 * The feature id for the '<em><b>Noise</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LIDAR_SYSTEM__NOISE = OBJECT_DETECTION_SENSOR_SYSTEM_FEATURE_COUNT + 3;
+
+	/**
+	 * The feature id for the '<em><b>Sigma Noise</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LIDAR_SYSTEM__SIGMA_NOISE = OBJECT_DETECTION_SENSOR_SYSTEM_FEATURE_COUNT + 4;
+
+	/**
+	 * The feature id for the '<em><b>Angle min</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LIDAR_SYSTEM__ANGLE_MIN = OBJECT_DETECTION_SENSOR_SYSTEM_FEATURE_COUNT + 5;
+
+	/**
+	 * The feature id for the '<em><b>Angle max</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LIDAR_SYSTEM__ANGLE_MAX = OBJECT_DETECTION_SENSOR_SYSTEM_FEATURE_COUNT + 6;
+
+	/**
+	 * The feature id for the '<em><b>Time increment</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LIDAR_SYSTEM__TIME_INCREMENT = OBJECT_DETECTION_SENSOR_SYSTEM_FEATURE_COUNT + 7;
+
+	/**
+	 * The feature id for the '<em><b>Scan time</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LIDAR_SYSTEM__SCAN_TIME = OBJECT_DETECTION_SENSOR_SYSTEM_FEATURE_COUNT + 8;
+
+	/**
+	 * The feature id for the '<em><b>Range min</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LIDAR_SYSTEM__RANGE_MIN = OBJECT_DETECTION_SENSOR_SYSTEM_FEATURE_COUNT + 9;
+
+	/**
+	 * The feature id for the '<em><b>Range max</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LIDAR_SYSTEM__RANGE_MAX = OBJECT_DETECTION_SENSOR_SYSTEM_FEATURE_COUNT + 10;
+
+	/**
+	 * The feature id for the '<em><b>Nb Rays</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LIDAR_SYSTEM__NB_RAYS = OBJECT_DETECTION_SENSOR_SYSTEM_FEATURE_COUNT + 11;
+
+	/**
+	 * The number of structural features of the '<em>Lidar System</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LIDAR_SYSTEM_FEATURE_COUNT = OBJECT_DETECTION_SENSOR_SYSTEM_FEATURE_COUNT + 12;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.LocalizationSensorSystemImpl <em>Localization Sensor System</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.LocalizationSensorSystemImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getLocalizationSensorSystem()
+	 * @generated
+	 */
+	int LOCALIZATION_SENSOR_SYSTEM = 25;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LOCALIZATION_SENSOR_SYSTEM__BASE_CLASS = SENSOR_SYSTEM__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LOCALIZATION_SENSOR_SYSTEM__NATIVE = SENSOR_SYSTEM__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LOCALIZATION_SENSOR_SYSTEM__LIBRARY_PATH = SENSOR_SYSTEM__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LOCALIZATION_SENSOR_SYSTEM__LIBRARY_COMPONENT_NAME = SENSOR_SYSTEM__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The feature id for the '<em><b>Local Position</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LOCALIZATION_SENSOR_SYSTEM__LOCAL_POSITION = SENSOR_SYSTEM__LOCAL_POSITION;
+
+	/**
+	 * The feature id for the '<em><b>Local Orientation</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LOCALIZATION_SENSOR_SYSTEM__LOCAL_ORIENTATION = SENSOR_SYSTEM__LOCAL_ORIENTATION;
+
+	/**
+	 * The feature id for the '<em><b>Frequency</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LOCALIZATION_SENSOR_SYSTEM__FREQUENCY = SENSOR_SYSTEM__FREQUENCY;
+
+	/**
+	 * The feature id for the '<em><b>Identifier</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LOCALIZATION_SENSOR_SYSTEM__IDENTIFIER = SENSOR_SYSTEM__IDENTIFIER;
+
+	/**
+	 * The number of structural features of the '<em>Localization Sensor System</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LOCALIZATION_SENSOR_SYSTEM_FEATURE_COUNT = SENSOR_SYSTEM_FEATURE_COUNT + 0;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.GPSSystemImpl <em>GPS System</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.GPSSystemImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getGPSSystem()
+	 * @generated
+	 */
+	int GPS_SYSTEM = 26;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GPS_SYSTEM__BASE_CLASS = LOCALIZATION_SENSOR_SYSTEM__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GPS_SYSTEM__NATIVE = LOCALIZATION_SENSOR_SYSTEM__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GPS_SYSTEM__LIBRARY_PATH = LOCALIZATION_SENSOR_SYSTEM__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GPS_SYSTEM__LIBRARY_COMPONENT_NAME = LOCALIZATION_SENSOR_SYSTEM__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The feature id for the '<em><b>Local Position</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GPS_SYSTEM__LOCAL_POSITION = LOCALIZATION_SENSOR_SYSTEM__LOCAL_POSITION;
+
+	/**
+	 * The feature id for the '<em><b>Local Orientation</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GPS_SYSTEM__LOCAL_ORIENTATION = LOCALIZATION_SENSOR_SYSTEM__LOCAL_ORIENTATION;
+
+	/**
+	 * The feature id for the '<em><b>Frequency</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GPS_SYSTEM__FREQUENCY = LOCALIZATION_SENSOR_SYSTEM__FREQUENCY;
+
+	/**
+	 * The feature id for the '<em><b>Identifier</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GPS_SYSTEM__IDENTIFIER = LOCALIZATION_SENSOR_SYSTEM__IDENTIFIER;
+
+	/**
+	 * The feature id for the '<em><b>Origin Position</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GPS_SYSTEM__ORIGIN_POSITION = LOCALIZATION_SENSOR_SYSTEM_FEATURE_COUNT + 0;
+
+	/**
+	 * The number of structural features of the '<em>GPS System</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GPS_SYSTEM_FEATURE_COUNT = LOCALIZATION_SENSOR_SYSTEM_FEATURE_COUNT + 1;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.SimulatedSystemImpl <em>Simulated System</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.SimulatedSystemImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getSimulatedSystem()
+	 * @generated
+	 */
+	int SIMULATED_SYSTEM = 27;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SIMULATED_SYSTEM__BASE_CLASS = SOFTWARE__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SIMULATED_SYSTEM__NATIVE = SOFTWARE__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SIMULATED_SYSTEM__LIBRARY_PATH = SOFTWARE__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SIMULATED_SYSTEM__LIBRARY_COMPONENT_NAME = SOFTWARE__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The feature id for the '<em><b>Is Periodic</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SIMULATED_SYSTEM__IS_PERIODIC = SOFTWARE__IS_PERIODIC;
+
+	/**
+	 * The feature id for the '<em><b>Period</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SIMULATED_SYSTEM__PERIOD = SOFTWARE__PERIOD;
+
+	/**
+	 * The feature id for the '<em><b>Priority</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SIMULATED_SYSTEM__PRIORITY = SOFTWARE__PRIORITY;
+
+	/**
+	 * The feature id for the '<em><b>Deadline</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SIMULATED_SYSTEM__DEADLINE = SOFTWARE__DEADLINE;
+
+	/**
+	 * The feature id for the '<em><b>Wcet</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SIMULATED_SYSTEM__WCET = SOFTWARE__WCET;
+
+	/**
+	 * The feature id for the '<em><b>Base Property</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SIMULATED_SYSTEM__BASE_PROPERTY = SOFTWARE_FEATURE_COUNT + 0;
+
+	/**
+	 * The feature id for the '<em><b>Mesh</b></em>' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SIMULATED_SYSTEM__MESH = SOFTWARE_FEATURE_COUNT + 1;
+
+	/**
+	 * The number of structural features of the '<em>Simulated System</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SIMULATED_SYSTEM_FEATURE_COUNT = SOFTWARE_FEATURE_COUNT + 2;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.AlgorithmLibraryImpl <em>Algorithm Library</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.AlgorithmLibraryImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getAlgorithmLibrary()
+	 * @generated
+	 */
+	int ALGORITHM_LIBRARY = 28;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ALGORITHM_LIBRARY__BASE_CLASS = 0;
+
+	/**
+	 * The feature id for the '<em><b>Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ALGORITHM_LIBRARY__PATH = 1;
+
+	/**
+	 * The number of structural features of the '<em>Algorithm Library</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ALGORITHM_LIBRARY_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.StateImpl <em>State</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.StateImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getState()
+	 * @generated
+	 */
+	int STATE = 29;
+
+	/**
+	 * The feature id for the '<em><b>Base State</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int STATE__BASE_STATE = 0;
+
+	/**
+	 * The feature id for the '<em><b>Operation</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int STATE__OPERATION = 1;
+
+	/**
+	 * The feature id for the '<em><b>Arguments</b></em>' reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int STATE__ARGUMENTS = 2;
+
+	/**
+	 * The number of structural features of the '<em>State</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int STATE_FEATURE_COUNT = 3;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.SensorDriverImpl <em>Sensor Driver</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.SensorDriverImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getSensorDriver()
+	 * @generated
+	 */
+	int SENSOR_DRIVER = 30;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SENSOR_DRIVER__BASE_CLASS = SOFTWARE__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SENSOR_DRIVER__NATIVE = SOFTWARE__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SENSOR_DRIVER__LIBRARY_PATH = SOFTWARE__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SENSOR_DRIVER__LIBRARY_COMPONENT_NAME = SOFTWARE__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The feature id for the '<em><b>Is Periodic</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SENSOR_DRIVER__IS_PERIODIC = SOFTWARE__IS_PERIODIC;
+
+	/**
+	 * The feature id for the '<em><b>Period</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SENSOR_DRIVER__PERIOD = SOFTWARE__PERIOD;
+
+	/**
+	 * The feature id for the '<em><b>Priority</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SENSOR_DRIVER__PRIORITY = SOFTWARE__PRIORITY;
+
+	/**
+	 * The feature id for the '<em><b>Deadline</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SENSOR_DRIVER__DEADLINE = SOFTWARE__DEADLINE;
+
+	/**
+	 * The feature id for the '<em><b>Wcet</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SENSOR_DRIVER__WCET = SOFTWARE__WCET;
+
+	/**
+	 * The number of structural features of the '<em>Sensor Driver</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SENSOR_DRIVER_FEATURE_COUNT = SOFTWARE_FEATURE_COUNT + 0;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.BuildingImpl <em>Building</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.BuildingImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getBuilding()
+	 * @generated
+	 */
+	int BUILDING = 31;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int BUILDING__BASE_CLASS = PHYSICAL_OBJECT__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int BUILDING__NATIVE = PHYSICAL_OBJECT__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int BUILDING__LIBRARY_PATH = PHYSICAL_OBJECT__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int BUILDING__LIBRARY_COMPONENT_NAME = PHYSICAL_OBJECT__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The feature id for the '<em><b>Eveloves In</b></em>' reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int BUILDING__EVELOVES_IN = PHYSICAL_OBJECT__EVELOVES_IN;
+
+	/**
+	 * The feature id for the '<em><b>Has Surface</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int BUILDING__HAS_SURFACE = PHYSICAL_OBJECT__HAS_SURFACE;
+
+	/**
+	 * The number of structural features of the '<em>Building</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int BUILDING_FEATURE_COUNT = PHYSICAL_OBJECT_FEATURE_COUNT + 0;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.PlanetImpl <em>Planet</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.PlanetImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getPlanet()
+	 * @generated
+	 */
+	int PLANET = 32;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PLANET__BASE_CLASS = PHYSICAL_OBJECT__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PLANET__NATIVE = PHYSICAL_OBJECT__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PLANET__LIBRARY_PATH = PHYSICAL_OBJECT__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PLANET__LIBRARY_COMPONENT_NAME = PHYSICAL_OBJECT__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The feature id for the '<em><b>Eveloves In</b></em>' reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PLANET__EVELOVES_IN = PHYSICAL_OBJECT__EVELOVES_IN;
+
+	/**
+	 * The feature id for the '<em><b>Has Surface</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PLANET__HAS_SURFACE = PHYSICAL_OBJECT__HAS_SURFACE;
+
+	/**
+	 * The number of structural features of the '<em>Planet</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PLANET_FEATURE_COUNT = PHYSICAL_OBJECT_FEATURE_COUNT + 0;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.GroundImpl <em>Ground</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.GroundImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getGround()
+	 * @generated
+	 */
+	int GROUND = 34;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GROUND__BASE_CLASS = SURFACE__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GROUND__NATIVE = SURFACE__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GROUND__LIBRARY_PATH = SURFACE__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GROUND__LIBRARY_COMPONENT_NAME = SURFACE__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The feature id for the '<em><b>Eveloves In</b></em>' reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GROUND__EVELOVES_IN = SURFACE__EVELOVES_IN;
+
+	/**
+	 * The feature id for the '<em><b>Has Surface</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GROUND__HAS_SURFACE = SURFACE__HAS_SURFACE;
+
+	/**
+	 * The number of structural features of the '<em>Ground</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GROUND_FEATURE_COUNT = SURFACE_FEATURE_COUNT + 0;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.LandSurfaceImpl <em>Land Surface</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.LandSurfaceImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getLandSurface()
+	 * @generated
+	 */
+	int LAND_SURFACE = 33;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LAND_SURFACE__BASE_CLASS = GROUND__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LAND_SURFACE__NATIVE = GROUND__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LAND_SURFACE__LIBRARY_PATH = GROUND__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LAND_SURFACE__LIBRARY_COMPONENT_NAME = GROUND__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The feature id for the '<em><b>Eveloves In</b></em>' reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LAND_SURFACE__EVELOVES_IN = GROUND__EVELOVES_IN;
+
+	/**
+	 * The feature id for the '<em><b>Has Surface</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LAND_SURFACE__HAS_SURFACE = GROUND__HAS_SURFACE;
+
+	/**
+	 * The number of structural features of the '<em>Land Surface</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LAND_SURFACE_FEATURE_COUNT = GROUND_FEATURE_COUNT + 0;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.FloorImpl <em>Floor</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.FloorImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getFloor()
+	 * @generated
+	 */
+	int FLOOR = 35;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int FLOOR__BASE_CLASS = GROUND__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int FLOOR__NATIVE = GROUND__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int FLOOR__LIBRARY_PATH = GROUND__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int FLOOR__LIBRARY_COMPONENT_NAME = GROUND__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The feature id for the '<em><b>Eveloves In</b></em>' reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int FLOOR__EVELOVES_IN = GROUND__EVELOVES_IN;
+
+	/**
+	 * The feature id for the '<em><b>Has Surface</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int FLOOR__HAS_SURFACE = GROUND__HAS_SURFACE;
+
+	/**
+	 * The number of structural features of the '<em>Floor</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int FLOOR_FEATURE_COUNT = GROUND_FEATURE_COUNT + 0;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.WaterSurfaceImpl <em>Water Surface</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.WaterSurfaceImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getWaterSurface()
+	 * @generated
+	 */
+	int WATER_SURFACE = 36;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int WATER_SURFACE__BASE_CLASS = SURFACE__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int WATER_SURFACE__NATIVE = SURFACE__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int WATER_SURFACE__LIBRARY_PATH = SURFACE__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int WATER_SURFACE__LIBRARY_COMPONENT_NAME = SURFACE__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The feature id for the '<em><b>Eveloves In</b></em>' reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int WATER_SURFACE__EVELOVES_IN = SURFACE__EVELOVES_IN;
+
+	/**
+	 * The feature id for the '<em><b>Has Surface</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int WATER_SURFACE__HAS_SURFACE = SURFACE__HAS_SURFACE;
+
+	/**
+	 * The number of structural features of the '<em>Water Surface</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int WATER_SURFACE_FEATURE_COUNT = SURFACE_FEATURE_COUNT + 0;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.HumanImpl <em>Human</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.HumanImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getHuman()
+	 * @generated
+	 */
+	int HUMAN = 37;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int HUMAN__BASE_CLASS = AGENT__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int HUMAN__NATIVE = AGENT__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int HUMAN__LIBRARY_PATH = AGENT__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int HUMAN__LIBRARY_COMPONENT_NAME = AGENT__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The feature id for the '<em><b>Eveloves In</b></em>' reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int HUMAN__EVELOVES_IN = AGENT__EVELOVES_IN;
+
+	/**
+	 * The feature id for the '<em><b>Has Surface</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int HUMAN__HAS_SURFACE = AGENT__HAS_SURFACE;
+
+	/**
+	 * The feature id for the '<em><b>Moves Over</b></em>' reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int HUMAN__MOVES_OVER = AGENT__MOVES_OVER;
+
+	/**
+	 * The number of structural features of the '<em>Human</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int HUMAN_FEATURE_COUNT = AGENT_FEATURE_COUNT + 0;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.PedestrianImpl <em>Pedestrian</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.PedestrianImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getPedestrian()
+	 * @generated
+	 */
+	int PEDESTRIAN = 38;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PEDESTRIAN__BASE_CLASS = HUMAN__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PEDESTRIAN__NATIVE = HUMAN__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PEDESTRIAN__LIBRARY_PATH = HUMAN__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PEDESTRIAN__LIBRARY_COMPONENT_NAME = HUMAN__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The feature id for the '<em><b>Eveloves In</b></em>' reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PEDESTRIAN__EVELOVES_IN = HUMAN__EVELOVES_IN;
+
+	/**
+	 * The feature id for the '<em><b>Has Surface</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PEDESTRIAN__HAS_SURFACE = HUMAN__HAS_SURFACE;
+
+	/**
+	 * The feature id for the '<em><b>Moves Over</b></em>' reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PEDESTRIAN__MOVES_OVER = HUMAN__MOVES_OVER;
+
+	/**
+	 * The number of structural features of the '<em>Pedestrian</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PEDESTRIAN_FEATURE_COUNT = HUMAN_FEATURE_COUNT + 0;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.StairsImpl <em>Stairs</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.StairsImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getStairs()
+	 * @generated
+	 */
+	int STAIRS = 39;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int STAIRS__BASE_CLASS = GROUND__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int STAIRS__NATIVE = GROUND__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int STAIRS__LIBRARY_PATH = GROUND__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int STAIRS__LIBRARY_COMPONENT_NAME = GROUND__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The feature id for the '<em><b>Eveloves In</b></em>' reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int STAIRS__EVELOVES_IN = GROUND__EVELOVES_IN;
+
+	/**
+	 * The feature id for the '<em><b>Has Surface</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int STAIRS__HAS_SURFACE = GROUND__HAS_SURFACE;
+
+	/**
+	 * The number of structural features of the '<em>Stairs</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int STAIRS_FEATURE_COUNT = GROUND_FEATURE_COUNT + 0;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.PlatformImpl <em>Platform</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.PlatformImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getPlatform()
+	 * @generated
+	 */
+	int PLATFORM = 40;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PLATFORM__BASE_CLASS = SYSTEM__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PLATFORM__NATIVE = SYSTEM__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PLATFORM__LIBRARY_PATH = SYSTEM__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PLATFORM__LIBRARY_COMPONENT_NAME = SYSTEM__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The feature id for the '<em><b>Base Node</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PLATFORM__BASE_NODE = SYSTEM_FEATURE_COUNT + 0;
+
+	/**
+	 * The number of structural features of the '<em>Platform</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PLATFORM_FEATURE_COUNT = SYSTEM_FEATURE_COUNT + 1;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.RoboticMiddlewareImpl <em>Robotic Middleware</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.RoboticMiddlewareImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getRoboticMiddleware()
+	 * @generated
+	 */
+	int ROBOTIC_MIDDLEWARE = 41;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ROBOTIC_MIDDLEWARE__BASE_CLASS = PLATFORM__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ROBOTIC_MIDDLEWARE__NATIVE = PLATFORM__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ROBOTIC_MIDDLEWARE__LIBRARY_PATH = PLATFORM__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ROBOTIC_MIDDLEWARE__LIBRARY_COMPONENT_NAME = PLATFORM__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The feature id for the '<em><b>Base Node</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ROBOTIC_MIDDLEWARE__BASE_NODE = PLATFORM__BASE_NODE;
+
+	/**
+	 * The feature id for the '<em><b>Kind</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ROBOTIC_MIDDLEWARE__KIND = PLATFORM_FEATURE_COUNT + 0;
+
+	/**
+	 * The number of structural features of the '<em>Robotic Middleware</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ROBOTIC_MIDDLEWARE_FEATURE_COUNT = PLATFORM_FEATURE_COUNT + 1;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.RoboticSimulatorImpl <em>Robotic Simulator</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.RoboticSimulatorImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getRoboticSimulator()
+	 * @generated
+	 */
+	int ROBOTIC_SIMULATOR = 42;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ROBOTIC_SIMULATOR__BASE_CLASS = PLATFORM__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ROBOTIC_SIMULATOR__NATIVE = PLATFORM__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ROBOTIC_SIMULATOR__LIBRARY_PATH = PLATFORM__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ROBOTIC_SIMULATOR__LIBRARY_COMPONENT_NAME = PLATFORM__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The feature id for the '<em><b>Base Node</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ROBOTIC_SIMULATOR__BASE_NODE = PLATFORM__BASE_NODE;
+
+	/**
+	 * The number of structural features of the '<em>Robotic Simulator</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ROBOTIC_SIMULATOR_FEATURE_COUNT = PLATFORM_FEATURE_COUNT + 0;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.CycabTKImpl <em>Cycab TK</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.CycabTKImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getCycabTK()
+	 * @generated
+	 */
+	int CYCAB_TK = 43;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CYCAB_TK__BASE_CLASS = ROBOTIC_SIMULATOR__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CYCAB_TK__NATIVE = ROBOTIC_SIMULATOR__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CYCAB_TK__LIBRARY_PATH = ROBOTIC_SIMULATOR__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CYCAB_TK__LIBRARY_COMPONENT_NAME = ROBOTIC_SIMULATOR__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The feature id for the '<em><b>Base Node</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CYCAB_TK__BASE_NODE = ROBOTIC_SIMULATOR__BASE_NODE;
+
+	/**
+	 * The feature id for the '<em><b>Use Real Time</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CYCAB_TK__USE_REAL_TIME = ROBOTIC_SIMULATOR_FEATURE_COUNT + 0;
+
+	/**
+	 * The feature id for the '<em><b>Time Step</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CYCAB_TK__TIME_STEP = ROBOTIC_SIMULATOR_FEATURE_COUNT + 1;
+
+	/**
+	 * The feature id for the '<em><b>Time Factor</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CYCAB_TK__TIME_FACTOR = ROBOTIC_SIMULATOR_FEATURE_COUNT + 2;
+
+	/**
+	 * The number of structural features of the '<em>Cycab TK</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CYCAB_TK_FEATURE_COUNT = ROBOTIC_SIMULATOR_FEATURE_COUNT + 3;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.BlenderMorseImpl <em>Blender Morse</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.BlenderMorseImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getBlenderMorse()
+	 * @generated
+	 */
+	int BLENDER_MORSE = 44;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int BLENDER_MORSE__BASE_CLASS = ROBOTIC_SIMULATOR__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int BLENDER_MORSE__NATIVE = ROBOTIC_SIMULATOR__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int BLENDER_MORSE__LIBRARY_PATH = ROBOTIC_SIMULATOR__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int BLENDER_MORSE__LIBRARY_COMPONENT_NAME = ROBOTIC_SIMULATOR__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The feature id for the '<em><b>Base Node</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int BLENDER_MORSE__BASE_NODE = ROBOTIC_SIMULATOR__BASE_NODE;
+
+	/**
+	 * The feature id for the '<em><b>Debug Mode</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int BLENDER_MORSE__DEBUG_MODE = ROBOTIC_SIMULATOR_FEATURE_COUNT + 0;
+
+	/**
+	 * The feature id for the '<em><b>Debug Display</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int BLENDER_MORSE__DEBUG_DISPLAY = ROBOTIC_SIMULATOR_FEATURE_COUNT + 1;
+
+	/**
+	 * The feature id for the '<em><b>Gravity</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int BLENDER_MORSE__GRAVITY = ROBOTIC_SIMULATOR_FEATURE_COUNT + 2;
+
+	/**
+	 * The feature id for the '<em><b>viewport shade</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int BLENDER_MORSE__VIEWPORT_SHADE = ROBOTIC_SIMULATOR_FEATURE_COUNT + 3;
+
+	/**
+	 * The number of structural features of the '<em>Blender Morse</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int BLENDER_MORSE_FEATURE_COUNT = ROBOTIC_SIMULATOR_FEATURE_COUNT + 4;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.OnPortImpl <em>On Port</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.OnPortImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getOnPort()
+	 * @generated
+	 */
+	int ON_PORT = 45;
+
+	/**
+	 * The feature id for the '<em><b>Port</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ON_PORT__PORT = 0;
+
+	/**
+	 * The feature id for the '<em><b>Base Parameter</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ON_PORT__BASE_PARAMETER = 1;
+
+	/**
+	 * The number of structural features of the '<em>On Port</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ON_PORT_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.AllocateImpl <em>Allocate</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.AllocateImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getAllocate()
+	 * @generated
+	 */
+	int ALLOCATE = 46;
+
+	/**
+	 * The feature id for the '<em><b>Base Abstraction</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ALLOCATE__BASE_ABSTRACTION = 0;
+
+	/**
+	 * The number of structural features of the '<em>Allocate</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ALLOCATE_FEATURE_COUNT = 1;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.InertialMeasurementUnitSystemImpl
+	 * <em>Inertial Measurement Unit System</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.InertialMeasurementUnitSystemImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getInertialMeasurementUnitSystem()
+	 * @generated
+	 */
+	int INERTIAL_MEASUREMENT_UNIT_SYSTEM = 47;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INERTIAL_MEASUREMENT_UNIT_SYSTEM__BASE_CLASS = SENSOR_SYSTEM__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INERTIAL_MEASUREMENT_UNIT_SYSTEM__NATIVE = SENSOR_SYSTEM__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INERTIAL_MEASUREMENT_UNIT_SYSTEM__LIBRARY_PATH = SENSOR_SYSTEM__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INERTIAL_MEASUREMENT_UNIT_SYSTEM__LIBRARY_COMPONENT_NAME = SENSOR_SYSTEM__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The feature id for the '<em><b>Local Position</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INERTIAL_MEASUREMENT_UNIT_SYSTEM__LOCAL_POSITION = SENSOR_SYSTEM__LOCAL_POSITION;
+
+	/**
+	 * The feature id for the '<em><b>Local Orientation</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INERTIAL_MEASUREMENT_UNIT_SYSTEM__LOCAL_ORIENTATION = SENSOR_SYSTEM__LOCAL_ORIENTATION;
+
+	/**
+	 * The feature id for the '<em><b>Frequency</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INERTIAL_MEASUREMENT_UNIT_SYSTEM__FREQUENCY = SENSOR_SYSTEM__FREQUENCY;
+
+	/**
+	 * The feature id for the '<em><b>Identifier</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INERTIAL_MEASUREMENT_UNIT_SYSTEM__IDENTIFIER = SENSOR_SYSTEM__IDENTIFIER;
+
+	/**
+	 * The number of structural features of the '<em>Inertial Measurement Unit System</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INERTIAL_MEASUREMENT_UNIT_SYSTEM_FEATURE_COUNT = SENSOR_SYSTEM_FEATURE_COUNT + 0;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.InertialNavigationSystemImpl <em>Inertial Navigation System</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.InertialNavigationSystemImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getInertialNavigationSystem()
+	 * @generated
+	 */
+	int INERTIAL_NAVIGATION_SYSTEM = 48;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INERTIAL_NAVIGATION_SYSTEM__BASE_CLASS = GPS_SYSTEM__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INERTIAL_NAVIGATION_SYSTEM__NATIVE = GPS_SYSTEM__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INERTIAL_NAVIGATION_SYSTEM__LIBRARY_PATH = GPS_SYSTEM__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INERTIAL_NAVIGATION_SYSTEM__LIBRARY_COMPONENT_NAME = GPS_SYSTEM__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The feature id for the '<em><b>Local Position</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INERTIAL_NAVIGATION_SYSTEM__LOCAL_POSITION = GPS_SYSTEM__LOCAL_POSITION;
+
+	/**
+	 * The feature id for the '<em><b>Local Orientation</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INERTIAL_NAVIGATION_SYSTEM__LOCAL_ORIENTATION = GPS_SYSTEM__LOCAL_ORIENTATION;
+
+	/**
+	 * The feature id for the '<em><b>Frequency</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INERTIAL_NAVIGATION_SYSTEM__FREQUENCY = GPS_SYSTEM__FREQUENCY;
+
+	/**
+	 * The feature id for the '<em><b>Identifier</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INERTIAL_NAVIGATION_SYSTEM__IDENTIFIER = GPS_SYSTEM__IDENTIFIER;
+
+	/**
+	 * The feature id for the '<em><b>Origin Position</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INERTIAL_NAVIGATION_SYSTEM__ORIGIN_POSITION = GPS_SYSTEM__ORIGIN_POSITION;
+
+	/**
+	 * The number of structural features of the '<em>Inertial Navigation System</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INERTIAL_NAVIGATION_SYSTEM_FEATURE_COUNT = GPS_SYSTEM_FEATURE_COUNT + 0;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.OdometrySystemImpl <em>Odometry System</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.OdometrySystemImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getOdometrySystem()
+	 * @generated
+	 */
+	int ODOMETRY_SYSTEM = 49;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ODOMETRY_SYSTEM__BASE_CLASS = LOCALIZATION_SENSOR_SYSTEM__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ODOMETRY_SYSTEM__NATIVE = LOCALIZATION_SENSOR_SYSTEM__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ODOMETRY_SYSTEM__LIBRARY_PATH = LOCALIZATION_SENSOR_SYSTEM__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ODOMETRY_SYSTEM__LIBRARY_COMPONENT_NAME = LOCALIZATION_SENSOR_SYSTEM__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The feature id for the '<em><b>Local Position</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ODOMETRY_SYSTEM__LOCAL_POSITION = LOCALIZATION_SENSOR_SYSTEM__LOCAL_POSITION;
+
+	/**
+	 * The feature id for the '<em><b>Local Orientation</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ODOMETRY_SYSTEM__LOCAL_ORIENTATION = LOCALIZATION_SENSOR_SYSTEM__LOCAL_ORIENTATION;
+
+	/**
+	 * The feature id for the '<em><b>Frequency</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ODOMETRY_SYSTEM__FREQUENCY = LOCALIZATION_SENSOR_SYSTEM__FREQUENCY;
+
+	/**
+	 * The feature id for the '<em><b>Identifier</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ODOMETRY_SYSTEM__IDENTIFIER = LOCALIZATION_SENSOR_SYSTEM__IDENTIFIER;
+
+	/**
+	 * The number of structural features of the '<em>Odometry System</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ODOMETRY_SYSTEM_FEATURE_COUNT = LOCALIZATION_SENSOR_SYSTEM_FEATURE_COUNT + 0;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.InfraRedProximetrySystemImpl <em>Infra Red Proximetry System</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.InfraRedProximetrySystemImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getInfraRedProximetrySystem()
+	 * @generated
+	 */
+	int INFRA_RED_PROXIMETRY_SYSTEM = 50;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INFRA_RED_PROXIMETRY_SYSTEM__BASE_CLASS = OBJECT_DETECTION_SENSOR_SYSTEM__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INFRA_RED_PROXIMETRY_SYSTEM__NATIVE = OBJECT_DETECTION_SENSOR_SYSTEM__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INFRA_RED_PROXIMETRY_SYSTEM__LIBRARY_PATH = OBJECT_DETECTION_SENSOR_SYSTEM__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INFRA_RED_PROXIMETRY_SYSTEM__LIBRARY_COMPONENT_NAME = OBJECT_DETECTION_SENSOR_SYSTEM__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The feature id for the '<em><b>Local Position</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INFRA_RED_PROXIMETRY_SYSTEM__LOCAL_POSITION = OBJECT_DETECTION_SENSOR_SYSTEM__LOCAL_POSITION;
+
+	/**
+	 * The feature id for the '<em><b>Local Orientation</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INFRA_RED_PROXIMETRY_SYSTEM__LOCAL_ORIENTATION = OBJECT_DETECTION_SENSOR_SYSTEM__LOCAL_ORIENTATION;
+
+	/**
+	 * The feature id for the '<em><b>Frequency</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INFRA_RED_PROXIMETRY_SYSTEM__FREQUENCY = OBJECT_DETECTION_SENSOR_SYSTEM__FREQUENCY;
+
+	/**
+	 * The feature id for the '<em><b>Identifier</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INFRA_RED_PROXIMETRY_SYSTEM__IDENTIFIER = OBJECT_DETECTION_SENSOR_SYSTEM__IDENTIFIER;
+
+	/**
+	 * The number of structural features of the '<em>Infra Red Proximetry System</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INFRA_RED_PROXIMETRY_SYSTEM_FEATURE_COUNT = OBJECT_DETECTION_SENSOR_SYSTEM_FEATURE_COUNT + 0;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.DeploymentPlanImpl <em>Deployment Plan</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.DeploymentPlanImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getDeploymentPlan()
+	 * @generated
+	 */
+	int DEPLOYMENT_PLAN = 51;
+
+	/**
+	 * The feature id for the '<em><b>Base Package</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int DEPLOYMENT_PLAN__BASE_PACKAGE = 0;
+
+	/**
+	 * The feature id for the '<em><b>Main Instance</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int DEPLOYMENT_PLAN__MAIN_INSTANCE = 1;
+
+	/**
+	 * The number of structural features of the '<em>Deployment Plan</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int DEPLOYMENT_PLAN_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.impl.GyroscopeImpl <em>Gyroscope</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.impl.GyroscopeImpl
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getGyroscope()
+	 * @generated
+	 */
+	int GYROSCOPE = 52;
+
+	/**
+	 * The feature id for the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GYROSCOPE__BASE_CLASS = SENSOR_SYSTEM__BASE_CLASS;
+
+	/**
+	 * The feature id for the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GYROSCOPE__NATIVE = SENSOR_SYSTEM__NATIVE;
+
+	/**
+	 * The feature id for the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GYROSCOPE__LIBRARY_PATH = SENSOR_SYSTEM__LIBRARY_PATH;
+
+	/**
+	 * The feature id for the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GYROSCOPE__LIBRARY_COMPONENT_NAME = SENSOR_SYSTEM__LIBRARY_COMPONENT_NAME;
+
+	/**
+	 * The feature id for the '<em><b>Local Position</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GYROSCOPE__LOCAL_POSITION = SENSOR_SYSTEM__LOCAL_POSITION;
+
+	/**
+	 * The feature id for the '<em><b>Local Orientation</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GYROSCOPE__LOCAL_ORIENTATION = SENSOR_SYSTEM__LOCAL_ORIENTATION;
+
+	/**
+	 * The feature id for the '<em><b>Frequency</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GYROSCOPE__FREQUENCY = SENSOR_SYSTEM__FREQUENCY;
+
+	/**
+	 * The feature id for the '<em><b>Identifier</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GYROSCOPE__IDENTIFIER = SENSOR_SYSTEM__IDENTIFIER;
+
+	/**
+	 * The number of structural features of the '<em>Gyroscope</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GYROSCOPE_FEATURE_COUNT = SENSOR_SYSTEM_FEATURE_COUNT + 0;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.RobotKind <em>Robot Kind</em>}' enum.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.RobotKind
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getRobotKind()
+	 * @generated
+	 */
+	int ROBOT_KIND = 53;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.UGVKind <em>UGV Kind</em>}' enum.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.UGVKind
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getUGVKind()
+	 * @generated
+	 */
+	int UGV_KIND = 54;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.SynchronizationKind <em>Synchronization Kind</em>}' enum.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.SynchronizationKind
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getSynchronizationKind()
+	 * @generated
+	 */
+	int SYNCHRONIZATION_KIND = 55;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.DataFlowDirectionKind <em>Data Flow Direction Kind</em>}' enum.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.DataFlowDirectionKind
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getDataFlowDirectionKind()
+	 * @generated
+	 */
+	int DATA_FLOW_DIRECTION_KIND = 56;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.ServiceFlowKind <em>Service Flow Kind</em>}' enum.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.ServiceFlowKind
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getServiceFlowKind()
+	 * @generated
+	 */
+	int SERVICE_FLOW_KIND = 57;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.RoboticMiddlewareKind <em>Robotic Middleware Kind</em>}' enum.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.RoboticMiddlewareKind
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getRoboticMiddlewareKind()
+	 * @generated
+	 */
+	int ROBOTIC_MIDDLEWARE_KIND = 58;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotML.Shade <em>Shade</em>}' enum.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotML.Shade
+	 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getShade()
+	 * @generated
+	 */
+	int SHADE = 59;
+
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.Transition <em>Transition</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Transition</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Transition
+	 * @generated
+	 */
+	EClass getTransition();
+
+	/**
+	 * Returns the meta object for the reference '{@link org.eclipse.papyrus.RobotML.Transition#getBase_Transition <em>Base Transition</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the reference '<em>Base Transition</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Transition#getBase_Transition()
+	 * @see #getTransition()
+	 * @generated
+	 */
+	EReference getTransition_Base_Transition();
+
+	/**
+	 * Returns the meta object for the reference '{@link org.eclipse.papyrus.RobotML.Transition#getGuard <em>Guard</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the reference '<em>Guard</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Transition#getGuard()
+	 * @see #getTransition()
+	 * @generated
+	 */
+	EReference getTransition_Guard();
+
+	/**
+	 * Returns the meta object for the reference '{@link org.eclipse.papyrus.RobotML.Transition#getEffect <em>Effect</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the reference '<em>Effect</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Transition#getEffect()
+	 * @see #getTransition()
+	 * @generated
+	 */
+	EReference getTransition_Effect();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.Algorithm <em>Algorithm</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Algorithm</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Algorithm
+	 * @generated
+	 */
+	EClass getAlgorithm();
+
+	/**
+	 * Returns the meta object for the reference '{@link org.eclipse.papyrus.RobotML.Algorithm#getBase_Operation <em>Base Operation</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the reference '<em>Base Operation</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Algorithm#getBase_Operation()
+	 * @see #getAlgorithm()
+	 * @generated
+	 */
+	EReference getAlgorithm_Base_Operation();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.Algorithm#isIsExternal <em>Is External</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Is External</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Algorithm#isIsExternal()
+	 * @see #getAlgorithm()
+	 * @generated
+	 */
+	EAttribute getAlgorithm_IsExternal();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.Algorithm#getExtFunctionName <em>Ext Function Name</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Ext Function Name</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Algorithm#getExtFunctionName()
+	 * @see #getAlgorithm()
+	 * @generated
+	 */
+	EAttribute getAlgorithm_ExtFunctionName();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.Algorithm#getLibPath <em>Lib Path</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Lib Path</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Algorithm#getLibPath()
+	 * @see #getAlgorithm()
+	 * @generated
+	 */
+	EAttribute getAlgorithm_LibPath();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.Algorithm#getLibFileFormat <em>Lib File Format</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Lib File Format</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Algorithm#getLibFileFormat()
+	 * @see #getAlgorithm()
+	 * @generated
+	 */
+	EAttribute getAlgorithm_LibFileFormat();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.Robot <em>Robot</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Robot</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Robot
+	 * @generated
+	 */
+	EClass getRobot();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.Robot#getKind <em>Kind</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Kind</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Robot#getKind()
+	 * @see #getRobot()
+	 * @generated
+	 */
+	EAttribute getRobot_Kind();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.Robot#getMass <em>Mass</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Mass</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Robot#getMass()
+	 * @see #getRobot()
+	 * @generated
+	 */
+	EAttribute getRobot_Mass();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.Robot#getWidth <em>Width</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Width</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Robot#getWidth()
+	 * @see #getRobot()
+	 * @generated
+	 */
+	EAttribute getRobot_Width();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.Robot#getUgvKind <em>Ugv Kind</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Ugv Kind</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Robot#getUgvKind()
+	 * @see #getRobot()
+	 * @generated
+	 */
+	EAttribute getRobot_UgvKind();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.System <em>System</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>System</em>'.
+	 * @see org.eclipse.papyrus.RobotML.System
+	 * @generated
+	 */
+	EClass getSystem();
+
+	/**
+	 * Returns the meta object for the reference '{@link org.eclipse.papyrus.RobotML.System#getBase_Class <em>Base Class</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the reference '<em>Base Class</em>'.
+	 * @see org.eclipse.papyrus.RobotML.System#getBase_Class()
+	 * @see #getSystem()
+	 * @generated
+	 */
+	EReference getSystem_Base_Class();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.System#isNative <em>Native</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Native</em>'.
+	 * @see org.eclipse.papyrus.RobotML.System#isNative()
+	 * @see #getSystem()
+	 * @generated
+	 */
+	EAttribute getSystem_Native();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.System#getLibraryPath <em>Library Path</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Library Path</em>'.
+	 * @see org.eclipse.papyrus.RobotML.System#getLibraryPath()
+	 * @see #getSystem()
+	 * @generated
+	 */
+	EAttribute getSystem_LibraryPath();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.System#getLibraryComponentName <em>Library Component Name</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Library Component Name</em>'.
+	 * @see org.eclipse.papyrus.RobotML.System#getLibraryComponentName()
+	 * @see #getSystem()
+	 * @generated
+	 */
+	EAttribute getSystem_LibraryComponentName();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.Agent <em>Agent</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Agent</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Agent
+	 * @generated
+	 */
+	EClass getAgent();
+
+	/**
+	 * Returns the meta object for the reference list '{@link org.eclipse.papyrus.RobotML.Agent#getMovesOver <em>Moves Over</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the reference list '<em>Moves Over</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Agent#getMovesOver()
+	 * @see #getAgent()
+	 * @generated
+	 */
+	EReference getAgent_MovesOver();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.PhysicalObject <em>Physical Object</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Physical Object</em>'.
+	 * @see org.eclipse.papyrus.RobotML.PhysicalObject
+	 * @generated
+	 */
+	EClass getPhysicalObject();
+
+	/**
+	 * Returns the meta object for the reference list '{@link org.eclipse.papyrus.RobotML.PhysicalObject#getEvelovesIn <em>Eveloves In</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the reference list '<em>Eveloves In</em>'.
+	 * @see org.eclipse.papyrus.RobotML.PhysicalObject#getEvelovesIn()
+	 * @see #getPhysicalObject()
+	 * @generated
+	 */
+	EReference getPhysicalObject_EvelovesIn();
+
+	/**
+	 * Returns the meta object for the reference '{@link org.eclipse.papyrus.RobotML.PhysicalObject#getHasSurface <em>Has Surface</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the reference '<em>Has Surface</em>'.
+	 * @see org.eclipse.papyrus.RobotML.PhysicalObject#getHasSurface()
+	 * @see #getPhysicalObject()
+	 * @generated
+	 */
+	EReference getPhysicalObject_HasSurface();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.Environment <em>Environment</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Environment</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Environment
+	 * @generated
+	 */
+	EClass getEnvironment();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.Surface <em>Surface</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Surface</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Surface
+	 * @generated
+	 */
+	EClass getSurface();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.DataFlowPort <em>Data Flow Port</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Data Flow Port</em>'.
+	 * @see org.eclipse.papyrus.RobotML.DataFlowPort
+	 * @generated
+	 */
+	EClass getDataFlowPort();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.DataFlowPort#getDirection <em>Direction</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Direction</em>'.
+	 * @see org.eclipse.papyrus.RobotML.DataFlowPort#getDirection()
+	 * @see #getDataFlowPort()
+	 * @generated
+	 */
+	EAttribute getDataFlowPort_Direction();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.DataFlowPort#getBufferSize <em>Buffer Size</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Buffer Size</em>'.
+	 * @see org.eclipse.papyrus.RobotML.DataFlowPort#getBufferSize()
+	 * @see #getDataFlowPort()
+	 * @generated
+	 */
+	EAttribute getDataFlowPort_BufferSize();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.Port <em>Port</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Port</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Port
+	 * @generated
+	 */
+	EClass getPort();
+
+	/**
+	 * Returns the meta object for the reference '{@link org.eclipse.papyrus.RobotML.Port#getBase_Port <em>Base Port</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the reference '<em>Base Port</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Port#getBase_Port()
+	 * @see #getPort()
+	 * @generated
+	 */
+	EReference getPort_Base_Port();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.Port#getSynchronizationPolicy <em>Synchronization Policy</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Synchronization Policy</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Port#getSynchronizationPolicy()
+	 * @see #getPort()
+	 * @generated
+	 */
+	EAttribute getPort_SynchronizationPolicy();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.ServicePort <em>Service Port</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Service Port</em>'.
+	 * @see org.eclipse.papyrus.RobotML.ServicePort
+	 * @generated
+	 */
+	EClass getServicePort();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.ServicePort#getKind <em>Kind</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Kind</em>'.
+	 * @see org.eclipse.papyrus.RobotML.ServicePort#getKind()
+	 * @see #getServicePort()
+	 * @generated
+	 */
+	EAttribute getServicePort_Kind();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.ActuatorSystem <em>Actuator System</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Actuator System</em>'.
+	 * @see org.eclipse.papyrus.RobotML.ActuatorSystem
+	 * @generated
+	 */
+	EClass getActuatorSystem();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.RoboticSystem <em>Robotic System</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Robotic System</em>'.
+	 * @see org.eclipse.papyrus.RobotML.RoboticSystem
+	 * @generated
+	 */
+	EClass getRoboticSystem();
+
+	/**
+	 * Returns the meta object for the containment reference '{@link org.eclipse.papyrus.RobotML.RoboticSystem#getLocalPosition
+	 * <em>Local Position</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Local Position</em>'.
+	 * @see org.eclipse.papyrus.RobotML.RoboticSystem#getLocalPosition()
+	 * @see #getRoboticSystem()
+	 * @generated
+	 */
+	EReference getRoboticSystem_LocalPosition();
+
+	/**
+	 * Returns the meta object for the containment reference '{@link org.eclipse.papyrus.RobotML.RoboticSystem#getLocalOrientation
+	 * <em>Local Orientation</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Local Orientation</em>'.
+	 * @see org.eclipse.papyrus.RobotML.RoboticSystem#getLocalOrientation()
+	 * @see #getRoboticSystem()
+	 * @generated
+	 */
+	EReference getRoboticSystem_LocalOrientation();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.SensorSystem <em>Sensor System</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Sensor System</em>'.
+	 * @see org.eclipse.papyrus.RobotML.SensorSystem
+	 * @generated
+	 */
+	EClass getSensorSystem();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.SensorSystem#getFrequency <em>Frequency</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Frequency</em>'.
+	 * @see org.eclipse.papyrus.RobotML.SensorSystem#getFrequency()
+	 * @see #getSensorSystem()
+	 * @generated
+	 */
+	EAttribute getSensorSystem_Frequency();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.SensorSystem#getIdentifier <em>Identifier</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Identifier</em>'.
+	 * @see org.eclipse.papyrus.RobotML.SensorSystem#getIdentifier()
+	 * @see #getSensorSystem()
+	 * @generated
+	 */
+	EAttribute getSensorSystem_Identifier();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.Hardware <em>Hardware</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Hardware</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Hardware
+	 * @generated
+	 */
+	EClass getHardware();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.Software <em>Software</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Software</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Software
+	 * @generated
+	 */
+	EClass getSoftware();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.Software#isIsPeriodic <em>Is Periodic</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Is Periodic</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Software#isIsPeriodic()
+	 * @see #getSoftware()
+	 * @generated
+	 */
+	EAttribute getSoftware_IsPeriodic();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.Software#getPeriod <em>Period</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Period</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Software#getPeriod()
+	 * @see #getSoftware()
+	 * @generated
+	 */
+	EAttribute getSoftware_Period();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.Software#getPriority <em>Priority</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Priority</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Software#getPriority()
+	 * @see #getSoftware()
+	 * @generated
+	 */
+	EAttribute getSoftware_Priority();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.Software#getDeadline <em>Deadline</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Deadline</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Software#getDeadline()
+	 * @see #getSoftware()
+	 * @generated
+	 */
+	EAttribute getSoftware_Deadline();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.Software#getWcet <em>Wcet</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Wcet</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Software#getWcet()
+	 * @see #getSoftware()
+	 * @generated
+	 */
+	EAttribute getSoftware_Wcet();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.PrimitiveData <em>Primitive Data</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Primitive Data</em>'.
+	 * @see org.eclipse.papyrus.RobotML.PrimitiveData
+	 * @generated
+	 */
+	EClass getPrimitiveData();
+
+	/**
+	 * Returns the meta object for the reference '{@link org.eclipse.papyrus.RobotML.PrimitiveData#getBase_PrimitiveType <em>Base Primitive Type</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the reference '<em>Base Primitive Type</em>'.
+	 * @see org.eclipse.papyrus.RobotML.PrimitiveData#getBase_PrimitiveType()
+	 * @see #getPrimitiveData()
+	 * @generated
+	 */
+	EReference getPrimitiveData_Base_PrimitiveType();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.DataType <em>Data Type</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Data Type</em>'.
+	 * @see org.eclipse.papyrus.RobotML.DataType
+	 * @generated
+	 */
+	EClass getDataType();
+
+	/**
+	 * Returns the meta object for the reference '{@link org.eclipse.papyrus.RobotML.DataType#getBase_DataType <em>Base Data Type</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the reference '<em>Base Data Type</em>'.
+	 * @see org.eclipse.papyrus.RobotML.DataType#getBase_DataType()
+	 * @see #getDataType()
+	 * @generated
+	 */
+	EReference getDataType_Base_DataType();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.DataType#isNative <em>Native</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Native</em>'.
+	 * @see org.eclipse.papyrus.RobotML.DataType#isNative()
+	 * @see #getDataType()
+	 * @generated
+	 */
+	EAttribute getDataType_Native();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.DataType#getLibraryPath <em>Library Path</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Library Path</em>'.
+	 * @see org.eclipse.papyrus.RobotML.DataType#getLibraryPath()
+	 * @see #getDataType()
+	 * @generated
+	 */
+	EAttribute getDataType_LibraryPath();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.EngineSystem <em>Engine System</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Engine System</em>'.
+	 * @see org.eclipse.papyrus.RobotML.EngineSystem
+	 * @generated
+	 */
+	EClass getEngineSystem();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.EngineSystem#getVehicleTraction <em>Vehicle Traction</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Vehicle Traction</em>'.
+	 * @see org.eclipse.papyrus.RobotML.EngineSystem#getVehicleTraction()
+	 * @see #getEngineSystem()
+	 * @generated
+	 */
+	EAttribute getEngineSystem_VehicleTraction();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.EngineSystem#getMaxEngineForce <em>Max Engine Force</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Max Engine Force</em>'.
+	 * @see org.eclipse.papyrus.RobotML.EngineSystem#getMaxEngineForce()
+	 * @see #getEngineSystem()
+	 * @generated
+	 */
+	EAttribute getEngineSystem_MaxEngineForce();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.EngineSystem#getMaxBreakingForce <em>Max Breaking Force</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Max Breaking Force</em>'.
+	 * @see org.eclipse.papyrus.RobotML.EngineSystem#getMaxBreakingForce()
+	 * @see #getEngineSystem()
+	 * @generated
+	 */
+	EAttribute getEngineSystem_MaxBreakingForce();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.EngineSystem#getMaxAllowedSteering <em>Max Allowed Steering</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Max Allowed Steering</em>'.
+	 * @see org.eclipse.papyrus.RobotML.EngineSystem#getMaxAllowedSteering()
+	 * @see #getEngineSystem()
+	 * @generated
+	 */
+	EAttribute getEngineSystem_MaxAllowedSteering();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.EngineSystem#getMaxAllowedVelocity <em>Max Allowed Velocity</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Max Allowed Velocity</em>'.
+	 * @see org.eclipse.papyrus.RobotML.EngineSystem#getMaxAllowedVelocity()
+	 * @see #getEngineSystem()
+	 * @generated
+	 */
+	EAttribute getEngineSystem_MaxAllowedVelocity();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.EngineSystem#getGear_ration <em>Gear ration</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Gear ration</em>'.
+	 * @see org.eclipse.papyrus.RobotML.EngineSystem#getGear_ration()
+	 * @see #getEngineSystem()
+	 * @generated
+	 */
+	EAttribute getEngineSystem_Gear_ration();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.WheelSystem <em>Wheel System</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Wheel System</em>'.
+	 * @see org.eclipse.papyrus.RobotML.WheelSystem
+	 * @generated
+	 */
+	EClass getWheelSystem();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.WheelSystem#getWheelRadius <em>Wheel Radius</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Wheel Radius</em>'.
+	 * @see org.eclipse.papyrus.RobotML.WheelSystem#getWheelRadius()
+	 * @see #getWheelSystem()
+	 * @generated
+	 */
+	EAttribute getWheelSystem_WheelRadius();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.WheelSystem#getWheelWidth <em>Wheel Width</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Wheel Width</em>'.
+	 * @see org.eclipse.papyrus.RobotML.WheelSystem#getWheelWidth()
+	 * @see #getWheelSystem()
+	 * @generated
+	 */
+	EAttribute getWheelSystem_WheelWidth();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.WheelSystem#getSuspensionRestLength
+	 * <em>Suspension Rest Length</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Suspension Rest Length</em>'.
+	 * @see org.eclipse.papyrus.RobotML.WheelSystem#getSuspensionRestLength()
+	 * @see #getWheelSystem()
+	 * @generated
+	 */
+	EAttribute getWheelSystem_SuspensionRestLength();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.WheelSystem#getWheelConnectionHeight
+	 * <em>Wheel Connection Height</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Wheel Connection Height</em>'.
+	 * @see org.eclipse.papyrus.RobotML.WheelSystem#getWheelConnectionHeight()
+	 * @see #getWheelSystem()
+	 * @generated
+	 */
+	EAttribute getWheelSystem_WheelConnectionHeight();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.WheelSystem#getTypeOfWheel <em>Type Of Wheel</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Type Of Wheel</em>'.
+	 * @see org.eclipse.papyrus.RobotML.WheelSystem#getTypeOfWheel()
+	 * @see #getWheelSystem()
+	 * @generated
+	 */
+	EAttribute getWheelSystem_TypeOfWheel();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.WheelSystem#getWheelVelocityPIDkp <em>Wheel Velocity PI Dkp</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Wheel Velocity PI Dkp</em>'.
+	 * @see org.eclipse.papyrus.RobotML.WheelSystem#getWheelVelocityPIDkp()
+	 * @see #getWheelSystem()
+	 * @generated
+	 */
+	EAttribute getWheelSystem_WheelVelocityPIDkp();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.WheelSystem#getWheelVelocityPIDki <em>Wheel Velocity PI Dki</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Wheel Velocity PI Dki</em>'.
+	 * @see org.eclipse.papyrus.RobotML.WheelSystem#getWheelVelocityPIDki()
+	 * @see #getWheelSystem()
+	 * @generated
+	 */
+	EAttribute getWheelSystem_WheelVelocityPIDki();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.WheelSystem#getWheelVelocityPIDkd <em>Wheel Velocity PI Dkd</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Wheel Velocity PI Dkd</em>'.
+	 * @see org.eclipse.papyrus.RobotML.WheelSystem#getWheelVelocityPIDkd()
+	 * @see #getWheelSystem()
+	 * @generated
+	 */
+	EAttribute getWheelSystem_WheelVelocityPIDkd();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.WheelSystem#getWheelSteeringPIDkp <em>Wheel Steering PI Dkp</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Wheel Steering PI Dkp</em>'.
+	 * @see org.eclipse.papyrus.RobotML.WheelSystem#getWheelSteeringPIDkp()
+	 * @see #getWheelSystem()
+	 * @generated
+	 */
+	EAttribute getWheelSystem_WheelSteeringPIDkp();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.WheelSystem#getWheelSteeringPIDkd <em>Wheel Steering PI Dkd</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Wheel Steering PI Dkd</em>'.
+	 * @see org.eclipse.papyrus.RobotML.WheelSystem#getWheelSteeringPIDkd()
+	 * @see #getWheelSystem()
+	 * @generated
+	 */
+	EAttribute getWheelSystem_WheelSteeringPIDkd();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.WheelSystem#getWheelFriction <em>Wheel Friction</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Wheel Friction</em>'.
+	 * @see org.eclipse.papyrus.RobotML.WheelSystem#getWheelFriction()
+	 * @see #getWheelSystem()
+	 * @generated
+	 */
+	EAttribute getWheelSystem_WheelFriction();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.WheelSystem#getSuspensionStiffness <em>Suspension Stiffness</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Suspension Stiffness</em>'.
+	 * @see org.eclipse.papyrus.RobotML.WheelSystem#getSuspensionStiffness()
+	 * @see #getWheelSystem()
+	 * @generated
+	 */
+	EAttribute getWheelSystem_SuspensionStiffness();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.WheelSystem#getSuspensionDamping <em>Suspension Damping</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Suspension Damping</em>'.
+	 * @see org.eclipse.papyrus.RobotML.WheelSystem#getSuspensionDamping()
+	 * @see #getWheelSystem()
+	 * @generated
+	 */
+	EAttribute getWheelSystem_SuspensionDamping();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.WheelSystem#getSuspensionCompression
+	 * <em>Suspension Compression</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Suspension Compression</em>'.
+	 * @see org.eclipse.papyrus.RobotML.WheelSystem#getSuspensionCompression()
+	 * @see #getWheelSystem()
+	 * @generated
+	 */
+	EAttribute getWheelSystem_SuspensionCompression();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.WheelSystem#getWheelVelocityPIDmaxSum
+	 * <em>Wheel Velocity PI Dmax Sum</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Wheel Velocity PI Dmax Sum</em>'.
+	 * @see org.eclipse.papyrus.RobotML.WheelSystem#getWheelVelocityPIDmaxSum()
+	 * @see #getWheelSystem()
+	 * @generated
+	 */
+	EAttribute getWheelSystem_WheelVelocityPIDmaxSum();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.WheelSystem#getWheelVelocityPIDmaxVal
+	 * <em>Wheel Velocity PI Dmax Val</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Wheel Velocity PI Dmax Val</em>'.
+	 * @see org.eclipse.papyrus.RobotML.WheelSystem#getWheelVelocityPIDmaxVal()
+	 * @see #getWheelSystem()
+	 * @generated
+	 */
+	EAttribute getWheelSystem_WheelVelocityPIDmaxVal();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.ImageSensorSystem <em>Image Sensor System</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Image Sensor System</em>'.
+	 * @see org.eclipse.papyrus.RobotML.ImageSensorSystem
+	 * @generated
+	 */
+	EClass getImageSensorSystem();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.CameraSystem <em>Camera System</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Camera System</em>'.
+	 * @see org.eclipse.papyrus.RobotML.CameraSystem
+	 * @generated
+	 */
+	EClass getCameraSystem();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.CameraSystem#getWidth <em>Width</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Width</em>'.
+	 * @see org.eclipse.papyrus.RobotML.CameraSystem#getWidth()
+	 * @see #getCameraSystem()
+	 * @generated
+	 */
+	EAttribute getCameraSystem_Width();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.CameraSystem#getHeight <em>Height</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Height</em>'.
+	 * @see org.eclipse.papyrus.RobotML.CameraSystem#getHeight()
+	 * @see #getCameraSystem()
+	 * @generated
+	 */
+	EAttribute getCameraSystem_Height();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.CameraSystem#getAlpha_u <em>Alpha u</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Alpha u</em>'.
+	 * @see org.eclipse.papyrus.RobotML.CameraSystem#getAlpha_u()
+	 * @see #getCameraSystem()
+	 * @generated
+	 */
+	EAttribute getCameraSystem_Alpha_u();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.CameraSystem#getAlpha_v <em>Alpha v</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Alpha v</em>'.
+	 * @see org.eclipse.papyrus.RobotML.CameraSystem#getAlpha_v()
+	 * @see #getCameraSystem()
+	 * @generated
+	 */
+	EAttribute getCameraSystem_Alpha_v();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.CameraSystem#getU0 <em>U0</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>U0</em>'.
+	 * @see org.eclipse.papyrus.RobotML.CameraSystem#getU0()
+	 * @see #getCameraSystem()
+	 * @generated
+	 */
+	EAttribute getCameraSystem_U0();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.CameraSystem#getV0 <em>V0</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>V0</em>'.
+	 * @see org.eclipse.papyrus.RobotML.CameraSystem#getV0()
+	 * @see #getCameraSystem()
+	 * @generated
+	 */
+	EAttribute getCameraSystem_V0();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.CameraSystem#getColor_format <em>Color format</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Color format</em>'.
+	 * @see org.eclipse.papyrus.RobotML.CameraSystem#getColor_format()
+	 * @see #getCameraSystem()
+	 * @generated
+	 */
+	EAttribute getCameraSystem_Color_format();
+
+	/**
+	 * Returns the meta object for the containment reference '{@link org.eclipse.papyrus.RobotML.CameraSystem#getTranslate <em>Translate</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Translate</em>'.
+	 * @see org.eclipse.papyrus.RobotML.CameraSystem#getTranslate()
+	 * @see #getCameraSystem()
+	 * @generated
+	 */
+	EReference getCameraSystem_Translate();
+
+	/**
+	 * Returns the meta object for the containment reference '{@link org.eclipse.papyrus.RobotML.CameraSystem#getRotate <em>Rotate</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Rotate</em>'.
+	 * @see org.eclipse.papyrus.RobotML.CameraSystem#getRotate()
+	 * @see #getCameraSystem()
+	 * @generated
+	 */
+	EReference getCameraSystem_Rotate();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.ObjectDetectionSensorSystem <em>Object Detection Sensor System</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Object Detection Sensor System</em>'.
+	 * @see org.eclipse.papyrus.RobotML.ObjectDetectionSensorSystem
+	 * @generated
+	 */
+	EClass getObjectDetectionSensorSystem();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.ObjectTrackingSensorSystem <em>Object Tracking Sensor System</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Object Tracking Sensor System</em>'.
+	 * @see org.eclipse.papyrus.RobotML.ObjectTrackingSensorSystem
+	 * @generated
+	 */
+	EClass getObjectTrackingSensorSystem();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.LidarSystem <em>Lidar System</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Lidar System</em>'.
+	 * @see org.eclipse.papyrus.RobotML.LidarSystem
+	 * @generated
+	 */
+	EClass getLidarSystem();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.LidarSystem#getNbLayers <em>Nb Layers</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Nb Layers</em>'.
+	 * @see org.eclipse.papyrus.RobotML.LidarSystem#getNbLayers()
+	 * @see #getLidarSystem()
+	 * @generated
+	 */
+	EAttribute getLidarSystem_NbLayers();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.LidarSystem#getLayerAngleMin <em>Layer Angle Min</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Layer Angle Min</em>'.
+	 * @see org.eclipse.papyrus.RobotML.LidarSystem#getLayerAngleMin()
+	 * @see #getLidarSystem()
+	 * @generated
+	 */
+	EAttribute getLidarSystem_LayerAngleMin();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.LidarSystem#getLayerAngleStep <em>Layer Angle Step</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Layer Angle Step</em>'.
+	 * @see org.eclipse.papyrus.RobotML.LidarSystem#getLayerAngleStep()
+	 * @see #getLidarSystem()
+	 * @generated
+	 */
+	EAttribute getLidarSystem_LayerAngleStep();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.LidarSystem#isNoise <em>Noise</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Noise</em>'.
+	 * @see org.eclipse.papyrus.RobotML.LidarSystem#isNoise()
+	 * @see #getLidarSystem()
+	 * @generated
+	 */
+	EAttribute getLidarSystem_Noise();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.LidarSystem#getSigmaNoise <em>Sigma Noise</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Sigma Noise</em>'.
+	 * @see org.eclipse.papyrus.RobotML.LidarSystem#getSigmaNoise()
+	 * @see #getLidarSystem()
+	 * @generated
+	 */
+	EAttribute getLidarSystem_SigmaNoise();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.LidarSystem#getAngle_min <em>Angle min</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Angle min</em>'.
+	 * @see org.eclipse.papyrus.RobotML.LidarSystem#getAngle_min()
+	 * @see #getLidarSystem()
+	 * @generated
+	 */
+	EAttribute getLidarSystem_Angle_min();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.LidarSystem#getAngle_max <em>Angle max</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Angle max</em>'.
+	 * @see org.eclipse.papyrus.RobotML.LidarSystem#getAngle_max()
+	 * @see #getLidarSystem()
+	 * @generated
+	 */
+	EAttribute getLidarSystem_Angle_max();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.LidarSystem#getTime_increment <em>Time increment</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Time increment</em>'.
+	 * @see org.eclipse.papyrus.RobotML.LidarSystem#getTime_increment()
+	 * @see #getLidarSystem()
+	 * @generated
+	 */
+	EAttribute getLidarSystem_Time_increment();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.LidarSystem#getScan_time <em>Scan time</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Scan time</em>'.
+	 * @see org.eclipse.papyrus.RobotML.LidarSystem#getScan_time()
+	 * @see #getLidarSystem()
+	 * @generated
+	 */
+	EAttribute getLidarSystem_Scan_time();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.LidarSystem#getRange_min <em>Range min</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Range min</em>'.
+	 * @see org.eclipse.papyrus.RobotML.LidarSystem#getRange_min()
+	 * @see #getLidarSystem()
+	 * @generated
+	 */
+	EAttribute getLidarSystem_Range_min();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.LidarSystem#getRange_max <em>Range max</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Range max</em>'.
+	 * @see org.eclipse.papyrus.RobotML.LidarSystem#getRange_max()
+	 * @see #getLidarSystem()
+	 * @generated
+	 */
+	EAttribute getLidarSystem_Range_max();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.LidarSystem#getNbRays <em>Nb Rays</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Nb Rays</em>'.
+	 * @see org.eclipse.papyrus.RobotML.LidarSystem#getNbRays()
+	 * @see #getLidarSystem()
+	 * @generated
+	 */
+	EAttribute getLidarSystem_NbRays();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.LocalizationSensorSystem <em>Localization Sensor System</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Localization Sensor System</em>'.
+	 * @see org.eclipse.papyrus.RobotML.LocalizationSensorSystem
+	 * @generated
+	 */
+	EClass getLocalizationSensorSystem();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.GPSSystem <em>GPS System</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>GPS System</em>'.
+	 * @see org.eclipse.papyrus.RobotML.GPSSystem
+	 * @generated
+	 */
+	EClass getGPSSystem();
+
+	/**
+	 * Returns the meta object for the containment reference '{@link org.eclipse.papyrus.RobotML.GPSSystem#getOriginPosition <em>Origin Position</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Origin Position</em>'.
+	 * @see org.eclipse.papyrus.RobotML.GPSSystem#getOriginPosition()
+	 * @see #getGPSSystem()
+	 * @generated
+	 */
+	EReference getGPSSystem_OriginPosition();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.SimulatedSystem <em>Simulated System</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Simulated System</em>'.
+	 * @see org.eclipse.papyrus.RobotML.SimulatedSystem
+	 * @generated
+	 */
+	EClass getSimulatedSystem();
+
+	/**
+	 * Returns the meta object for the reference '{@link org.eclipse.papyrus.RobotML.SimulatedSystem#getBase_Property <em>Base Property</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the reference '<em>Base Property</em>'.
+	 * @see org.eclipse.papyrus.RobotML.SimulatedSystem#getBase_Property()
+	 * @see #getSimulatedSystem()
+	 * @generated
+	 */
+	EReference getSimulatedSystem_Base_Property();
+
+	/**
+	 * Returns the meta object for the attribute list '{@link org.eclipse.papyrus.RobotML.SimulatedSystem#getMesh <em>Mesh</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute list '<em>Mesh</em>'.
+	 * @see org.eclipse.papyrus.RobotML.SimulatedSystem#getMesh()
+	 * @see #getSimulatedSystem()
+	 * @generated
+	 */
+	EAttribute getSimulatedSystem_Mesh();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.AlgorithmLibrary <em>Algorithm Library</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Algorithm Library</em>'.
+	 * @see org.eclipse.papyrus.RobotML.AlgorithmLibrary
+	 * @generated
+	 */
+	EClass getAlgorithmLibrary();
+
+	/**
+	 * Returns the meta object for the reference '{@link org.eclipse.papyrus.RobotML.AlgorithmLibrary#getBase_Class <em>Base Class</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the reference '<em>Base Class</em>'.
+	 * @see org.eclipse.papyrus.RobotML.AlgorithmLibrary#getBase_Class()
+	 * @see #getAlgorithmLibrary()
+	 * @generated
+	 */
+	EReference getAlgorithmLibrary_Base_Class();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.AlgorithmLibrary#getPath <em>Path</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Path</em>'.
+	 * @see org.eclipse.papyrus.RobotML.AlgorithmLibrary#getPath()
+	 * @see #getAlgorithmLibrary()
+	 * @generated
+	 */
+	EAttribute getAlgorithmLibrary_Path();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.State <em>State</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>State</em>'.
+	 * @see org.eclipse.papyrus.RobotML.State
+	 * @generated
+	 */
+	EClass getState();
+
+	/**
+	 * Returns the meta object for the reference '{@link org.eclipse.papyrus.RobotML.State#getBase_State <em>Base State</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the reference '<em>Base State</em>'.
+	 * @see org.eclipse.papyrus.RobotML.State#getBase_State()
+	 * @see #getState()
+	 * @generated
+	 */
+	EReference getState_Base_State();
+
+	/**
+	 * Returns the meta object for the reference '{@link org.eclipse.papyrus.RobotML.State#getOperation <em>Operation</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the reference '<em>Operation</em>'.
+	 * @see org.eclipse.papyrus.RobotML.State#getOperation()
+	 * @see #getState()
+	 * @generated
+	 */
+	EReference getState_Operation();
+
+	/**
+	 * Returns the meta object for the reference list '{@link org.eclipse.papyrus.RobotML.State#getArguments <em>Arguments</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the reference list '<em>Arguments</em>'.
+	 * @see org.eclipse.papyrus.RobotML.State#getArguments()
+	 * @see #getState()
+	 * @generated
+	 */
+	EReference getState_Arguments();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.SensorDriver <em>Sensor Driver</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Sensor Driver</em>'.
+	 * @see org.eclipse.papyrus.RobotML.SensorDriver
+	 * @generated
+	 */
+	EClass getSensorDriver();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.Building <em>Building</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Building</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Building
+	 * @generated
+	 */
+	EClass getBuilding();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.Planet <em>Planet</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Planet</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Planet
+	 * @generated
+	 */
+	EClass getPlanet();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.LandSurface <em>Land Surface</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Land Surface</em>'.
+	 * @see org.eclipse.papyrus.RobotML.LandSurface
+	 * @generated
+	 */
+	EClass getLandSurface();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.Ground <em>Ground</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Ground</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Ground
+	 * @generated
+	 */
+	EClass getGround();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.Floor <em>Floor</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Floor</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Floor
+	 * @generated
+	 */
+	EClass getFloor();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.WaterSurface <em>Water Surface</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Water Surface</em>'.
+	 * @see org.eclipse.papyrus.RobotML.WaterSurface
+	 * @generated
+	 */
+	EClass getWaterSurface();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.Human <em>Human</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Human</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Human
+	 * @generated
+	 */
+	EClass getHuman();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.Pedestrian <em>Pedestrian</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Pedestrian</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Pedestrian
+	 * @generated
+	 */
+	EClass getPedestrian();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.Stairs <em>Stairs</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Stairs</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Stairs
+	 * @generated
+	 */
+	EClass getStairs();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.Platform <em>Platform</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Platform</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Platform
+	 * @generated
+	 */
+	EClass getPlatform();
+
+	/**
+	 * Returns the meta object for the reference '{@link org.eclipse.papyrus.RobotML.Platform#getBase_Node <em>Base Node</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the reference '<em>Base Node</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Platform#getBase_Node()
+	 * @see #getPlatform()
+	 * @generated
+	 */
+	EReference getPlatform_Base_Node();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.RoboticMiddleware <em>Robotic Middleware</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Robotic Middleware</em>'.
+	 * @see org.eclipse.papyrus.RobotML.RoboticMiddleware
+	 * @generated
+	 */
+	EClass getRoboticMiddleware();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.RoboticMiddleware#getKind <em>Kind</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Kind</em>'.
+	 * @see org.eclipse.papyrus.RobotML.RoboticMiddleware#getKind()
+	 * @see #getRoboticMiddleware()
+	 * @generated
+	 */
+	EAttribute getRoboticMiddleware_Kind();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.RoboticSimulator <em>Robotic Simulator</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Robotic Simulator</em>'.
+	 * @see org.eclipse.papyrus.RobotML.RoboticSimulator
+	 * @generated
+	 */
+	EClass getRoboticSimulator();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.CycabTK <em>Cycab TK</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Cycab TK</em>'.
+	 * @see org.eclipse.papyrus.RobotML.CycabTK
+	 * @generated
+	 */
+	EClass getCycabTK();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.CycabTK#isUseRealTime <em>Use Real Time</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Use Real Time</em>'.
+	 * @see org.eclipse.papyrus.RobotML.CycabTK#isUseRealTime()
+	 * @see #getCycabTK()
+	 * @generated
+	 */
+	EAttribute getCycabTK_UseRealTime();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.CycabTK#getTimeStep <em>Time Step</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Time Step</em>'.
+	 * @see org.eclipse.papyrus.RobotML.CycabTK#getTimeStep()
+	 * @see #getCycabTK()
+	 * @generated
+	 */
+	EAttribute getCycabTK_TimeStep();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.CycabTK#getTimeFactor <em>Time Factor</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Time Factor</em>'.
+	 * @see org.eclipse.papyrus.RobotML.CycabTK#getTimeFactor()
+	 * @see #getCycabTK()
+	 * @generated
+	 */
+	EAttribute getCycabTK_TimeFactor();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.BlenderMorse <em>Blender Morse</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Blender Morse</em>'.
+	 * @see org.eclipse.papyrus.RobotML.BlenderMorse
+	 * @generated
+	 */
+	EClass getBlenderMorse();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.BlenderMorse#isDebugMode <em>Debug Mode</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Debug Mode</em>'.
+	 * @see org.eclipse.papyrus.RobotML.BlenderMorse#isDebugMode()
+	 * @see #getBlenderMorse()
+	 * @generated
+	 */
+	EAttribute getBlenderMorse_DebugMode();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.BlenderMorse#isDebugDisplay <em>Debug Display</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Debug Display</em>'.
+	 * @see org.eclipse.papyrus.RobotML.BlenderMorse#isDebugDisplay()
+	 * @see #getBlenderMorse()
+	 * @generated
+	 */
+	EAttribute getBlenderMorse_DebugDisplay();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.BlenderMorse#getGravity <em>Gravity</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Gravity</em>'.
+	 * @see org.eclipse.papyrus.RobotML.BlenderMorse#getGravity()
+	 * @see #getBlenderMorse()
+	 * @generated
+	 */
+	EAttribute getBlenderMorse_Gravity();
+
+	/**
+	 * Returns the meta object for the attribute '{@link org.eclipse.papyrus.RobotML.BlenderMorse#get_viewport_shade <em>viewport shade</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>viewport shade</em>'.
+	 * @see org.eclipse.papyrus.RobotML.BlenderMorse#get_viewport_shade()
+	 * @see #getBlenderMorse()
+	 * @generated
+	 */
+	EAttribute getBlenderMorse__viewport_shade();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.OnPort <em>On Port</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>On Port</em>'.
+	 * @see org.eclipse.papyrus.RobotML.OnPort
+	 * @generated
+	 */
+	EClass getOnPort();
+
+	/**
+	 * Returns the meta object for the reference '{@link org.eclipse.papyrus.RobotML.OnPort#getPort <em>Port</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the reference '<em>Port</em>'.
+	 * @see org.eclipse.papyrus.RobotML.OnPort#getPort()
+	 * @see #getOnPort()
+	 * @generated
+	 */
+	EReference getOnPort_Port();
+
+	/**
+	 * Returns the meta object for the reference '{@link org.eclipse.papyrus.RobotML.OnPort#getBase_Parameter <em>Base Parameter</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the reference '<em>Base Parameter</em>'.
+	 * @see org.eclipse.papyrus.RobotML.OnPort#getBase_Parameter()
+	 * @see #getOnPort()
+	 * @generated
+	 */
+	EReference getOnPort_Base_Parameter();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.Allocate <em>Allocate</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Allocate</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Allocate
+	 * @generated
+	 */
+	EClass getAllocate();
+
+	/**
+	 * Returns the meta object for the reference '{@link org.eclipse.papyrus.RobotML.Allocate#getBase_Abstraction <em>Base Abstraction</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the reference '<em>Base Abstraction</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Allocate#getBase_Abstraction()
+	 * @see #getAllocate()
+	 * @generated
+	 */
+	EReference getAllocate_Base_Abstraction();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.InertialMeasurementUnitSystem <em>Inertial Measurement Unit System</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Inertial Measurement Unit System</em>'.
+	 * @see org.eclipse.papyrus.RobotML.InertialMeasurementUnitSystem
+	 * @generated
+	 */
+	EClass getInertialMeasurementUnitSystem();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.InertialNavigationSystem <em>Inertial Navigation System</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Inertial Navigation System</em>'.
+	 * @see org.eclipse.papyrus.RobotML.InertialNavigationSystem
+	 * @generated
+	 */
+	EClass getInertialNavigationSystem();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.OdometrySystem <em>Odometry System</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Odometry System</em>'.
+	 * @see org.eclipse.papyrus.RobotML.OdometrySystem
+	 * @generated
+	 */
+	EClass getOdometrySystem();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.InfraRedProximetrySystem <em>Infra Red Proximetry System</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Infra Red Proximetry System</em>'.
+	 * @see org.eclipse.papyrus.RobotML.InfraRedProximetrySystem
+	 * @generated
+	 */
+	EClass getInfraRedProximetrySystem();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.DeploymentPlan <em>Deployment Plan</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Deployment Plan</em>'.
+	 * @see org.eclipse.papyrus.RobotML.DeploymentPlan
+	 * @generated
+	 */
+	EClass getDeploymentPlan();
+
+	/**
+	 * Returns the meta object for the reference '{@link org.eclipse.papyrus.RobotML.DeploymentPlan#getBase_Package <em>Base Package</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the reference '<em>Base Package</em>'.
+	 * @see org.eclipse.papyrus.RobotML.DeploymentPlan#getBase_Package()
+	 * @see #getDeploymentPlan()
+	 * @generated
+	 */
+	EReference getDeploymentPlan_Base_Package();
+
+	/**
+	 * Returns the meta object for the reference '{@link org.eclipse.papyrus.RobotML.DeploymentPlan#getMainInstance <em>Main Instance</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the reference '<em>Main Instance</em>'.
+	 * @see org.eclipse.papyrus.RobotML.DeploymentPlan#getMainInstance()
+	 * @see #getDeploymentPlan()
+	 * @generated
+	 */
+	EReference getDeploymentPlan_MainInstance();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotML.Gyroscope <em>Gyroscope</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Gyroscope</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Gyroscope
+	 * @generated
+	 */
+	EClass getGyroscope();
+
+	/**
+	 * Returns the meta object for enum '{@link org.eclipse.papyrus.RobotML.RobotKind <em>Robot Kind</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for enum '<em>Robot Kind</em>'.
+	 * @see org.eclipse.papyrus.RobotML.RobotKind
+	 * @generated
+	 */
+	EEnum getRobotKind();
+
+	/**
+	 * Returns the meta object for enum '{@link org.eclipse.papyrus.RobotML.UGVKind <em>UGV Kind</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for enum '<em>UGV Kind</em>'.
+	 * @see org.eclipse.papyrus.RobotML.UGVKind
+	 * @generated
+	 */
+	EEnum getUGVKind();
+
+	/**
+	 * Returns the meta object for enum '{@link org.eclipse.papyrus.RobotML.SynchronizationKind <em>Synchronization Kind</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for enum '<em>Synchronization Kind</em>'.
+	 * @see org.eclipse.papyrus.RobotML.SynchronizationKind
+	 * @generated
+	 */
+	EEnum getSynchronizationKind();
+
+	/**
+	 * Returns the meta object for enum '{@link org.eclipse.papyrus.RobotML.DataFlowDirectionKind <em>Data Flow Direction Kind</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for enum '<em>Data Flow Direction Kind</em>'.
+	 * @see org.eclipse.papyrus.RobotML.DataFlowDirectionKind
+	 * @generated
+	 */
+	EEnum getDataFlowDirectionKind();
+
+	/**
+	 * Returns the meta object for enum '{@link org.eclipse.papyrus.RobotML.ServiceFlowKind <em>Service Flow Kind</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for enum '<em>Service Flow Kind</em>'.
+	 * @see org.eclipse.papyrus.RobotML.ServiceFlowKind
+	 * @generated
+	 */
+	EEnum getServiceFlowKind();
+
+	/**
+	 * Returns the meta object for enum '{@link org.eclipse.papyrus.RobotML.RoboticMiddlewareKind <em>Robotic Middleware Kind</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for enum '<em>Robotic Middleware Kind</em>'.
+	 * @see org.eclipse.papyrus.RobotML.RoboticMiddlewareKind
+	 * @generated
+	 */
+	EEnum getRoboticMiddlewareKind();
+
+	/**
+	 * Returns the meta object for enum '{@link org.eclipse.papyrus.RobotML.Shade <em>Shade</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for enum '<em>Shade</em>'.
+	 * @see org.eclipse.papyrus.RobotML.Shade
+	 * @generated
+	 */
+	EEnum getShade();
+
+	/**
+	 * Returns the factory that creates the instances of the model.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the factory that creates the instances of the model.
+	 * @generated
+	 */
+	RobotMLFactory getRobotMLFactory();
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * Defines literals for the meta objects that represent
+	 * <ul>
+	 * <li>each class,</li>
+	 * <li>each feature of each class,</li>
+	 * <li>each enum,</li>
+	 * <li>and each data type</li>
+	 * </ul>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	interface Literals {
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.TransitionImpl <em>Transition</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.TransitionImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getTransition()
+		 * @generated
+		 */
+		EClass TRANSITION = eINSTANCE.getTransition();
+
+		/**
+		 * The meta object literal for the '<em><b>Base Transition</b></em>' reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference TRANSITION__BASE_TRANSITION = eINSTANCE.getTransition_Base_Transition();
+
+		/**
+		 * The meta object literal for the '<em><b>Guard</b></em>' reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference TRANSITION__GUARD = eINSTANCE.getTransition_Guard();
+
+		/**
+		 * The meta object literal for the '<em><b>Effect</b></em>' reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference TRANSITION__EFFECT = eINSTANCE.getTransition_Effect();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.AlgorithmImpl <em>Algorithm</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.AlgorithmImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getAlgorithm()
+		 * @generated
+		 */
+		EClass ALGORITHM = eINSTANCE.getAlgorithm();
+
+		/**
+		 * The meta object literal for the '<em><b>Base Operation</b></em>' reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference ALGORITHM__BASE_OPERATION = eINSTANCE.getAlgorithm_Base_Operation();
+
+		/**
+		 * The meta object literal for the '<em><b>Is External</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute ALGORITHM__IS_EXTERNAL = eINSTANCE.getAlgorithm_IsExternal();
+
+		/**
+		 * The meta object literal for the '<em><b>Ext Function Name</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute ALGORITHM__EXT_FUNCTION_NAME = eINSTANCE.getAlgorithm_ExtFunctionName();
+
+		/**
+		 * The meta object literal for the '<em><b>Lib Path</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute ALGORITHM__LIB_PATH = eINSTANCE.getAlgorithm_LibPath();
+
+		/**
+		 * The meta object literal for the '<em><b>Lib File Format</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute ALGORITHM__LIB_FILE_FORMAT = eINSTANCE.getAlgorithm_LibFileFormat();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.RobotImpl <em>Robot</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getRobot()
+		 * @generated
+		 */
+		EClass ROBOT = eINSTANCE.getRobot();
+
+		/**
+		 * The meta object literal for the '<em><b>Kind</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute ROBOT__KIND = eINSTANCE.getRobot_Kind();
+
+		/**
+		 * The meta object literal for the '<em><b>Mass</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute ROBOT__MASS = eINSTANCE.getRobot_Mass();
+
+		/**
+		 * The meta object literal for the '<em><b>Width</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute ROBOT__WIDTH = eINSTANCE.getRobot_Width();
+
+		/**
+		 * The meta object literal for the '<em><b>Ugv Kind</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute ROBOT__UGV_KIND = eINSTANCE.getRobot_UgvKind();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.SystemImpl <em>System</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.SystemImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getSystem()
+		 * @generated
+		 */
+		EClass SYSTEM = eINSTANCE.getSystem();
+
+		/**
+		 * The meta object literal for the '<em><b>Base Class</b></em>' reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference SYSTEM__BASE_CLASS = eINSTANCE.getSystem_Base_Class();
+
+		/**
+		 * The meta object literal for the '<em><b>Native</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute SYSTEM__NATIVE = eINSTANCE.getSystem_Native();
+
+		/**
+		 * The meta object literal for the '<em><b>Library Path</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute SYSTEM__LIBRARY_PATH = eINSTANCE.getSystem_LibraryPath();
+
+		/**
+		 * The meta object literal for the '<em><b>Library Component Name</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute SYSTEM__LIBRARY_COMPONENT_NAME = eINSTANCE.getSystem_LibraryComponentName();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.AgentImpl <em>Agent</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.AgentImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getAgent()
+		 * @generated
+		 */
+		EClass AGENT = eINSTANCE.getAgent();
+
+		/**
+		 * The meta object literal for the '<em><b>Moves Over</b></em>' reference list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference AGENT__MOVES_OVER = eINSTANCE.getAgent_MovesOver();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.PhysicalObjectImpl <em>Physical Object</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.PhysicalObjectImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getPhysicalObject()
+		 * @generated
+		 */
+		EClass PHYSICAL_OBJECT = eINSTANCE.getPhysicalObject();
+
+		/**
+		 * The meta object literal for the '<em><b>Eveloves In</b></em>' reference list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference PHYSICAL_OBJECT__EVELOVES_IN = eINSTANCE.getPhysicalObject_EvelovesIn();
+
+		/**
+		 * The meta object literal for the '<em><b>Has Surface</b></em>' reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference PHYSICAL_OBJECT__HAS_SURFACE = eINSTANCE.getPhysicalObject_HasSurface();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.EnvironmentImpl <em>Environment</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.EnvironmentImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getEnvironment()
+		 * @generated
+		 */
+		EClass ENVIRONMENT = eINSTANCE.getEnvironment();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.SurfaceImpl <em>Surface</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.SurfaceImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getSurface()
+		 * @generated
+		 */
+		EClass SURFACE = eINSTANCE.getSurface();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.DataFlowPortImpl <em>Data Flow Port</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.DataFlowPortImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getDataFlowPort()
+		 * @generated
+		 */
+		EClass DATA_FLOW_PORT = eINSTANCE.getDataFlowPort();
+
+		/**
+		 * The meta object literal for the '<em><b>Direction</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute DATA_FLOW_PORT__DIRECTION = eINSTANCE.getDataFlowPort_Direction();
+
+		/**
+		 * The meta object literal for the '<em><b>Buffer Size</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute DATA_FLOW_PORT__BUFFER_SIZE = eINSTANCE.getDataFlowPort_BufferSize();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.PortImpl <em>Port</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.PortImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getPort()
+		 * @generated
+		 */
+		EClass PORT = eINSTANCE.getPort();
+
+		/**
+		 * The meta object literal for the '<em><b>Base Port</b></em>' reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference PORT__BASE_PORT = eINSTANCE.getPort_Base_Port();
+
+		/**
+		 * The meta object literal for the '<em><b>Synchronization Policy</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute PORT__SYNCHRONIZATION_POLICY = eINSTANCE.getPort_SynchronizationPolicy();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.ServicePortImpl <em>Service Port</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.ServicePortImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getServicePort()
+		 * @generated
+		 */
+		EClass SERVICE_PORT = eINSTANCE.getServicePort();
+
+		/**
+		 * The meta object literal for the '<em><b>Kind</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute SERVICE_PORT__KIND = eINSTANCE.getServicePort_Kind();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.ActuatorSystemImpl <em>Actuator System</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.ActuatorSystemImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getActuatorSystem()
+		 * @generated
+		 */
+		EClass ACTUATOR_SYSTEM = eINSTANCE.getActuatorSystem();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.RoboticSystemImpl <em>Robotic System</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.RoboticSystemImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getRoboticSystem()
+		 * @generated
+		 */
+		EClass ROBOTIC_SYSTEM = eINSTANCE.getRoboticSystem();
+
+		/**
+		 * The meta object literal for the '<em><b>Local Position</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference ROBOTIC_SYSTEM__LOCAL_POSITION = eINSTANCE.getRoboticSystem_LocalPosition();
+
+		/**
+		 * The meta object literal for the '<em><b>Local Orientation</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference ROBOTIC_SYSTEM__LOCAL_ORIENTATION = eINSTANCE.getRoboticSystem_LocalOrientation();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.SensorSystemImpl <em>Sensor System</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.SensorSystemImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getSensorSystem()
+		 * @generated
+		 */
+		EClass SENSOR_SYSTEM = eINSTANCE.getSensorSystem();
+
+		/**
+		 * The meta object literal for the '<em><b>Frequency</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute SENSOR_SYSTEM__FREQUENCY = eINSTANCE.getSensorSystem_Frequency();
+
+		/**
+		 * The meta object literal for the '<em><b>Identifier</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute SENSOR_SYSTEM__IDENTIFIER = eINSTANCE.getSensorSystem_Identifier();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.HardwareImpl <em>Hardware</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.HardwareImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getHardware()
+		 * @generated
+		 */
+		EClass HARDWARE = eINSTANCE.getHardware();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.SoftwareImpl <em>Software</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.SoftwareImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getSoftware()
+		 * @generated
+		 */
+		EClass SOFTWARE = eINSTANCE.getSoftware();
+
+		/**
+		 * The meta object literal for the '<em><b>Is Periodic</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute SOFTWARE__IS_PERIODIC = eINSTANCE.getSoftware_IsPeriodic();
+
+		/**
+		 * The meta object literal for the '<em><b>Period</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute SOFTWARE__PERIOD = eINSTANCE.getSoftware_Period();
+
+		/**
+		 * The meta object literal for the '<em><b>Priority</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute SOFTWARE__PRIORITY = eINSTANCE.getSoftware_Priority();
+
+		/**
+		 * The meta object literal for the '<em><b>Deadline</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute SOFTWARE__DEADLINE = eINSTANCE.getSoftware_Deadline();
+
+		/**
+		 * The meta object literal for the '<em><b>Wcet</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute SOFTWARE__WCET = eINSTANCE.getSoftware_Wcet();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.PrimitiveDataImpl <em>Primitive Data</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.PrimitiveDataImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getPrimitiveData()
+		 * @generated
+		 */
+		EClass PRIMITIVE_DATA = eINSTANCE.getPrimitiveData();
+
+		/**
+		 * The meta object literal for the '<em><b>Base Primitive Type</b></em>' reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference PRIMITIVE_DATA__BASE_PRIMITIVE_TYPE = eINSTANCE.getPrimitiveData_Base_PrimitiveType();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.DataTypeImpl <em>Data Type</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.DataTypeImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getDataType()
+		 * @generated
+		 */
+		EClass DATA_TYPE = eINSTANCE.getDataType();
+
+		/**
+		 * The meta object literal for the '<em><b>Base Data Type</b></em>' reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference DATA_TYPE__BASE_DATA_TYPE = eINSTANCE.getDataType_Base_DataType();
+
+		/**
+		 * The meta object literal for the '<em><b>Native</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute DATA_TYPE__NATIVE = eINSTANCE.getDataType_Native();
+
+		/**
+		 * The meta object literal for the '<em><b>Library Path</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute DATA_TYPE__LIBRARY_PATH = eINSTANCE.getDataType_LibraryPath();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.EngineSystemImpl <em>Engine System</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.EngineSystemImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getEngineSystem()
+		 * @generated
+		 */
+		EClass ENGINE_SYSTEM = eINSTANCE.getEngineSystem();
+
+		/**
+		 * The meta object literal for the '<em><b>Vehicle Traction</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute ENGINE_SYSTEM__VEHICLE_TRACTION = eINSTANCE.getEngineSystem_VehicleTraction();
+
+		/**
+		 * The meta object literal for the '<em><b>Max Engine Force</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute ENGINE_SYSTEM__MAX_ENGINE_FORCE = eINSTANCE.getEngineSystem_MaxEngineForce();
+
+		/**
+		 * The meta object literal for the '<em><b>Max Breaking Force</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute ENGINE_SYSTEM__MAX_BREAKING_FORCE = eINSTANCE.getEngineSystem_MaxBreakingForce();
+
+		/**
+		 * The meta object literal for the '<em><b>Max Allowed Steering</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute ENGINE_SYSTEM__MAX_ALLOWED_STEERING = eINSTANCE.getEngineSystem_MaxAllowedSteering();
+
+		/**
+		 * The meta object literal for the '<em><b>Max Allowed Velocity</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute ENGINE_SYSTEM__MAX_ALLOWED_VELOCITY = eINSTANCE.getEngineSystem_MaxAllowedVelocity();
+
+		/**
+		 * The meta object literal for the '<em><b>Gear ration</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute ENGINE_SYSTEM__GEAR_RATION = eINSTANCE.getEngineSystem_Gear_ration();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.WheelSystemImpl <em>Wheel System</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.WheelSystemImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getWheelSystem()
+		 * @generated
+		 */
+		EClass WHEEL_SYSTEM = eINSTANCE.getWheelSystem();
+
+		/**
+		 * The meta object literal for the '<em><b>Wheel Radius</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute WHEEL_SYSTEM__WHEEL_RADIUS = eINSTANCE.getWheelSystem_WheelRadius();
+
+		/**
+		 * The meta object literal for the '<em><b>Wheel Width</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute WHEEL_SYSTEM__WHEEL_WIDTH = eINSTANCE.getWheelSystem_WheelWidth();
+
+		/**
+		 * The meta object literal for the '<em><b>Suspension Rest Length</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute WHEEL_SYSTEM__SUSPENSION_REST_LENGTH = eINSTANCE.getWheelSystem_SuspensionRestLength();
+
+		/**
+		 * The meta object literal for the '<em><b>Wheel Connection Height</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute WHEEL_SYSTEM__WHEEL_CONNECTION_HEIGHT = eINSTANCE.getWheelSystem_WheelConnectionHeight();
+
+		/**
+		 * The meta object literal for the '<em><b>Type Of Wheel</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute WHEEL_SYSTEM__TYPE_OF_WHEEL = eINSTANCE.getWheelSystem_TypeOfWheel();
+
+		/**
+		 * The meta object literal for the '<em><b>Wheel Velocity PI Dkp</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKP = eINSTANCE.getWheelSystem_WheelVelocityPIDkp();
+
+		/**
+		 * The meta object literal for the '<em><b>Wheel Velocity PI Dki</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKI = eINSTANCE.getWheelSystem_WheelVelocityPIDki();
+
+		/**
+		 * The meta object literal for the '<em><b>Wheel Velocity PI Dkd</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKD = eINSTANCE.getWheelSystem_WheelVelocityPIDkd();
+
+		/**
+		 * The meta object literal for the '<em><b>Wheel Steering PI Dkp</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute WHEEL_SYSTEM__WHEEL_STEERING_PI_DKP = eINSTANCE.getWheelSystem_WheelSteeringPIDkp();
+
+		/**
+		 * The meta object literal for the '<em><b>Wheel Steering PI Dkd</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute WHEEL_SYSTEM__WHEEL_STEERING_PI_DKD = eINSTANCE.getWheelSystem_WheelSteeringPIDkd();
+
+		/**
+		 * The meta object literal for the '<em><b>Wheel Friction</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute WHEEL_SYSTEM__WHEEL_FRICTION = eINSTANCE.getWheelSystem_WheelFriction();
+
+		/**
+		 * The meta object literal for the '<em><b>Suspension Stiffness</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute WHEEL_SYSTEM__SUSPENSION_STIFFNESS = eINSTANCE.getWheelSystem_SuspensionStiffness();
+
+		/**
+		 * The meta object literal for the '<em><b>Suspension Damping</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute WHEEL_SYSTEM__SUSPENSION_DAMPING = eINSTANCE.getWheelSystem_SuspensionDamping();
+
+		/**
+		 * The meta object literal for the '<em><b>Suspension Compression</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute WHEEL_SYSTEM__SUSPENSION_COMPRESSION = eINSTANCE.getWheelSystem_SuspensionCompression();
+
+		/**
+		 * The meta object literal for the '<em><b>Wheel Velocity PI Dmax Sum</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DMAX_SUM = eINSTANCE.getWheelSystem_WheelVelocityPIDmaxSum();
+
+		/**
+		 * The meta object literal for the '<em><b>Wheel Velocity PI Dmax Val</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DMAX_VAL = eINSTANCE.getWheelSystem_WheelVelocityPIDmaxVal();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.ImageSensorSystemImpl <em>Image Sensor System</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.ImageSensorSystemImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getImageSensorSystem()
+		 * @generated
+		 */
+		EClass IMAGE_SENSOR_SYSTEM = eINSTANCE.getImageSensorSystem();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.CameraSystemImpl <em>Camera System</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.CameraSystemImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getCameraSystem()
+		 * @generated
+		 */
+		EClass CAMERA_SYSTEM = eINSTANCE.getCameraSystem();
+
+		/**
+		 * The meta object literal for the '<em><b>Width</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute CAMERA_SYSTEM__WIDTH = eINSTANCE.getCameraSystem_Width();
+
+		/**
+		 * The meta object literal for the '<em><b>Height</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute CAMERA_SYSTEM__HEIGHT = eINSTANCE.getCameraSystem_Height();
+
+		/**
+		 * The meta object literal for the '<em><b>Alpha u</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute CAMERA_SYSTEM__ALPHA_U = eINSTANCE.getCameraSystem_Alpha_u();
+
+		/**
+		 * The meta object literal for the '<em><b>Alpha v</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute CAMERA_SYSTEM__ALPHA_V = eINSTANCE.getCameraSystem_Alpha_v();
+
+		/**
+		 * The meta object literal for the '<em><b>U0</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute CAMERA_SYSTEM__U0 = eINSTANCE.getCameraSystem_U0();
+
+		/**
+		 * The meta object literal for the '<em><b>V0</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute CAMERA_SYSTEM__V0 = eINSTANCE.getCameraSystem_V0();
+
+		/**
+		 * The meta object literal for the '<em><b>Color format</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute CAMERA_SYSTEM__COLOR_FORMAT = eINSTANCE.getCameraSystem_Color_format();
+
+		/**
+		 * The meta object literal for the '<em><b>Translate</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference CAMERA_SYSTEM__TRANSLATE = eINSTANCE.getCameraSystem_Translate();
+
+		/**
+		 * The meta object literal for the '<em><b>Rotate</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference CAMERA_SYSTEM__ROTATE = eINSTANCE.getCameraSystem_Rotate();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.ObjectDetectionSensorSystemImpl
+		 * <em>Object Detection Sensor System</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.ObjectDetectionSensorSystemImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getObjectDetectionSensorSystem()
+		 * @generated
+		 */
+		EClass OBJECT_DETECTION_SENSOR_SYSTEM = eINSTANCE.getObjectDetectionSensorSystem();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.ObjectTrackingSensorSystemImpl
+		 * <em>Object Tracking Sensor System</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.ObjectTrackingSensorSystemImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getObjectTrackingSensorSystem()
+		 * @generated
+		 */
+		EClass OBJECT_TRACKING_SENSOR_SYSTEM = eINSTANCE.getObjectTrackingSensorSystem();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.LidarSystemImpl <em>Lidar System</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.LidarSystemImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getLidarSystem()
+		 * @generated
+		 */
+		EClass LIDAR_SYSTEM = eINSTANCE.getLidarSystem();
+
+		/**
+		 * The meta object literal for the '<em><b>Nb Layers</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute LIDAR_SYSTEM__NB_LAYERS = eINSTANCE.getLidarSystem_NbLayers();
+
+		/**
+		 * The meta object literal for the '<em><b>Layer Angle Min</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute LIDAR_SYSTEM__LAYER_ANGLE_MIN = eINSTANCE.getLidarSystem_LayerAngleMin();
+
+		/**
+		 * The meta object literal for the '<em><b>Layer Angle Step</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute LIDAR_SYSTEM__LAYER_ANGLE_STEP = eINSTANCE.getLidarSystem_LayerAngleStep();
+
+		/**
+		 * The meta object literal for the '<em><b>Noise</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute LIDAR_SYSTEM__NOISE = eINSTANCE.getLidarSystem_Noise();
+
+		/**
+		 * The meta object literal for the '<em><b>Sigma Noise</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute LIDAR_SYSTEM__SIGMA_NOISE = eINSTANCE.getLidarSystem_SigmaNoise();
+
+		/**
+		 * The meta object literal for the '<em><b>Angle min</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute LIDAR_SYSTEM__ANGLE_MIN = eINSTANCE.getLidarSystem_Angle_min();
+
+		/**
+		 * The meta object literal for the '<em><b>Angle max</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute LIDAR_SYSTEM__ANGLE_MAX = eINSTANCE.getLidarSystem_Angle_max();
+
+		/**
+		 * The meta object literal for the '<em><b>Time increment</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute LIDAR_SYSTEM__TIME_INCREMENT = eINSTANCE.getLidarSystem_Time_increment();
+
+		/**
+		 * The meta object literal for the '<em><b>Scan time</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute LIDAR_SYSTEM__SCAN_TIME = eINSTANCE.getLidarSystem_Scan_time();
+
+		/**
+		 * The meta object literal for the '<em><b>Range min</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute LIDAR_SYSTEM__RANGE_MIN = eINSTANCE.getLidarSystem_Range_min();
+
+		/**
+		 * The meta object literal for the '<em><b>Range max</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute LIDAR_SYSTEM__RANGE_MAX = eINSTANCE.getLidarSystem_Range_max();
+
+		/**
+		 * The meta object literal for the '<em><b>Nb Rays</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute LIDAR_SYSTEM__NB_RAYS = eINSTANCE.getLidarSystem_NbRays();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.LocalizationSensorSystemImpl <em>Localization Sensor System</em>}'
+		 * class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.LocalizationSensorSystemImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getLocalizationSensorSystem()
+		 * @generated
+		 */
+		EClass LOCALIZATION_SENSOR_SYSTEM = eINSTANCE.getLocalizationSensorSystem();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.GPSSystemImpl <em>GPS System</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.GPSSystemImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getGPSSystem()
+		 * @generated
+		 */
+		EClass GPS_SYSTEM = eINSTANCE.getGPSSystem();
+
+		/**
+		 * The meta object literal for the '<em><b>Origin Position</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference GPS_SYSTEM__ORIGIN_POSITION = eINSTANCE.getGPSSystem_OriginPosition();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.SimulatedSystemImpl <em>Simulated System</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.SimulatedSystemImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getSimulatedSystem()
+		 * @generated
+		 */
+		EClass SIMULATED_SYSTEM = eINSTANCE.getSimulatedSystem();
+
+		/**
+		 * The meta object literal for the '<em><b>Base Property</b></em>' reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference SIMULATED_SYSTEM__BASE_PROPERTY = eINSTANCE.getSimulatedSystem_Base_Property();
+
+		/**
+		 * The meta object literal for the '<em><b>Mesh</b></em>' attribute list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute SIMULATED_SYSTEM__MESH = eINSTANCE.getSimulatedSystem_Mesh();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.AlgorithmLibraryImpl <em>Algorithm Library</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.AlgorithmLibraryImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getAlgorithmLibrary()
+		 * @generated
+		 */
+		EClass ALGORITHM_LIBRARY = eINSTANCE.getAlgorithmLibrary();
+
+		/**
+		 * The meta object literal for the '<em><b>Base Class</b></em>' reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference ALGORITHM_LIBRARY__BASE_CLASS = eINSTANCE.getAlgorithmLibrary_Base_Class();
+
+		/**
+		 * The meta object literal for the '<em><b>Path</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute ALGORITHM_LIBRARY__PATH = eINSTANCE.getAlgorithmLibrary_Path();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.StateImpl <em>State</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.StateImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getState()
+		 * @generated
+		 */
+		EClass STATE = eINSTANCE.getState();
+
+		/**
+		 * The meta object literal for the '<em><b>Base State</b></em>' reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference STATE__BASE_STATE = eINSTANCE.getState_Base_State();
+
+		/**
+		 * The meta object literal for the '<em><b>Operation</b></em>' reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference STATE__OPERATION = eINSTANCE.getState_Operation();
+
+		/**
+		 * The meta object literal for the '<em><b>Arguments</b></em>' reference list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference STATE__ARGUMENTS = eINSTANCE.getState_Arguments();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.SensorDriverImpl <em>Sensor Driver</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.SensorDriverImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getSensorDriver()
+		 * @generated
+		 */
+		EClass SENSOR_DRIVER = eINSTANCE.getSensorDriver();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.BuildingImpl <em>Building</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.BuildingImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getBuilding()
+		 * @generated
+		 */
+		EClass BUILDING = eINSTANCE.getBuilding();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.PlanetImpl <em>Planet</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.PlanetImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getPlanet()
+		 * @generated
+		 */
+		EClass PLANET = eINSTANCE.getPlanet();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.LandSurfaceImpl <em>Land Surface</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.LandSurfaceImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getLandSurface()
+		 * @generated
+		 */
+		EClass LAND_SURFACE = eINSTANCE.getLandSurface();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.GroundImpl <em>Ground</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.GroundImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getGround()
+		 * @generated
+		 */
+		EClass GROUND = eINSTANCE.getGround();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.FloorImpl <em>Floor</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.FloorImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getFloor()
+		 * @generated
+		 */
+		EClass FLOOR = eINSTANCE.getFloor();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.WaterSurfaceImpl <em>Water Surface</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.WaterSurfaceImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getWaterSurface()
+		 * @generated
+		 */
+		EClass WATER_SURFACE = eINSTANCE.getWaterSurface();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.HumanImpl <em>Human</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.HumanImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getHuman()
+		 * @generated
+		 */
+		EClass HUMAN = eINSTANCE.getHuman();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.PedestrianImpl <em>Pedestrian</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.PedestrianImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getPedestrian()
+		 * @generated
+		 */
+		EClass PEDESTRIAN = eINSTANCE.getPedestrian();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.StairsImpl <em>Stairs</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.StairsImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getStairs()
+		 * @generated
+		 */
+		EClass STAIRS = eINSTANCE.getStairs();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.PlatformImpl <em>Platform</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.PlatformImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getPlatform()
+		 * @generated
+		 */
+		EClass PLATFORM = eINSTANCE.getPlatform();
+
+		/**
+		 * The meta object literal for the '<em><b>Base Node</b></em>' reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference PLATFORM__BASE_NODE = eINSTANCE.getPlatform_Base_Node();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.RoboticMiddlewareImpl <em>Robotic Middleware</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.RoboticMiddlewareImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getRoboticMiddleware()
+		 * @generated
+		 */
+		EClass ROBOTIC_MIDDLEWARE = eINSTANCE.getRoboticMiddleware();
+
+		/**
+		 * The meta object literal for the '<em><b>Kind</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute ROBOTIC_MIDDLEWARE__KIND = eINSTANCE.getRoboticMiddleware_Kind();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.RoboticSimulatorImpl <em>Robotic Simulator</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.RoboticSimulatorImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getRoboticSimulator()
+		 * @generated
+		 */
+		EClass ROBOTIC_SIMULATOR = eINSTANCE.getRoboticSimulator();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.CycabTKImpl <em>Cycab TK</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.CycabTKImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getCycabTK()
+		 * @generated
+		 */
+		EClass CYCAB_TK = eINSTANCE.getCycabTK();
+
+		/**
+		 * The meta object literal for the '<em><b>Use Real Time</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute CYCAB_TK__USE_REAL_TIME = eINSTANCE.getCycabTK_UseRealTime();
+
+		/**
+		 * The meta object literal for the '<em><b>Time Step</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute CYCAB_TK__TIME_STEP = eINSTANCE.getCycabTK_TimeStep();
+
+		/**
+		 * The meta object literal for the '<em><b>Time Factor</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute CYCAB_TK__TIME_FACTOR = eINSTANCE.getCycabTK_TimeFactor();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.BlenderMorseImpl <em>Blender Morse</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.BlenderMorseImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getBlenderMorse()
+		 * @generated
+		 */
+		EClass BLENDER_MORSE = eINSTANCE.getBlenderMorse();
+
+		/**
+		 * The meta object literal for the '<em><b>Debug Mode</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute BLENDER_MORSE__DEBUG_MODE = eINSTANCE.getBlenderMorse_DebugMode();
+
+		/**
+		 * The meta object literal for the '<em><b>Debug Display</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute BLENDER_MORSE__DEBUG_DISPLAY = eINSTANCE.getBlenderMorse_DebugDisplay();
+
+		/**
+		 * The meta object literal for the '<em><b>Gravity</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute BLENDER_MORSE__GRAVITY = eINSTANCE.getBlenderMorse_Gravity();
+
+		/**
+		 * The meta object literal for the '<em><b>viewport shade</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute BLENDER_MORSE__VIEWPORT_SHADE = eINSTANCE.getBlenderMorse__viewport_shade();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.OnPortImpl <em>On Port</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.OnPortImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getOnPort()
+		 * @generated
+		 */
+		EClass ON_PORT = eINSTANCE.getOnPort();
+
+		/**
+		 * The meta object literal for the '<em><b>Port</b></em>' reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference ON_PORT__PORT = eINSTANCE.getOnPort_Port();
+
+		/**
+		 * The meta object literal for the '<em><b>Base Parameter</b></em>' reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference ON_PORT__BASE_PARAMETER = eINSTANCE.getOnPort_Base_Parameter();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.AllocateImpl <em>Allocate</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.AllocateImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getAllocate()
+		 * @generated
+		 */
+		EClass ALLOCATE = eINSTANCE.getAllocate();
+
+		/**
+		 * The meta object literal for the '<em><b>Base Abstraction</b></em>' reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference ALLOCATE__BASE_ABSTRACTION = eINSTANCE.getAllocate_Base_Abstraction();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.InertialMeasurementUnitSystemImpl
+		 * <em>Inertial Measurement Unit System</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.InertialMeasurementUnitSystemImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getInertialMeasurementUnitSystem()
+		 * @generated
+		 */
+		EClass INERTIAL_MEASUREMENT_UNIT_SYSTEM = eINSTANCE.getInertialMeasurementUnitSystem();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.InertialNavigationSystemImpl <em>Inertial Navigation System</em>}'
+		 * class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.InertialNavigationSystemImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getInertialNavigationSystem()
+		 * @generated
+		 */
+		EClass INERTIAL_NAVIGATION_SYSTEM = eINSTANCE.getInertialNavigationSystem();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.OdometrySystemImpl <em>Odometry System</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.OdometrySystemImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getOdometrySystem()
+		 * @generated
+		 */
+		EClass ODOMETRY_SYSTEM = eINSTANCE.getOdometrySystem();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.InfraRedProximetrySystemImpl <em>Infra Red Proximetry System</em>}
+		 * ' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.InfraRedProximetrySystemImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getInfraRedProximetrySystem()
+		 * @generated
+		 */
+		EClass INFRA_RED_PROXIMETRY_SYSTEM = eINSTANCE.getInfraRedProximetrySystem();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.DeploymentPlanImpl <em>Deployment Plan</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.DeploymentPlanImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getDeploymentPlan()
+		 * @generated
+		 */
+		EClass DEPLOYMENT_PLAN = eINSTANCE.getDeploymentPlan();
+
+		/**
+		 * The meta object literal for the '<em><b>Base Package</b></em>' reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference DEPLOYMENT_PLAN__BASE_PACKAGE = eINSTANCE.getDeploymentPlan_Base_Package();
+
+		/**
+		 * The meta object literal for the '<em><b>Main Instance</b></em>' reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference DEPLOYMENT_PLAN__MAIN_INSTANCE = eINSTANCE.getDeploymentPlan_MainInstance();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.impl.GyroscopeImpl <em>Gyroscope</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.impl.GyroscopeImpl
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getGyroscope()
+		 * @generated
+		 */
+		EClass GYROSCOPE = eINSTANCE.getGyroscope();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.RobotKind <em>Robot Kind</em>}' enum.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.RobotKind
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getRobotKind()
+		 * @generated
+		 */
+		EEnum ROBOT_KIND = eINSTANCE.getRobotKind();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.UGVKind <em>UGV Kind</em>}' enum.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.UGVKind
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getUGVKind()
+		 * @generated
+		 */
+		EEnum UGV_KIND = eINSTANCE.getUGVKind();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.SynchronizationKind <em>Synchronization Kind</em>}' enum.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.SynchronizationKind
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getSynchronizationKind()
+		 * @generated
+		 */
+		EEnum SYNCHRONIZATION_KIND = eINSTANCE.getSynchronizationKind();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.DataFlowDirectionKind <em>Data Flow Direction Kind</em>}' enum.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.DataFlowDirectionKind
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getDataFlowDirectionKind()
+		 * @generated
+		 */
+		EEnum DATA_FLOW_DIRECTION_KIND = eINSTANCE.getDataFlowDirectionKind();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.ServiceFlowKind <em>Service Flow Kind</em>}' enum.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.ServiceFlowKind
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getServiceFlowKind()
+		 * @generated
+		 */
+		EEnum SERVICE_FLOW_KIND = eINSTANCE.getServiceFlowKind();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.RoboticMiddlewareKind <em>Robotic Middleware Kind</em>}' enum.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.RoboticMiddlewareKind
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getRoboticMiddlewareKind()
+		 * @generated
+		 */
+		EEnum ROBOTIC_MIDDLEWARE_KIND = eINSTANCE.getRoboticMiddlewareKind();
+
+		/**
+		 * The meta object literal for the '{@link org.eclipse.papyrus.RobotML.Shade <em>Shade</em>}' enum.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotML.Shade
+		 * @see org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl#getShade()
+		 * @generated
+		 */
+		EEnum SHADE = eINSTANCE.getShade();
+
+	}
+
+} //RobotMLPackage
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/RoboticMiddleware.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/RoboticMiddleware.java
new file mode 100644
index 00000000000..d428738f4ae
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/RoboticMiddleware.java
@@ -0,0 +1,64 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Robotic Middleware</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.RoboticMiddleware#getKind <em>Kind</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getRoboticMiddleware()
+ * @model
+ * @generated
+ */
+public interface RoboticMiddleware extends Platform {
+
+	/**
+	 * Returns the value of the '<em><b>Kind</b></em>' attribute.
+	 * The literals are from the enumeration {@link org.eclipse.papyrus.RobotML.RoboticMiddlewareKind}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Kind</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Kind</em>' attribute.
+	 * @see org.eclipse.papyrus.RobotML.RoboticMiddlewareKind
+	 * @see #setKind(RoboticMiddlewareKind)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getRoboticMiddleware_Kind()
+	 * @model required="true" ordered="false"
+	 * @generated
+	 */
+	RoboticMiddlewareKind getKind();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.RoboticMiddleware#getKind <em>Kind</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Kind</em>' attribute.
+	 * @see org.eclipse.papyrus.RobotML.RoboticMiddlewareKind
+	 * @see #getKind()
+	 * @generated
+	 */
+	void setKind(RoboticMiddlewareKind value);
+
+} // RoboticMiddleware
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/RoboticMiddlewareKind.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/RoboticMiddlewareKind.java
new file mode 100644
index 00000000000..c8b9e3ad736
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/RoboticMiddlewareKind.java
@@ -0,0 +1,315 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+import java.util.Arrays;
+import java.util.Collections;
+import java.util.List;
+
+import org.eclipse.emf.common.util.Enumerator;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the literals of the enumeration '<em><b>Robotic Middleware Kind</b></em>',
+ * and utility methods for working with them.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getRoboticMiddlewareKind()
+ * @model
+ * @generated
+ */
+public enum RoboticMiddlewareKind implements Enumerator {
+	/**
+	 * The '<em><b>RT Maps</b></em>' literal object.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #RT_MAPS_VALUE
+	 * @generated
+	 * @ordered
+	 */
+	RT_MAPS(0, "RTMaps", "RTMaps"),
+
+	/**
+	 * The '<em><b>AROCAM</b></em>' literal object.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #AROCAM_VALUE
+	 * @generated
+	 * @ordered
+	 */
+	AROCAM(1, "AROCAM", "AROCAM"),
+
+	/**
+	 * The '<em><b>ROS</b></em>' literal object.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #ROS_VALUE
+	 * @generated
+	 * @ordered
+	 */
+	ROS(2, "ROS", "ROS"),
+
+	/**
+	 * The '<em><b>OROCOS</b></em>' literal object.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #OROCOS_VALUE
+	 * @generated
+	 * @ordered
+	 */
+	OROCOS(3, "OROCOS", "OROCOS"),
+
+	/**
+	 * The '<em><b>URBI</b></em>' literal object.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #URBI_VALUE
+	 * @generated
+	 * @ordered
+	 */
+	URBI(4, "URBI", "URBI");
+
+	/**
+	 * The '<em><b>RT Maps</b></em>' literal value.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of '<em><b>RT Maps</b></em>' literal object isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #RT_MAPS
+	 * @model name="RTMaps"
+	 * @generated
+	 * @ordered
+	 */
+	public static final int RT_MAPS_VALUE = 0;
+
+	/**
+	 * The '<em><b>AROCAM</b></em>' literal value.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of '<em><b>AROCAM</b></em>' literal object isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #AROCAM
+	 * @model
+	 * @generated
+	 * @ordered
+	 */
+	public static final int AROCAM_VALUE = 1;
+
+	/**
+	 * The '<em><b>ROS</b></em>' literal value.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of '<em><b>ROS</b></em>' literal object isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #ROS
+	 * @model
+	 * @generated
+	 * @ordered
+	 */
+	public static final int ROS_VALUE = 2;
+
+	/**
+	 * The '<em><b>OROCOS</b></em>' literal value.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of '<em><b>OROCOS</b></em>' literal object isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #OROCOS
+	 * @model
+	 * @generated
+	 * @ordered
+	 */
+	public static final int OROCOS_VALUE = 3;
+
+	/**
+	 * The '<em><b>URBI</b></em>' literal value.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of '<em><b>URBI</b></em>' literal object isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #URBI
+	 * @model
+	 * @generated
+	 * @ordered
+	 */
+	public static final int URBI_VALUE = 4;
+
+	/**
+	 * An array of all the '<em><b>Robotic Middleware Kind</b></em>' enumerators.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private static final RoboticMiddlewareKind[] VALUES_ARRAY = new RoboticMiddlewareKind[]{ RT_MAPS, AROCAM, ROS, OROCOS, URBI, };
+
+	/**
+	 * A public read-only list of all the '<em><b>Robotic Middleware Kind</b></em>' enumerators.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static final List<RoboticMiddlewareKind> VALUES = Collections.unmodifiableList(Arrays.asList(VALUES_ARRAY));
+
+	/**
+	 * Returns the '<em><b>Robotic Middleware Kind</b></em>' literal with the specified literal value.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static RoboticMiddlewareKind get(String literal) {
+		for(int i = 0; i < VALUES_ARRAY.length; ++i) {
+			RoboticMiddlewareKind result = VALUES_ARRAY[i];
+			if(result.toString().equals(literal)) {
+				return result;
+			}
+		}
+		return null;
+	}
+
+	/**
+	 * Returns the '<em><b>Robotic Middleware Kind</b></em>' literal with the specified name.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static RoboticMiddlewareKind getByName(String name) {
+		for(int i = 0; i < VALUES_ARRAY.length; ++i) {
+			RoboticMiddlewareKind result = VALUES_ARRAY[i];
+			if(result.getName().equals(name)) {
+				return result;
+			}
+		}
+		return null;
+	}
+
+	/**
+	 * Returns the '<em><b>Robotic Middleware Kind</b></em>' literal with the specified integer value.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static RoboticMiddlewareKind get(int value) {
+		switch(value) {
+		case RT_MAPS_VALUE:
+			return RT_MAPS;
+		case AROCAM_VALUE:
+			return AROCAM;
+		case ROS_VALUE:
+			return ROS;
+		case OROCOS_VALUE:
+			return OROCOS;
+		case URBI_VALUE:
+			return URBI;
+		}
+		return null;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private final int value;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private final String name;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private final String literal;
+
+	/**
+	 * Only this class can construct instances.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private RoboticMiddlewareKind(int value, String name, String literal) {
+		this.value = value;
+		this.name = name;
+		this.literal = literal;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public int getValue() {
+		return value;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getName() {
+		return name;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getLiteral() {
+		return literal;
+	}
+
+	/**
+	 * Returns the literal value of the enumerator, which is its string representation.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		return literal;
+	}
+
+} //RoboticMiddlewareKind
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/RoboticSimulator.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/RoboticSimulator.java
new file mode 100644
index 00000000000..a03aac7b529
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/RoboticSimulator.java
@@ -0,0 +1,26 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Robotic Simulator</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getRoboticSimulator()
+ * @model
+ * @generated
+ */
+public interface RoboticSimulator extends Platform {
+} // RoboticSimulator
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/RoboticSystem.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/RoboticSystem.java
new file mode 100644
index 00000000000..dec0ba705f1
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/RoboticSystem.java
@@ -0,0 +1,91 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point32;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Robotic System</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.RoboticSystem#getLocalPosition <em>Local Position</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.RoboticSystem#getLocalOrientation <em>Local Orientation</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getRoboticSystem()
+ * @model
+ * @generated
+ */
+public interface RoboticSystem extends org.eclipse.papyrus.RobotML.System {
+
+	/**
+	 * Returns the value of the '<em><b>Local Position</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Local Position</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Local Position</em>' containment reference.
+	 * @see #setLocalPosition(Point32)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getRoboticSystem_LocalPosition()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Point32 getLocalPosition();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.RoboticSystem#getLocalPosition <em>Local Position</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Local Position</em>' containment reference.
+	 * @see #getLocalPosition()
+	 * @generated
+	 */
+	void setLocalPosition(Point32 value);
+
+	/**
+	 * Returns the value of the '<em><b>Local Orientation</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Local Orientation</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Local Orientation</em>' containment reference.
+	 * @see #setLocalOrientation(Point32)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getRoboticSystem_LocalOrientation()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Point32 getLocalOrientation();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.RoboticSystem#getLocalOrientation <em>Local Orientation</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Local Orientation</em>' containment reference.
+	 * @see #getLocalOrientation()
+	 * @generated
+	 */
+	void setLocalOrientation(Point32 value);
+
+} // RoboticSystem
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/SensorDriver.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/SensorDriver.java
new file mode 100644
index 00000000000..5254bc75287
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/SensorDriver.java
@@ -0,0 +1,26 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Sensor Driver</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getSensorDriver()
+ * @model
+ * @generated
+ */
+public interface SensorDriver extends Software {
+} // SensorDriver
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/SensorSystem.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/SensorSystem.java
new file mode 100644
index 00000000000..84e3016a753
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/SensorSystem.java
@@ -0,0 +1,92 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Sensor System</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.SensorSystem#getFrequency <em>Frequency</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.SensorSystem#getIdentifier <em>Identifier</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getSensorSystem()
+ * @model
+ * @generated
+ */
+public interface SensorSystem extends RoboticSystem {
+
+	/**
+	 * Returns the value of the '<em><b>Frequency</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Frequency</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Frequency</em>' attribute.
+	 * @see #setFrequency(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getSensorSystem_Frequency()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getFrequency();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.SensorSystem#getFrequency <em>Frequency</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Frequency</em>' attribute.
+	 * @see #getFrequency()
+	 * @generated
+	 */
+	void setFrequency(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Identifier</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Identifier</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Identifier</em>' attribute.
+	 * @see #setIdentifier(String)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getSensorSystem_Identifier()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.String" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	String getIdentifier();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.SensorSystem#getIdentifier <em>Identifier</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Identifier</em>' attribute.
+	 * @see #getIdentifier()
+	 * @generated
+	 */
+	void setIdentifier(String value);
+
+} // SensorSystem
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/ServiceFlowKind.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/ServiceFlowKind.java
new file mode 100644
index 00000000000..22f8b171e56
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/ServiceFlowKind.java
@@ -0,0 +1,231 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+import java.util.Arrays;
+import java.util.Collections;
+import java.util.List;
+
+import org.eclipse.emf.common.util.Enumerator;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the literals of the enumeration '<em><b>Service Flow Kind</b></em>',
+ * and utility methods for working with them.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getServiceFlowKind()
+ * @model
+ * @generated
+ */
+public enum ServiceFlowKind implements Enumerator {
+	/**
+	 * The '<em><b>Provided</b></em>' literal object.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #PROVIDED_VALUE
+	 * @generated
+	 * @ordered
+	 */
+	PROVIDED(0, "provided", "provided"),
+
+	/**
+	 * The '<em><b>Required</b></em>' literal object.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #REQUIRED_VALUE
+	 * @generated
+	 * @ordered
+	 */
+	REQUIRED(1, "required", "required");
+
+	/**
+	 * The '<em><b>Provided</b></em>' literal value.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of '<em><b>Provided</b></em>' literal object isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #PROVIDED
+	 * @model name="provided"
+	 * @generated
+	 * @ordered
+	 */
+	public static final int PROVIDED_VALUE = 0;
+
+	/**
+	 * The '<em><b>Required</b></em>' literal value.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of '<em><b>Required</b></em>' literal object isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #REQUIRED
+	 * @model name="required"
+	 * @generated
+	 * @ordered
+	 */
+	public static final int REQUIRED_VALUE = 1;
+
+	/**
+	 * An array of all the '<em><b>Service Flow Kind</b></em>' enumerators.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private static final ServiceFlowKind[] VALUES_ARRAY = new ServiceFlowKind[]{ PROVIDED, REQUIRED, };
+
+	/**
+	 * A public read-only list of all the '<em><b>Service Flow Kind</b></em>' enumerators.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static final List<ServiceFlowKind> VALUES = Collections.unmodifiableList(Arrays.asList(VALUES_ARRAY));
+
+	/**
+	 * Returns the '<em><b>Service Flow Kind</b></em>' literal with the specified literal value.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static ServiceFlowKind get(String literal) {
+		for(int i = 0; i < VALUES_ARRAY.length; ++i) {
+			ServiceFlowKind result = VALUES_ARRAY[i];
+			if(result.toString().equals(literal)) {
+				return result;
+			}
+		}
+		return null;
+	}
+
+	/**
+	 * Returns the '<em><b>Service Flow Kind</b></em>' literal with the specified name.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static ServiceFlowKind getByName(String name) {
+		for(int i = 0; i < VALUES_ARRAY.length; ++i) {
+			ServiceFlowKind result = VALUES_ARRAY[i];
+			if(result.getName().equals(name)) {
+				return result;
+			}
+		}
+		return null;
+	}
+
+	/**
+	 * Returns the '<em><b>Service Flow Kind</b></em>' literal with the specified integer value.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static ServiceFlowKind get(int value) {
+		switch(value) {
+		case PROVIDED_VALUE:
+			return PROVIDED;
+		case REQUIRED_VALUE:
+			return REQUIRED;
+		}
+		return null;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private final int value;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private final String name;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private final String literal;
+
+	/**
+	 * Only this class can construct instances.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private ServiceFlowKind(int value, String name, String literal) {
+		this.value = value;
+		this.name = name;
+		this.literal = literal;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public int getValue() {
+		return value;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getName() {
+		return name;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getLiteral() {
+		return literal;
+	}
+
+	/**
+	 * Returns the literal value of the enumerator, which is its string representation.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		return literal;
+	}
+
+} //ServiceFlowKind
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/ServicePort.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/ServicePort.java
new file mode 100644
index 00000000000..a3e8af25e2c
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/ServicePort.java
@@ -0,0 +1,64 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Service Port</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.ServicePort#getKind <em>Kind</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getServicePort()
+ * @model
+ * @generated
+ */
+public interface ServicePort extends Port {
+
+	/**
+	 * Returns the value of the '<em><b>Kind</b></em>' attribute.
+	 * The literals are from the enumeration {@link org.eclipse.papyrus.RobotML.ServiceFlowKind}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Kind</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Kind</em>' attribute.
+	 * @see org.eclipse.papyrus.RobotML.ServiceFlowKind
+	 * @see #setKind(ServiceFlowKind)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getServicePort_Kind()
+	 * @model required="true" ordered="false"
+	 * @generated
+	 */
+	ServiceFlowKind getKind();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.ServicePort#getKind <em>Kind</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Kind</em>' attribute.
+	 * @see org.eclipse.papyrus.RobotML.ServiceFlowKind
+	 * @see #getKind()
+	 * @generated
+	 */
+	void setKind(ServiceFlowKind value);
+
+} // ServicePort
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Shade.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Shade.java
new file mode 100644
index 00000000000..eb2ced4d1ae
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Shade.java
@@ -0,0 +1,287 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+import java.util.Arrays;
+import java.util.Collections;
+import java.util.List;
+
+import org.eclipse.emf.common.util.Enumerator;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the literals of the enumeration '<em><b>Shade</b></em>',
+ * and utility methods for working with them.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getShade()
+ * @model
+ * @generated
+ */
+public enum Shade implements Enumerator {
+	/**
+	 * The '<em><b>WIREFRAME</b></em>' literal object.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #WIREFRAME_VALUE
+	 * @generated
+	 * @ordered
+	 */
+	WIREFRAME(0, "WIREFRAME", "WIREFRAME"),
+
+	/**
+	 * The '<em><b>BOUNDBOX</b></em>' literal object.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #BOUNDBOX_VALUE
+	 * @generated
+	 * @ordered
+	 */
+	BOUNDBOX(1, "BOUNDBOX", "BOUNDBOX"),
+
+	/**
+	 * The '<em><b>SOLID</b></em>' literal object.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #SOLID_VALUE
+	 * @generated
+	 * @ordered
+	 */
+	SOLID(2, "SOLID", "SOLID"),
+
+	/**
+	 * The '<em><b>TEXTURED</b></em>' literal object.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #TEXTURED_VALUE
+	 * @generated
+	 * @ordered
+	 */
+	TEXTURED(3, "TEXTURED", "TEXTURED");
+
+	/**
+	 * The '<em><b>WIREFRAME</b></em>' literal value.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of '<em><b>WIREFRAME</b></em>' literal object isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #WIREFRAME
+	 * @model
+	 * @generated
+	 * @ordered
+	 */
+	public static final int WIREFRAME_VALUE = 0;
+
+	/**
+	 * The '<em><b>BOUNDBOX</b></em>' literal value.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of '<em><b>BOUNDBOX</b></em>' literal object isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #BOUNDBOX
+	 * @model
+	 * @generated
+	 * @ordered
+	 */
+	public static final int BOUNDBOX_VALUE = 1;
+
+	/**
+	 * The '<em><b>SOLID</b></em>' literal value.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of '<em><b>SOLID</b></em>' literal object isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #SOLID
+	 * @model
+	 * @generated
+	 * @ordered
+	 */
+	public static final int SOLID_VALUE = 2;
+
+	/**
+	 * The '<em><b>TEXTURED</b></em>' literal value.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of '<em><b>TEXTURED</b></em>' literal object isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #TEXTURED
+	 * @model
+	 * @generated
+	 * @ordered
+	 */
+	public static final int TEXTURED_VALUE = 3;
+
+	/**
+	 * An array of all the '<em><b>Shade</b></em>' enumerators.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private static final Shade[] VALUES_ARRAY = new Shade[]{ WIREFRAME, BOUNDBOX, SOLID, TEXTURED, };
+
+	/**
+	 * A public read-only list of all the '<em><b>Shade</b></em>' enumerators.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static final List<Shade> VALUES = Collections.unmodifiableList(Arrays.asList(VALUES_ARRAY));
+
+	/**
+	 * Returns the '<em><b>Shade</b></em>' literal with the specified literal value.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static Shade get(String literal) {
+		for(int i = 0; i < VALUES_ARRAY.length; ++i) {
+			Shade result = VALUES_ARRAY[i];
+			if(result.toString().equals(literal)) {
+				return result;
+			}
+		}
+		return null;
+	}
+
+	/**
+	 * Returns the '<em><b>Shade</b></em>' literal with the specified name.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static Shade getByName(String name) {
+		for(int i = 0; i < VALUES_ARRAY.length; ++i) {
+			Shade result = VALUES_ARRAY[i];
+			if(result.getName().equals(name)) {
+				return result;
+			}
+		}
+		return null;
+	}
+
+	/**
+	 * Returns the '<em><b>Shade</b></em>' literal with the specified integer value.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static Shade get(int value) {
+		switch(value) {
+		case WIREFRAME_VALUE:
+			return WIREFRAME;
+		case BOUNDBOX_VALUE:
+			return BOUNDBOX;
+		case SOLID_VALUE:
+			return SOLID;
+		case TEXTURED_VALUE:
+			return TEXTURED;
+		}
+		return null;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private final int value;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private final String name;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private final String literal;
+
+	/**
+	 * Only this class can construct instances.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private Shade(int value, String name, String literal) {
+		this.value = value;
+		this.name = name;
+		this.literal = literal;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public int getValue() {
+		return value;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getName() {
+		return name;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getLiteral() {
+		return literal;
+	}
+
+	/**
+	 * Returns the literal value of the enumerator, which is its string representation.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		return literal;
+	}
+
+} //Shade
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/SimulatedSystem.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/SimulatedSystem.java
new file mode 100644
index 00000000000..5ea6ee6fbfe
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/SimulatedSystem.java
@@ -0,0 +1,80 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.uml2.uml.Property;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Simulated System</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.SimulatedSystem#getBase_Property <em>Base Property</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.SimulatedSystem#getMesh <em>Mesh</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getSimulatedSystem()
+ * @model
+ * @generated
+ */
+public interface SimulatedSystem extends Software {
+
+	/**
+	 * Returns the value of the '<em><b>Base Property</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Base Property</em>' reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Base Property</em>' reference.
+	 * @see #setBase_Property(Property)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getSimulatedSystem_Base_Property()
+	 * @model required="true" ordered="false"
+	 * @generated
+	 */
+	Property getBase_Property();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.SimulatedSystem#getBase_Property <em>Base Property</em>}' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Base Property</em>' reference.
+	 * @see #getBase_Property()
+	 * @generated
+	 */
+	void setBase_Property(Property value);
+
+	/**
+	 * Returns the value of the '<em><b>Mesh</b></em>' attribute list.
+	 * The list contents are of type {@link java.lang.String}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Mesh</em>' attribute list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Mesh</em>' attribute list.
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getSimulatedSystem_Mesh()
+	 * @model dataType="org.eclipse.uml2.types.String" ordered="false"
+	 * @generated
+	 */
+	EList<String> getMesh();
+
+} // SimulatedSystem
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Software.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Software.java
new file mode 100644
index 00000000000..fdd09998bc7
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Software.java
@@ -0,0 +1,181 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Software</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.Software#isIsPeriodic <em>Is Periodic</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.Software#getPeriod <em>Period</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.Software#getPriority <em>Priority</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.Software#getDeadline <em>Deadline</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.Software#getWcet <em>Wcet</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getSoftware()
+ * @model
+ * @generated
+ */
+public interface Software extends org.eclipse.papyrus.RobotML.System {
+
+	/**
+	 * Returns the value of the '<em><b>Is Periodic</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Is Periodic</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Is Periodic</em>' attribute.
+	 * @see #setIsPeriodic(boolean)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getSoftware_IsPeriodic()
+	 * @model dataType="org.eclipse.uml2.types.Boolean" required="true" ordered="false"
+	 * @generated
+	 */
+	boolean isIsPeriodic();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.Software#isIsPeriodic <em>Is Periodic</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Is Periodic</em>' attribute.
+	 * @see #isIsPeriodic()
+	 * @generated
+	 */
+	void setIsPeriodic(boolean value);
+
+	/**
+	 * Returns the value of the '<em><b>Period</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Period</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Period</em>' attribute.
+	 * @see #setPeriod(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getSoftware_Period()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getPeriod();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.Software#getPeriod <em>Period</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Period</em>' attribute.
+	 * @see #getPeriod()
+	 * @generated
+	 */
+	void setPeriod(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Priority</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Priority</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Priority</em>' attribute.
+	 * @see #setPriority(char)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getSoftware_Priority()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	char getPriority();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.Software#getPriority <em>Priority</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Priority</em>' attribute.
+	 * @see #getPriority()
+	 * @generated
+	 */
+	void setPriority(char value);
+
+	/**
+	 * Returns the value of the '<em><b>Deadline</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Deadline</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Deadline</em>' attribute.
+	 * @see #setDeadline(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getSoftware_Deadline()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getDeadline();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.Software#getDeadline <em>Deadline</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Deadline</em>' attribute.
+	 * @see #getDeadline()
+	 * @generated
+	 */
+	void setDeadline(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Wcet</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Wcet</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Wcet</em>' attribute.
+	 * @see #setWcet(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getSoftware_Wcet()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getWcet();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.Software#getWcet <em>Wcet</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Wcet</em>' attribute.
+	 * @see #getWcet()
+	 * @generated
+	 */
+	void setWcet(float value);
+
+} // Software
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Stairs.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Stairs.java
new file mode 100644
index 00000000000..968a1a4434d
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Stairs.java
@@ -0,0 +1,26 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Stairs</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getStairs()
+ * @model
+ * @generated
+ */
+public interface Stairs extends Ground {
+} // Stairs
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/State.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/State.java
new file mode 100644
index 00000000000..f2615eb6471
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/State.java
@@ -0,0 +1,110 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.uml2.uml.Property;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>State</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.State#getBase_State <em>Base State</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.State#getOperation <em>Operation</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.State#getArguments <em>Arguments</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getState()
+ * @model
+ * @generated
+ */
+public interface State extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Base State</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Base State</em>' reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Base State</em>' reference.
+	 * @see #setBase_State(org.eclipse.uml2.uml.State)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getState_Base_State()
+	 * @model required="true" ordered="false"
+	 * @generated
+	 */
+	org.eclipse.uml2.uml.State getBase_State();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.State#getBase_State <em>Base State</em>}' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Base State</em>' reference.
+	 * @see #getBase_State()
+	 * @generated
+	 */
+	void setBase_State(org.eclipse.uml2.uml.State value);
+
+	/**
+	 * Returns the value of the '<em><b>Operation</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Operation</em>' reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Operation</em>' reference.
+	 * @see #setOperation(Algorithm)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getState_Operation()
+	 * @model required="true" ordered="false"
+	 * @generated
+	 */
+	Algorithm getOperation();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.State#getOperation <em>Operation</em>}' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Operation</em>' reference.
+	 * @see #getOperation()
+	 * @generated
+	 */
+	void setOperation(Algorithm value);
+
+	/**
+	 * Returns the value of the '<em><b>Arguments</b></em>' reference list.
+	 * The list contents are of type {@link org.eclipse.uml2.uml.Property}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Arguments</em>' reference list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Arguments</em>' reference list.
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getState_Arguments()
+	 * @model ordered="false"
+	 * @generated
+	 */
+	EList<Property> getArguments();
+
+} // State
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Surface.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Surface.java
new file mode 100644
index 00000000000..28d87ee618b
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Surface.java
@@ -0,0 +1,26 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Surface</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getSurface()
+ * @model
+ * @generated
+ */
+public interface Surface extends PhysicalObject {
+} // Surface
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/SynchronizationKind.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/SynchronizationKind.java
new file mode 100644
index 00000000000..6aefe794041
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/SynchronizationKind.java
@@ -0,0 +1,259 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+import java.util.Arrays;
+import java.util.Collections;
+import java.util.List;
+
+import org.eclipse.emf.common.util.Enumerator;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the literals of the enumeration '<em><b>Synchronization Kind</b></em>',
+ * and utility methods for working with them.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getSynchronizationKind()
+ * @model
+ * @generated
+ */
+public enum SynchronizationKind implements Enumerator {
+	/**
+	 * The '<em><b>SYNCH</b></em>' literal object.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #SYNCH_VALUE
+	 * @generated
+	 * @ordered
+	 */
+	SYNCH(0, "SYNCH", "SYNCH"),
+
+	/**
+	 * The '<em><b>ASYNCH</b></em>' literal object.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #ASYNCH_VALUE
+	 * @generated
+	 * @ordered
+	 */
+	ASYNCH(1, "ASYNCH", "ASYNCH"),
+
+	/**
+	 * The '<em><b>Undefined</b></em>' literal object.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #UNDEFINED_VALUE
+	 * @generated
+	 * @ordered
+	 */
+	UNDEFINED(2, "undefined", "undefined");
+
+	/**
+	 * The '<em><b>SYNCH</b></em>' literal value.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of '<em><b>SYNCH</b></em>' literal object isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #SYNCH
+	 * @model
+	 * @generated
+	 * @ordered
+	 */
+	public static final int SYNCH_VALUE = 0;
+
+	/**
+	 * The '<em><b>ASYNCH</b></em>' literal value.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of '<em><b>ASYNCH</b></em>' literal object isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #ASYNCH
+	 * @model
+	 * @generated
+	 * @ordered
+	 */
+	public static final int ASYNCH_VALUE = 1;
+
+	/**
+	 * The '<em><b>Undefined</b></em>' literal value.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of '<em><b>Undefined</b></em>' literal object isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #UNDEFINED
+	 * @model name="undefined"
+	 * @generated
+	 * @ordered
+	 */
+	public static final int UNDEFINED_VALUE = 2;
+
+	/**
+	 * An array of all the '<em><b>Synchronization Kind</b></em>' enumerators.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private static final SynchronizationKind[] VALUES_ARRAY = new SynchronizationKind[]{ SYNCH, ASYNCH, UNDEFINED, };
+
+	/**
+	 * A public read-only list of all the '<em><b>Synchronization Kind</b></em>' enumerators.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static final List<SynchronizationKind> VALUES = Collections.unmodifiableList(Arrays.asList(VALUES_ARRAY));
+
+	/**
+	 * Returns the '<em><b>Synchronization Kind</b></em>' literal with the specified literal value.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static SynchronizationKind get(String literal) {
+		for(int i = 0; i < VALUES_ARRAY.length; ++i) {
+			SynchronizationKind result = VALUES_ARRAY[i];
+			if(result.toString().equals(literal)) {
+				return result;
+			}
+		}
+		return null;
+	}
+
+	/**
+	 * Returns the '<em><b>Synchronization Kind</b></em>' literal with the specified name.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static SynchronizationKind getByName(String name) {
+		for(int i = 0; i < VALUES_ARRAY.length; ++i) {
+			SynchronizationKind result = VALUES_ARRAY[i];
+			if(result.getName().equals(name)) {
+				return result;
+			}
+		}
+		return null;
+	}
+
+	/**
+	 * Returns the '<em><b>Synchronization Kind</b></em>' literal with the specified integer value.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static SynchronizationKind get(int value) {
+		switch(value) {
+		case SYNCH_VALUE:
+			return SYNCH;
+		case ASYNCH_VALUE:
+			return ASYNCH;
+		case UNDEFINED_VALUE:
+			return UNDEFINED;
+		}
+		return null;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private final int value;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private final String name;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private final String literal;
+
+	/**
+	 * Only this class can construct instances.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private SynchronizationKind(int value, String name, String literal) {
+		this.value = value;
+		this.name = name;
+		this.literal = literal;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public int getValue() {
+		return value;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getName() {
+		return name;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getLiteral() {
+		return literal;
+	}
+
+	/**
+	 * Returns the literal value of the enumerator, which is its string representation.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		return literal;
+	}
+
+} //SynchronizationKind
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/System.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/System.java
new file mode 100644
index 00000000000..74818696c7c
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/System.java
@@ -0,0 +1,149 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>System</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.System#getBase_Class <em>Base Class</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.System#isNative <em>Native</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.System#getLibraryPath <em>Library Path</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.System#getLibraryComponentName <em>Library Component Name</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getSystem()
+ * @model
+ * @generated
+ */
+public interface System extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Base Class</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Base Class</em>' reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Base Class</em>' reference.
+	 * @see #setBase_Class(org.eclipse.uml2.uml.Class)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getSystem_Base_Class()
+	 * @model required="true" ordered="false"
+	 * @generated
+	 */
+	org.eclipse.uml2.uml.Class getBase_Class();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.System#getBase_Class <em>Base Class</em>}' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Base Class</em>' reference.
+	 * @see #getBase_Class()
+	 * @generated
+	 */
+	void setBase_Class(org.eclipse.uml2.uml.Class value);
+
+	/**
+	 * Returns the value of the '<em><b>Native</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Native</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Native</em>' attribute.
+	 * @see #setNative(boolean)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getSystem_Native()
+	 * @model dataType="org.eclipse.uml2.types.Boolean" required="true" ordered="false"
+	 * @generated
+	 */
+	boolean isNative();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.System#isNative <em>Native</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Native</em>' attribute.
+	 * @see #isNative()
+	 * @generated
+	 */
+	void setNative(boolean value);
+
+	/**
+	 * Returns the value of the '<em><b>Library Path</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Library Path</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Library Path</em>' attribute.
+	 * @see #setLibraryPath(String)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getSystem_LibraryPath()
+	 * @model dataType="org.eclipse.uml2.types.String" required="true" ordered="false"
+	 * @generated
+	 */
+	String getLibraryPath();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.System#getLibraryPath <em>Library Path</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Library Path</em>' attribute.
+	 * @see #getLibraryPath()
+	 * @generated
+	 */
+	void setLibraryPath(String value);
+
+	/**
+	 * Returns the value of the '<em><b>Library Component Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Library Component Name</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Library Component Name</em>' attribute.
+	 * @see #setLibraryComponentName(String)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getSystem_LibraryComponentName()
+	 * @model dataType="org.eclipse.uml2.types.String" required="true" ordered="false"
+	 * @generated
+	 */
+	String getLibraryComponentName();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.System#getLibraryComponentName <em>Library Component Name</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Library Component Name</em>' attribute.
+	 * @see #getLibraryComponentName()
+	 * @generated
+	 */
+	void setLibraryComponentName(String value);
+
+} // System
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Transition.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Transition.java
new file mode 100644
index 00000000000..669f3ad4b65
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/Transition.java
@@ -0,0 +1,126 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Transition</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <!-- begin-model-doc -->
+ * guard is typed with a boolean operation that have to be defined in the model before using it
+ * effect is typed by an operation that is owned by the component that is behaviored by the FSM
+ * 
+ * <!-- end-model-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.Transition#getBase_Transition <em>Base Transition</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.Transition#getGuard <em>Guard</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.Transition#getEffect <em>Effect</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getTransition()
+ * @model
+ * @generated
+ */
+public interface Transition extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Base Transition</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Base Transition</em>' reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Base Transition</em>' reference.
+	 * @see #setBase_Transition(org.eclipse.uml2.uml.Transition)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getTransition_Base_Transition()
+	 * @model required="true" ordered="false"
+	 * @generated
+	 */
+	org.eclipse.uml2.uml.Transition getBase_Transition();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.Transition#getBase_Transition <em>Base Transition</em>}' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Base Transition</em>' reference.
+	 * @see #getBase_Transition()
+	 * @generated
+	 */
+	void setBase_Transition(org.eclipse.uml2.uml.Transition value);
+
+	/**
+	 * Returns the value of the '<em><b>Guard</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Guard</em>' reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Guard</em>' reference.
+	 * @see #setGuard(Algorithm)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getTransition_Guard()
+	 * @model required="true" ordered="false"
+	 * @generated
+	 */
+	Algorithm getGuard();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.Transition#getGuard <em>Guard</em>}' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Guard</em>' reference.
+	 * @see #getGuard()
+	 * @generated
+	 */
+	void setGuard(Algorithm value);
+
+	/**
+	 * Returns the value of the '<em><b>Effect</b></em>' reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Effect</em>' reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Effect</em>' reference.
+	 * @see #setEffect(Algorithm)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getTransition_Effect()
+	 * @model required="true" ordered="false"
+	 * @generated
+	 */
+	Algorithm getEffect();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.Transition#getEffect <em>Effect</em>}' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Effect</em>' reference.
+	 * @see #getEffect()
+	 * @generated
+	 */
+	void setEffect(Algorithm value);
+
+} // Transition
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/UGVKind.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/UGVKind.java
new file mode 100644
index 00000000000..af101077f40
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/UGVKind.java
@@ -0,0 +1,231 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+import java.util.Arrays;
+import java.util.Collections;
+import java.util.List;
+
+import org.eclipse.emf.common.util.Enumerator;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the literals of the enumeration '<em><b>UGV Kind</b></em>',
+ * and utility methods for working with them.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getUGVKind()
+ * @model
+ * @generated
+ */
+public enum UGVKind implements Enumerator {
+	/**
+	 * The '<em><b>Differential</b></em>' literal object.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #DIFFERENTIAL_VALUE
+	 * @generated
+	 * @ordered
+	 */
+	DIFFERENTIAL(0, "differential", "differential"),
+
+	/**
+	 * The '<em><b>Car</b></em>' literal object.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #CAR_VALUE
+	 * @generated
+	 * @ordered
+	 */
+	CAR(1, "car", "car");
+
+	/**
+	 * The '<em><b>Differential</b></em>' literal value.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of '<em><b>Differential</b></em>' literal object isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #DIFFERENTIAL
+	 * @model name="differential"
+	 * @generated
+	 * @ordered
+	 */
+	public static final int DIFFERENTIAL_VALUE = 0;
+
+	/**
+	 * The '<em><b>Car</b></em>' literal value.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of '<em><b>Car</b></em>' literal object isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #CAR
+	 * @model name="car"
+	 * @generated
+	 * @ordered
+	 */
+	public static final int CAR_VALUE = 1;
+
+	/**
+	 * An array of all the '<em><b>UGV Kind</b></em>' enumerators.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private static final UGVKind[] VALUES_ARRAY = new UGVKind[]{ DIFFERENTIAL, CAR, };
+
+	/**
+	 * A public read-only list of all the '<em><b>UGV Kind</b></em>' enumerators.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static final List<UGVKind> VALUES = Collections.unmodifiableList(Arrays.asList(VALUES_ARRAY));
+
+	/**
+	 * Returns the '<em><b>UGV Kind</b></em>' literal with the specified literal value.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static UGVKind get(String literal) {
+		for(int i = 0; i < VALUES_ARRAY.length; ++i) {
+			UGVKind result = VALUES_ARRAY[i];
+			if(result.toString().equals(literal)) {
+				return result;
+			}
+		}
+		return null;
+	}
+
+	/**
+	 * Returns the '<em><b>UGV Kind</b></em>' literal with the specified name.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static UGVKind getByName(String name) {
+		for(int i = 0; i < VALUES_ARRAY.length; ++i) {
+			UGVKind result = VALUES_ARRAY[i];
+			if(result.getName().equals(name)) {
+				return result;
+			}
+		}
+		return null;
+	}
+
+	/**
+	 * Returns the '<em><b>UGV Kind</b></em>' literal with the specified integer value.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static UGVKind get(int value) {
+		switch(value) {
+		case DIFFERENTIAL_VALUE:
+			return DIFFERENTIAL;
+		case CAR_VALUE:
+			return CAR;
+		}
+		return null;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private final int value;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private final String name;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private final String literal;
+
+	/**
+	 * Only this class can construct instances.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private UGVKind(int value, String name, String literal) {
+		this.value = value;
+		this.name = name;
+		this.literal = literal;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public int getValue() {
+		return value;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getName() {
+		return name;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getLiteral() {
+		return literal;
+	}
+
+	/**
+	 * Returns the literal value of the enumerator, which is its string representation.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		return literal;
+	}
+
+} //UGVKind
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/WaterSurface.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/WaterSurface.java
new file mode 100644
index 00000000000..43f292fa4be
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/WaterSurface.java
@@ -0,0 +1,26 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Water Surface</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getWaterSurface()
+ * @model
+ * @generated
+ */
+public interface WaterSurface extends Surface {
+} // WaterSurface
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/WheelSystem.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/WheelSystem.java
new file mode 100644
index 00000000000..a342aaa30b3
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/WheelSystem.java
@@ -0,0 +1,514 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML;
+
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Wheel System</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.WheelSystem#getWheelRadius <em>Wheel Radius</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.WheelSystem#getWheelWidth <em>Wheel Width</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.WheelSystem#getSuspensionRestLength <em>Suspension Rest Length</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.WheelSystem#getWheelConnectionHeight <em>Wheel Connection Height</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.WheelSystem#getTypeOfWheel <em>Type Of Wheel</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.WheelSystem#getWheelVelocityPIDkp <em>Wheel Velocity PI Dkp</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.WheelSystem#getWheelVelocityPIDki <em>Wheel Velocity PI Dki</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.WheelSystem#getWheelVelocityPIDkd <em>Wheel Velocity PI Dkd</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.WheelSystem#getWheelSteeringPIDkp <em>Wheel Steering PI Dkp</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.WheelSystem#getWheelSteeringPIDkd <em>Wheel Steering PI Dkd</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.WheelSystem#getWheelFriction <em>Wheel Friction</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.WheelSystem#getSuspensionStiffness <em>Suspension Stiffness</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.WheelSystem#getSuspensionDamping <em>Suspension Damping</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.WheelSystem#getSuspensionCompression <em>Suspension Compression</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.WheelSystem#getWheelVelocityPIDmaxSum <em>Wheel Velocity PI Dmax Sum</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.WheelSystem#getWheelVelocityPIDmaxVal <em>Wheel Velocity PI Dmax Val</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getWheelSystem()
+ * @model
+ * @generated
+ */
+public interface WheelSystem extends ActuatorSystem {
+
+	/**
+	 * Returns the value of the '<em><b>Wheel Radius</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Wheel Radius</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Wheel Radius</em>' attribute.
+	 * @see #setWheelRadius(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getWheelSystem_WheelRadius()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getWheelRadius();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.WheelSystem#getWheelRadius <em>Wheel Radius</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Wheel Radius</em>' attribute.
+	 * @see #getWheelRadius()
+	 * @generated
+	 */
+	void setWheelRadius(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Wheel Width</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Wheel Width</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Wheel Width</em>' attribute.
+	 * @see #setWheelWidth(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getWheelSystem_WheelWidth()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getWheelWidth();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.WheelSystem#getWheelWidth <em>Wheel Width</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Wheel Width</em>' attribute.
+	 * @see #getWheelWidth()
+	 * @generated
+	 */
+	void setWheelWidth(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Suspension Rest Length</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Suspension Rest Length</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Suspension Rest Length</em>' attribute.
+	 * @see #setSuspensionRestLength(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getWheelSystem_SuspensionRestLength()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getSuspensionRestLength();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.WheelSystem#getSuspensionRestLength <em>Suspension Rest Length</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Suspension Rest Length</em>' attribute.
+	 * @see #getSuspensionRestLength()
+	 * @generated
+	 */
+	void setSuspensionRestLength(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Wheel Connection Height</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Wheel Connection Height</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Wheel Connection Height</em>' attribute.
+	 * @see #setWheelConnectionHeight(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getWheelSystem_WheelConnectionHeight()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getWheelConnectionHeight();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.WheelSystem#getWheelConnectionHeight <em>Wheel Connection Height</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Wheel Connection Height</em>' attribute.
+	 * @see #getWheelConnectionHeight()
+	 * @generated
+	 */
+	void setWheelConnectionHeight(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Type Of Wheel</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Type Of Wheel</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Type Of Wheel</em>' attribute.
+	 * @see #setTypeOfWheel(String)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getWheelSystem_TypeOfWheel()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.String" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	String getTypeOfWheel();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.WheelSystem#getTypeOfWheel <em>Type Of Wheel</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Type Of Wheel</em>' attribute.
+	 * @see #getTypeOfWheel()
+	 * @generated
+	 */
+	void setTypeOfWheel(String value);
+
+	/**
+	 * Returns the value of the '<em><b>Wheel Velocity PI Dkp</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Wheel Velocity PI Dkp</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Wheel Velocity PI Dkp</em>' attribute.
+	 * @see #setWheelVelocityPIDkp(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getWheelSystem_WheelVelocityPIDkp()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getWheelVelocityPIDkp();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.WheelSystem#getWheelVelocityPIDkp <em>Wheel Velocity PI Dkp</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Wheel Velocity PI Dkp</em>' attribute.
+	 * @see #getWheelVelocityPIDkp()
+	 * @generated
+	 */
+	void setWheelVelocityPIDkp(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Wheel Velocity PI Dki</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Wheel Velocity PI Dki</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Wheel Velocity PI Dki</em>' attribute.
+	 * @see #setWheelVelocityPIDki(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getWheelSystem_WheelVelocityPIDki()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getWheelVelocityPIDki();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.WheelSystem#getWheelVelocityPIDki <em>Wheel Velocity PI Dki</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Wheel Velocity PI Dki</em>' attribute.
+	 * @see #getWheelVelocityPIDki()
+	 * @generated
+	 */
+	void setWheelVelocityPIDki(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Wheel Velocity PI Dkd</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Wheel Velocity PI Dkd</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Wheel Velocity PI Dkd</em>' attribute.
+	 * @see #setWheelVelocityPIDkd(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getWheelSystem_WheelVelocityPIDkd()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getWheelVelocityPIDkd();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.WheelSystem#getWheelVelocityPIDkd <em>Wheel Velocity PI Dkd</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Wheel Velocity PI Dkd</em>' attribute.
+	 * @see #getWheelVelocityPIDkd()
+	 * @generated
+	 */
+	void setWheelVelocityPIDkd(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Wheel Steering PI Dkp</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Wheel Steering PI Dkp</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Wheel Steering PI Dkp</em>' attribute.
+	 * @see #setWheelSteeringPIDkp(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getWheelSystem_WheelSteeringPIDkp()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getWheelSteeringPIDkp();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.WheelSystem#getWheelSteeringPIDkp <em>Wheel Steering PI Dkp</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Wheel Steering PI Dkp</em>' attribute.
+	 * @see #getWheelSteeringPIDkp()
+	 * @generated
+	 */
+	void setWheelSteeringPIDkp(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Wheel Steering PI Dkd</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Wheel Steering PI Dkd</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Wheel Steering PI Dkd</em>' attribute.
+	 * @see #setWheelSteeringPIDkd(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getWheelSystem_WheelSteeringPIDkd()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getWheelSteeringPIDkd();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.WheelSystem#getWheelSteeringPIDkd <em>Wheel Steering PI Dkd</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Wheel Steering PI Dkd</em>' attribute.
+	 * @see #getWheelSteeringPIDkd()
+	 * @generated
+	 */
+	void setWheelSteeringPIDkd(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Wheel Friction</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Wheel Friction</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Wheel Friction</em>' attribute.
+	 * @see #setWheelFriction(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getWheelSystem_WheelFriction()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getWheelFriction();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.WheelSystem#getWheelFriction <em>Wheel Friction</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Wheel Friction</em>' attribute.
+	 * @see #getWheelFriction()
+	 * @generated
+	 */
+	void setWheelFriction(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Suspension Stiffness</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Suspension Stiffness</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Suspension Stiffness</em>' attribute.
+	 * @see #setSuspensionStiffness(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getWheelSystem_SuspensionStiffness()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getSuspensionStiffness();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.WheelSystem#getSuspensionStiffness <em>Suspension Stiffness</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Suspension Stiffness</em>' attribute.
+	 * @see #getSuspensionStiffness()
+	 * @generated
+	 */
+	void setSuspensionStiffness(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Suspension Damping</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Suspension Damping</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Suspension Damping</em>' attribute.
+	 * @see #setSuspensionDamping(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getWheelSystem_SuspensionDamping()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getSuspensionDamping();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.WheelSystem#getSuspensionDamping <em>Suspension Damping</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Suspension Damping</em>' attribute.
+	 * @see #getSuspensionDamping()
+	 * @generated
+	 */
+	void setSuspensionDamping(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Suspension Compression</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Suspension Compression</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Suspension Compression</em>' attribute.
+	 * @see #setSuspensionCompression(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getWheelSystem_SuspensionCompression()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getSuspensionCompression();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.WheelSystem#getSuspensionCompression <em>Suspension Compression</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Suspension Compression</em>' attribute.
+	 * @see #getSuspensionCompression()
+	 * @generated
+	 */
+	void setSuspensionCompression(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Wheel Velocity PI Dmax Sum</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Wheel Velocity PI Dmax Sum</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Wheel Velocity PI Dmax Sum</em>' attribute.
+	 * @see #setWheelVelocityPIDmaxSum(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getWheelSystem_WheelVelocityPIDmaxSum()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getWheelVelocityPIDmaxSum();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.WheelSystem#getWheelVelocityPIDmaxSum <em>Wheel Velocity PI Dmax Sum</em>}'
+	 * attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Wheel Velocity PI Dmax Sum</em>' attribute.
+	 * @see #getWheelVelocityPIDmaxSum()
+	 * @generated
+	 */
+	void setWheelVelocityPIDmaxSum(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Wheel Velocity PI Dmax Val</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Wheel Velocity PI Dmax Val</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Wheel Velocity PI Dmax Val</em>' attribute.
+	 * @see #setWheelVelocityPIDmaxVal(float)
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#getWheelSystem_WheelVelocityPIDmaxVal()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getWheelVelocityPIDmaxVal();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotML.WheelSystem#getWheelVelocityPIDmaxVal <em>Wheel Velocity PI Dmax Val</em>}'
+	 * attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Wheel Velocity PI Dmax Val</em>' attribute.
+	 * @see #getWheelVelocityPIDmaxVal()
+	 * @generated
+	 */
+	void setWheelVelocityPIDmaxVal(float value);
+
+} // WheelSystem
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/ActuatorSystemImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/ActuatorSystemImpl.java
new file mode 100644
index 00000000000..209a7736939
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/ActuatorSystemImpl.java
@@ -0,0 +1,50 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.papyrus.RobotML.ActuatorSystem;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Actuator System</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * </p>
+ * 
+ * @generated
+ */
+public class ActuatorSystemImpl extends RoboticSystemImpl implements ActuatorSystem {
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected ActuatorSystemImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.ACTUATOR_SYSTEM;
+	}
+
+} //ActuatorSystemImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/AgentImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/AgentImpl.java
new file mode 100644
index 00000000000..89a407bd8c9
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/AgentImpl.java
@@ -0,0 +1,147 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import java.util.Collection;
+
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.util.EObjectResolvingEList;
+import org.eclipse.papyrus.RobotML.Agent;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.papyrus.RobotML.Surface;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Agent</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.AgentImpl#getMovesOver <em>Moves Over</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class AgentImpl extends PhysicalObjectImpl implements Agent {
+
+	/**
+	 * The cached value of the '{@link #getMovesOver() <em>Moves Over</em>}' reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getMovesOver()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Surface> movesOver;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected AgentImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.AGENT;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Surface> getMovesOver() {
+		if(movesOver == null) {
+			movesOver = new EObjectResolvingEList<Surface>(Surface.class, this, RobotMLPackage.AGENT__MOVES_OVER);
+		}
+		return movesOver;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case RobotMLPackage.AGENT__MOVES_OVER:
+			return getMovesOver();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@SuppressWarnings("unchecked")
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case RobotMLPackage.AGENT__MOVES_OVER:
+			getMovesOver().clear();
+			getMovesOver().addAll((Collection<? extends Surface>)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.AGENT__MOVES_OVER:
+			getMovesOver().clear();
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.AGENT__MOVES_OVER:
+			return movesOver != null && !movesOver.isEmpty();
+		}
+		return super.eIsSet(featureID);
+	}
+
+} //AgentImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/AlgorithmImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/AlgorithmImpl.java
new file mode 100644
index 00000000000..8be565e5308
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/AlgorithmImpl.java
@@ -0,0 +1,423 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotML.Algorithm;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.uml2.uml.Operation;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Algorithm</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.AlgorithmImpl#getBase_Operation <em>Base Operation</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.AlgorithmImpl#isIsExternal <em>Is External</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.AlgorithmImpl#getExtFunctionName <em>Ext Function Name</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.AlgorithmImpl#getLibPath <em>Lib Path</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.AlgorithmImpl#getLibFileFormat <em>Lib File Format</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class AlgorithmImpl extends EObjectImpl implements Algorithm {
+
+	/**
+	 * The cached value of the '{@link #getBase_Operation() <em>Base Operation</em>}' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getBase_Operation()
+	 * @generated
+	 * @ordered
+	 */
+	protected Operation base_Operation;
+
+	/**
+	 * The default value of the '{@link #isIsExternal() <em>Is External</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #isIsExternal()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final boolean IS_EXTERNAL_EDEFAULT = false;
+
+	/**
+	 * The cached value of the '{@link #isIsExternal() <em>Is External</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #isIsExternal()
+	 * @generated
+	 * @ordered
+	 */
+	protected boolean isExternal = IS_EXTERNAL_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getExtFunctionName() <em>Ext Function Name</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getExtFunctionName()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final String EXT_FUNCTION_NAME_EDEFAULT = null;
+
+	/**
+	 * The cached value of the '{@link #getExtFunctionName() <em>Ext Function Name</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getExtFunctionName()
+	 * @generated
+	 * @ordered
+	 */
+	protected String extFunctionName = EXT_FUNCTION_NAME_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getLibPath() <em>Lib Path</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLibPath()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final String LIB_PATH_EDEFAULT = null;
+
+	/**
+	 * The cached value of the '{@link #getLibPath() <em>Lib Path</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLibPath()
+	 * @generated
+	 * @ordered
+	 */
+	protected String libPath = LIB_PATH_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getLibFileFormat() <em>Lib File Format</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLibFileFormat()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final String LIB_FILE_FORMAT_EDEFAULT = "elf";
+
+	/**
+	 * The cached value of the '{@link #getLibFileFormat() <em>Lib File Format</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLibFileFormat()
+	 * @generated
+	 * @ordered
+	 */
+	protected String libFileFormat = LIB_FILE_FORMAT_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected AlgorithmImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.ALGORITHM;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Operation getBase_Operation() {
+		if(base_Operation != null && base_Operation.eIsProxy()) {
+			InternalEObject oldBase_Operation = (InternalEObject)base_Operation;
+			base_Operation = (Operation)eResolveProxy(oldBase_Operation);
+			if(base_Operation != oldBase_Operation) {
+				if(eNotificationRequired())
+					eNotify(new ENotificationImpl(this, Notification.RESOLVE, RobotMLPackage.ALGORITHM__BASE_OPERATION, oldBase_Operation, base_Operation));
+			}
+		}
+		return base_Operation;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Operation basicGetBase_Operation() {
+		return base_Operation;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setBase_Operation(Operation newBase_Operation) {
+		Operation oldBase_Operation = base_Operation;
+		base_Operation = newBase_Operation;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.ALGORITHM__BASE_OPERATION, oldBase_Operation, base_Operation));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public boolean isIsExternal() {
+		return isExternal;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setIsExternal(boolean newIsExternal) {
+		boolean oldIsExternal = isExternal;
+		isExternal = newIsExternal;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.ALGORITHM__IS_EXTERNAL, oldIsExternal, isExternal));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getExtFunctionName() {
+		return extFunctionName;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setExtFunctionName(String newExtFunctionName) {
+		String oldExtFunctionName = extFunctionName;
+		extFunctionName = newExtFunctionName;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.ALGORITHM__EXT_FUNCTION_NAME, oldExtFunctionName, extFunctionName));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getLibPath() {
+		return libPath;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setLibPath(String newLibPath) {
+		String oldLibPath = libPath;
+		libPath = newLibPath;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.ALGORITHM__LIB_PATH, oldLibPath, libPath));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getLibFileFormat() {
+		return libFileFormat;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setLibFileFormat(String newLibFileFormat) {
+		String oldLibFileFormat = libFileFormat;
+		libFileFormat = newLibFileFormat;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.ALGORITHM__LIB_FILE_FORMAT, oldLibFileFormat, libFileFormat));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case RobotMLPackage.ALGORITHM__BASE_OPERATION:
+			if(resolve)
+				return getBase_Operation();
+			return basicGetBase_Operation();
+		case RobotMLPackage.ALGORITHM__IS_EXTERNAL:
+			return isIsExternal();
+		case RobotMLPackage.ALGORITHM__EXT_FUNCTION_NAME:
+			return getExtFunctionName();
+		case RobotMLPackage.ALGORITHM__LIB_PATH:
+			return getLibPath();
+		case RobotMLPackage.ALGORITHM__LIB_FILE_FORMAT:
+			return getLibFileFormat();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case RobotMLPackage.ALGORITHM__BASE_OPERATION:
+			setBase_Operation((Operation)newValue);
+			return;
+		case RobotMLPackage.ALGORITHM__IS_EXTERNAL:
+			setIsExternal((Boolean)newValue);
+			return;
+		case RobotMLPackage.ALGORITHM__EXT_FUNCTION_NAME:
+			setExtFunctionName((String)newValue);
+			return;
+		case RobotMLPackage.ALGORITHM__LIB_PATH:
+			setLibPath((String)newValue);
+			return;
+		case RobotMLPackage.ALGORITHM__LIB_FILE_FORMAT:
+			setLibFileFormat((String)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.ALGORITHM__BASE_OPERATION:
+			setBase_Operation((Operation)null);
+			return;
+		case RobotMLPackage.ALGORITHM__IS_EXTERNAL:
+			setIsExternal(IS_EXTERNAL_EDEFAULT);
+			return;
+		case RobotMLPackage.ALGORITHM__EXT_FUNCTION_NAME:
+			setExtFunctionName(EXT_FUNCTION_NAME_EDEFAULT);
+			return;
+		case RobotMLPackage.ALGORITHM__LIB_PATH:
+			setLibPath(LIB_PATH_EDEFAULT);
+			return;
+		case RobotMLPackage.ALGORITHM__LIB_FILE_FORMAT:
+			setLibFileFormat(LIB_FILE_FORMAT_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.ALGORITHM__BASE_OPERATION:
+			return base_Operation != null;
+		case RobotMLPackage.ALGORITHM__IS_EXTERNAL:
+			return isExternal != IS_EXTERNAL_EDEFAULT;
+		case RobotMLPackage.ALGORITHM__EXT_FUNCTION_NAME:
+			return EXT_FUNCTION_NAME_EDEFAULT == null ? extFunctionName != null : !EXT_FUNCTION_NAME_EDEFAULT.equals(extFunctionName);
+		case RobotMLPackage.ALGORITHM__LIB_PATH:
+			return LIB_PATH_EDEFAULT == null ? libPath != null : !LIB_PATH_EDEFAULT.equals(libPath);
+		case RobotMLPackage.ALGORITHM__LIB_FILE_FORMAT:
+			return LIB_FILE_FORMAT_EDEFAULT == null ? libFileFormat != null : !LIB_FILE_FORMAT_EDEFAULT.equals(libFileFormat);
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (isExternal: ");
+		result.append(isExternal);
+		result.append(", extFunctionName: ");
+		result.append(extFunctionName);
+		result.append(", libPath: ");
+		result.append(libPath);
+		result.append(", libFileFormat: ");
+		result.append(libFileFormat);
+		result.append(')');
+		return result.toString();
+	}
+
+} //AlgorithmImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/AlgorithmLibraryImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/AlgorithmLibraryImpl.java
new file mode 100644
index 00000000000..9401983dae0
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/AlgorithmLibraryImpl.java
@@ -0,0 +1,248 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotML.AlgorithmLibrary;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Algorithm Library</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.AlgorithmLibraryImpl#getBase_Class <em>Base Class</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.AlgorithmLibraryImpl#getPath <em>Path</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class AlgorithmLibraryImpl extends EObjectImpl implements AlgorithmLibrary {
+
+	/**
+	 * The cached value of the '{@link #getBase_Class() <em>Base Class</em>}' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getBase_Class()
+	 * @generated
+	 * @ordered
+	 */
+	protected org.eclipse.uml2.uml.Class base_Class;
+
+	/**
+	 * The default value of the '{@link #getPath() <em>Path</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getPath()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final String PATH_EDEFAULT = null;
+
+	/**
+	 * The cached value of the '{@link #getPath() <em>Path</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getPath()
+	 * @generated
+	 * @ordered
+	 */
+	protected String path = PATH_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected AlgorithmLibraryImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.ALGORITHM_LIBRARY;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public org.eclipse.uml2.uml.Class getBase_Class() {
+		if(base_Class != null && base_Class.eIsProxy()) {
+			InternalEObject oldBase_Class = (InternalEObject)base_Class;
+			base_Class = (org.eclipse.uml2.uml.Class)eResolveProxy(oldBase_Class);
+			if(base_Class != oldBase_Class) {
+				if(eNotificationRequired())
+					eNotify(new ENotificationImpl(this, Notification.RESOLVE, RobotMLPackage.ALGORITHM_LIBRARY__BASE_CLASS, oldBase_Class, base_Class));
+			}
+		}
+		return base_Class;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public org.eclipse.uml2.uml.Class basicGetBase_Class() {
+		return base_Class;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setBase_Class(org.eclipse.uml2.uml.Class newBase_Class) {
+		org.eclipse.uml2.uml.Class oldBase_Class = base_Class;
+		base_Class = newBase_Class;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.ALGORITHM_LIBRARY__BASE_CLASS, oldBase_Class, base_Class));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getPath() {
+		return path;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setPath(String newPath) {
+		String oldPath = path;
+		path = newPath;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.ALGORITHM_LIBRARY__PATH, oldPath, path));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case RobotMLPackage.ALGORITHM_LIBRARY__BASE_CLASS:
+			if(resolve)
+				return getBase_Class();
+			return basicGetBase_Class();
+		case RobotMLPackage.ALGORITHM_LIBRARY__PATH:
+			return getPath();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case RobotMLPackage.ALGORITHM_LIBRARY__BASE_CLASS:
+			setBase_Class((org.eclipse.uml2.uml.Class)newValue);
+			return;
+		case RobotMLPackage.ALGORITHM_LIBRARY__PATH:
+			setPath((String)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.ALGORITHM_LIBRARY__BASE_CLASS:
+			setBase_Class((org.eclipse.uml2.uml.Class)null);
+			return;
+		case RobotMLPackage.ALGORITHM_LIBRARY__PATH:
+			setPath(PATH_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.ALGORITHM_LIBRARY__BASE_CLASS:
+			return base_Class != null;
+		case RobotMLPackage.ALGORITHM_LIBRARY__PATH:
+			return PATH_EDEFAULT == null ? path != null : !PATH_EDEFAULT.equals(path);
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (path: ");
+		result.append(path);
+		result.append(')');
+		return result.toString();
+	}
+
+} //AlgorithmLibraryImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/AllocateImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/AllocateImpl.java
new file mode 100644
index 00000000000..44488ff5966
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/AllocateImpl.java
@@ -0,0 +1,175 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotML.Allocate;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.uml2.uml.Abstraction;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Allocate</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.AllocateImpl#getBase_Abstraction <em>Base Abstraction</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class AllocateImpl extends EObjectImpl implements Allocate {
+
+	/**
+	 * The cached value of the '{@link #getBase_Abstraction() <em>Base Abstraction</em>}' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getBase_Abstraction()
+	 * @generated
+	 * @ordered
+	 */
+	protected Abstraction base_Abstraction;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected AllocateImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.ALLOCATE;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Abstraction getBase_Abstraction() {
+		if(base_Abstraction != null && base_Abstraction.eIsProxy()) {
+			InternalEObject oldBase_Abstraction = (InternalEObject)base_Abstraction;
+			base_Abstraction = (Abstraction)eResolveProxy(oldBase_Abstraction);
+			if(base_Abstraction != oldBase_Abstraction) {
+				if(eNotificationRequired())
+					eNotify(new ENotificationImpl(this, Notification.RESOLVE, RobotMLPackage.ALLOCATE__BASE_ABSTRACTION, oldBase_Abstraction, base_Abstraction));
+			}
+		}
+		return base_Abstraction;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Abstraction basicGetBase_Abstraction() {
+		return base_Abstraction;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setBase_Abstraction(Abstraction newBase_Abstraction) {
+		Abstraction oldBase_Abstraction = base_Abstraction;
+		base_Abstraction = newBase_Abstraction;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.ALLOCATE__BASE_ABSTRACTION, oldBase_Abstraction, base_Abstraction));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case RobotMLPackage.ALLOCATE__BASE_ABSTRACTION:
+			if(resolve)
+				return getBase_Abstraction();
+			return basicGetBase_Abstraction();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case RobotMLPackage.ALLOCATE__BASE_ABSTRACTION:
+			setBase_Abstraction((Abstraction)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.ALLOCATE__BASE_ABSTRACTION:
+			setBase_Abstraction((Abstraction)null);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.ALLOCATE__BASE_ABSTRACTION:
+			return base_Abstraction != null;
+		}
+		return super.eIsSet(featureID);
+	}
+
+} //AllocateImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/BlenderMorseImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/BlenderMorseImpl.java
new file mode 100644
index 00000000000..c4d439dcc2c
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/BlenderMorseImpl.java
@@ -0,0 +1,356 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.papyrus.RobotML.BlenderMorse;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.papyrus.RobotML.Shade;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Blender Morse</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.BlenderMorseImpl#isDebugMode <em>Debug Mode</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.BlenderMorseImpl#isDebugDisplay <em>Debug Display</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.BlenderMorseImpl#getGravity <em>Gravity</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.BlenderMorseImpl#get_viewport_shade <em>viewport shade</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class BlenderMorseImpl extends RoboticSimulatorImpl implements BlenderMorse {
+
+	/**
+	 * The default value of the '{@link #isDebugMode() <em>Debug Mode</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #isDebugMode()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final boolean DEBUG_MODE_EDEFAULT = false;
+
+	/**
+	 * The cached value of the '{@link #isDebugMode() <em>Debug Mode</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #isDebugMode()
+	 * @generated
+	 * @ordered
+	 */
+	protected boolean debugMode = DEBUG_MODE_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #isDebugDisplay() <em>Debug Display</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #isDebugDisplay()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final boolean DEBUG_DISPLAY_EDEFAULT = false;
+
+	/**
+	 * The cached value of the '{@link #isDebugDisplay() <em>Debug Display</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #isDebugDisplay()
+	 * @generated
+	 * @ordered
+	 */
+	protected boolean debugDisplay = DEBUG_DISPLAY_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getGravity() <em>Gravity</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getGravity()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float GRAVITY_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getGravity() <em>Gravity</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getGravity()
+	 * @generated
+	 * @ordered
+	 */
+	protected float gravity = GRAVITY_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #get_viewport_shade() <em>viewport shade</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #get_viewport_shade()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final Shade _VIEWPORT_SHADE_EDEFAULT = Shade.WIREFRAME;
+
+	/**
+	 * The cached value of the '{@link #get_viewport_shade() <em>viewport shade</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #get_viewport_shade()
+	 * @generated
+	 * @ordered
+	 */
+	protected Shade _viewport_shade = _VIEWPORT_SHADE_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected BlenderMorseImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.BLENDER_MORSE;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public boolean isDebugMode() {
+		return debugMode;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setDebugMode(boolean newDebugMode) {
+		boolean oldDebugMode = debugMode;
+		debugMode = newDebugMode;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.BLENDER_MORSE__DEBUG_MODE, oldDebugMode, debugMode));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public boolean isDebugDisplay() {
+		return debugDisplay;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setDebugDisplay(boolean newDebugDisplay) {
+		boolean oldDebugDisplay = debugDisplay;
+		debugDisplay = newDebugDisplay;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.BLENDER_MORSE__DEBUG_DISPLAY, oldDebugDisplay, debugDisplay));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getGravity() {
+		return gravity;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setGravity(float newGravity) {
+		float oldGravity = gravity;
+		gravity = newGravity;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.BLENDER_MORSE__GRAVITY, oldGravity, gravity));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Shade get_viewport_shade() {
+		return _viewport_shade;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void set_viewport_shade(Shade new_viewport_shade) {
+		Shade old_viewport_shade = _viewport_shade;
+		_viewport_shade = new_viewport_shade == null ? _VIEWPORT_SHADE_EDEFAULT : new_viewport_shade;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.BLENDER_MORSE__VIEWPORT_SHADE, old_viewport_shade, _viewport_shade));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case RobotMLPackage.BLENDER_MORSE__DEBUG_MODE:
+			return isDebugMode();
+		case RobotMLPackage.BLENDER_MORSE__DEBUG_DISPLAY:
+			return isDebugDisplay();
+		case RobotMLPackage.BLENDER_MORSE__GRAVITY:
+			return getGravity();
+		case RobotMLPackage.BLENDER_MORSE__VIEWPORT_SHADE:
+			return get_viewport_shade();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case RobotMLPackage.BLENDER_MORSE__DEBUG_MODE:
+			setDebugMode((Boolean)newValue);
+			return;
+		case RobotMLPackage.BLENDER_MORSE__DEBUG_DISPLAY:
+			setDebugDisplay((Boolean)newValue);
+			return;
+		case RobotMLPackage.BLENDER_MORSE__GRAVITY:
+			setGravity((Float)newValue);
+			return;
+		case RobotMLPackage.BLENDER_MORSE__VIEWPORT_SHADE:
+			set_viewport_shade((Shade)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.BLENDER_MORSE__DEBUG_MODE:
+			setDebugMode(DEBUG_MODE_EDEFAULT);
+			return;
+		case RobotMLPackage.BLENDER_MORSE__DEBUG_DISPLAY:
+			setDebugDisplay(DEBUG_DISPLAY_EDEFAULT);
+			return;
+		case RobotMLPackage.BLENDER_MORSE__GRAVITY:
+			setGravity(GRAVITY_EDEFAULT);
+			return;
+		case RobotMLPackage.BLENDER_MORSE__VIEWPORT_SHADE:
+			set_viewport_shade(_VIEWPORT_SHADE_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.BLENDER_MORSE__DEBUG_MODE:
+			return debugMode != DEBUG_MODE_EDEFAULT;
+		case RobotMLPackage.BLENDER_MORSE__DEBUG_DISPLAY:
+			return debugDisplay != DEBUG_DISPLAY_EDEFAULT;
+		case RobotMLPackage.BLENDER_MORSE__GRAVITY:
+			return gravity != GRAVITY_EDEFAULT;
+		case RobotMLPackage.BLENDER_MORSE__VIEWPORT_SHADE:
+			return _viewport_shade != _VIEWPORT_SHADE_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (debugMode: ");
+		result.append(debugMode);
+		result.append(", debugDisplay: ");
+		result.append(debugDisplay);
+		result.append(", gravity: ");
+		result.append(gravity);
+		result.append(", _viewport_shade: ");
+		result.append(_viewport_shade);
+		result.append(')');
+		return result.toString();
+	}
+
+} //BlenderMorseImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/BuildingImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/BuildingImpl.java
new file mode 100644
index 00000000000..963047f06b5
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/BuildingImpl.java
@@ -0,0 +1,50 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.papyrus.RobotML.Building;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Building</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * </p>
+ * 
+ * @generated
+ */
+public class BuildingImpl extends PhysicalObjectImpl implements Building {
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected BuildingImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.BUILDING;
+	}
+
+} //BuildingImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/CameraSystemImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/CameraSystemImpl.java
new file mode 100644
index 00000000000..02dc1cc5bf8
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/CameraSystemImpl.java
@@ -0,0 +1,713 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.papyrus.RobotML.CameraSystem;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point32;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Camera System</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.CameraSystemImpl#getWidth <em>Width</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.CameraSystemImpl#getHeight <em>Height</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.CameraSystemImpl#getAlpha_u <em>Alpha u</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.CameraSystemImpl#getAlpha_v <em>Alpha v</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.CameraSystemImpl#getU0 <em>U0</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.CameraSystemImpl#getV0 <em>V0</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.CameraSystemImpl#getColor_format <em>Color format</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.CameraSystemImpl#getTranslate <em>Translate</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.CameraSystemImpl#getRotate <em>Rotate</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class CameraSystemImpl extends ImageSensorSystemImpl implements CameraSystem {
+
+	/**
+	 * The default value of the '{@link #getWidth() <em>Width</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWidth()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final long WIDTH_EDEFAULT = 0L;
+
+	/**
+	 * The cached value of the '{@link #getWidth() <em>Width</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWidth()
+	 * @generated
+	 * @ordered
+	 */
+	protected long width = WIDTH_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getHeight() <em>Height</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHeight()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final long HEIGHT_EDEFAULT = 0L;
+
+	/**
+	 * The cached value of the '{@link #getHeight() <em>Height</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHeight()
+	 * @generated
+	 * @ordered
+	 */
+	protected long height = HEIGHT_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getAlpha_u() <em>Alpha u</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getAlpha_u()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float ALPHA_U_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getAlpha_u() <em>Alpha u</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getAlpha_u()
+	 * @generated
+	 * @ordered
+	 */
+	protected float alpha_u = ALPHA_U_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getAlpha_v() <em>Alpha v</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getAlpha_v()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float ALPHA_V_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getAlpha_v() <em>Alpha v</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getAlpha_v()
+	 * @generated
+	 * @ordered
+	 */
+	protected float alpha_v = ALPHA_V_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getU0() <em>U0</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getU0()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float U0_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getU0() <em>U0</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getU0()
+	 * @generated
+	 * @ordered
+	 */
+	protected float u0 = U0_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getV0() <em>V0</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getV0()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float V0_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getV0() <em>V0</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getV0()
+	 * @generated
+	 * @ordered
+	 */
+	protected float v0 = V0_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getColor_format() <em>Color format</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getColor_format()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final String COLOR_FORMAT_EDEFAULT = null;
+
+	/**
+	 * The cached value of the '{@link #getColor_format() <em>Color format</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getColor_format()
+	 * @generated
+	 * @ordered
+	 */
+	protected String color_format = COLOR_FORMAT_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getTranslate() <em>Translate</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getTranslate()
+	 * @generated
+	 * @ordered
+	 */
+
+
+	/**
+	 * The cached value of the '{@link #getTranslate() <em>Translate</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getTranslate()
+	 * @generated
+	 * @ordered
+	 */
+	protected Point32 translate;
+
+	/**
+	 * The default value of the '{@link #getRotate() <em>Rotate</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getRotate()
+	 * @generated
+	 * @ordered
+	 */
+
+
+	/**
+	 * The cached value of the '{@link #getRotate() <em>Rotate</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getRotate()
+	 * @generated
+	 * @ordered
+	 */
+	protected Point32 rotate;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected CameraSystemImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.CAMERA_SYSTEM;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public long getWidth() {
+		return width;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setWidth(long newWidth) {
+		long oldWidth = width;
+		width = newWidth;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.CAMERA_SYSTEM__WIDTH, oldWidth, width));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public long getHeight() {
+		return height;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setHeight(long newHeight) {
+		long oldHeight = height;
+		height = newHeight;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.CAMERA_SYSTEM__HEIGHT, oldHeight, height));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getAlpha_u() {
+		return alpha_u;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setAlpha_u(float newAlpha_u) {
+		float oldAlpha_u = alpha_u;
+		alpha_u = newAlpha_u;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.CAMERA_SYSTEM__ALPHA_U, oldAlpha_u, alpha_u));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getAlpha_v() {
+		return alpha_v;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setAlpha_v(float newAlpha_v) {
+		float oldAlpha_v = alpha_v;
+		alpha_v = newAlpha_v;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.CAMERA_SYSTEM__ALPHA_V, oldAlpha_v, alpha_v));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getU0() {
+		return u0;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setU0(float newU0) {
+		float oldU0 = u0;
+		u0 = newU0;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.CAMERA_SYSTEM__U0, oldU0, u0));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getV0() {
+		return v0;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setV0(float newV0) {
+		float oldV0 = v0;
+		v0 = newV0;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.CAMERA_SYSTEM__V0, oldV0, v0));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getColor_format() {
+		return color_format;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setColor_format(String newColor_format) {
+		String oldColor_format = color_format;
+		color_format = newColor_format;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.CAMERA_SYSTEM__COLOR_FORMAT, oldColor_format, color_format));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Point32 getTranslate() {
+		return translate;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetTranslate(Point32 newTranslate, NotificationChain msgs) {
+		Point32 oldTranslate = translate;
+		translate = newTranslate;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, RobotMLPackage.CAMERA_SYSTEM__TRANSLATE, oldTranslate, newTranslate);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setTranslate(Point32 newTranslate) {
+		if(newTranslate != translate) {
+			NotificationChain msgs = null;
+			if(translate != null)
+				msgs = ((InternalEObject)translate).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - RobotMLPackage.CAMERA_SYSTEM__TRANSLATE, null, msgs);
+			if(newTranslate != null)
+				msgs = ((InternalEObject)newTranslate).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - RobotMLPackage.CAMERA_SYSTEM__TRANSLATE, null, msgs);
+			msgs = basicSetTranslate(newTranslate, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.CAMERA_SYSTEM__TRANSLATE, newTranslate, newTranslate));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Point32 getRotate() {
+		return rotate;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetRotate(Point32 newRotate, NotificationChain msgs) {
+		Point32 oldRotate = rotate;
+		rotate = newRotate;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, RobotMLPackage.CAMERA_SYSTEM__ROTATE, oldRotate, newRotate);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setRotate(Point32 newRotate) {
+		if(newRotate != rotate) {
+			NotificationChain msgs = null;
+			if(rotate != null)
+				msgs = ((InternalEObject)rotate).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - RobotMLPackage.CAMERA_SYSTEM__ROTATE, null, msgs);
+			if(newRotate != null)
+				msgs = ((InternalEObject)newRotate).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - RobotMLPackage.CAMERA_SYSTEM__ROTATE, null, msgs);
+			msgs = basicSetRotate(newRotate, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.CAMERA_SYSTEM__ROTATE, newRotate, newRotate));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case RobotMLPackage.CAMERA_SYSTEM__TRANSLATE:
+			return basicSetTranslate(null, msgs);
+		case RobotMLPackage.CAMERA_SYSTEM__ROTATE:
+			return basicSetRotate(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case RobotMLPackage.CAMERA_SYSTEM__WIDTH:
+			return getWidth();
+		case RobotMLPackage.CAMERA_SYSTEM__HEIGHT:
+			return getHeight();
+		case RobotMLPackage.CAMERA_SYSTEM__ALPHA_U:
+			return getAlpha_u();
+		case RobotMLPackage.CAMERA_SYSTEM__ALPHA_V:
+			return getAlpha_v();
+		case RobotMLPackage.CAMERA_SYSTEM__U0:
+			return getU0();
+		case RobotMLPackage.CAMERA_SYSTEM__V0:
+			return getV0();
+		case RobotMLPackage.CAMERA_SYSTEM__COLOR_FORMAT:
+			return getColor_format();
+		case RobotMLPackage.CAMERA_SYSTEM__TRANSLATE:
+			return getTranslate();
+		case RobotMLPackage.CAMERA_SYSTEM__ROTATE:
+			return getRotate();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case RobotMLPackage.CAMERA_SYSTEM__WIDTH:
+			setWidth((Long)newValue);
+			return;
+		case RobotMLPackage.CAMERA_SYSTEM__HEIGHT:
+			setHeight((Long)newValue);
+			return;
+		case RobotMLPackage.CAMERA_SYSTEM__ALPHA_U:
+			setAlpha_u((Float)newValue);
+			return;
+		case RobotMLPackage.CAMERA_SYSTEM__ALPHA_V:
+			setAlpha_v((Float)newValue);
+			return;
+		case RobotMLPackage.CAMERA_SYSTEM__U0:
+			setU0((Float)newValue);
+			return;
+		case RobotMLPackage.CAMERA_SYSTEM__V0:
+			setV0((Float)newValue);
+			return;
+		case RobotMLPackage.CAMERA_SYSTEM__COLOR_FORMAT:
+			setColor_format((String)newValue);
+			return;
+		case RobotMLPackage.CAMERA_SYSTEM__TRANSLATE:
+			setTranslate((Point32)newValue);
+			return;
+		case RobotMLPackage.CAMERA_SYSTEM__ROTATE:
+			setRotate((Point32)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.CAMERA_SYSTEM__WIDTH:
+			setWidth(WIDTH_EDEFAULT);
+			return;
+		case RobotMLPackage.CAMERA_SYSTEM__HEIGHT:
+			setHeight(HEIGHT_EDEFAULT);
+			return;
+		case RobotMLPackage.CAMERA_SYSTEM__ALPHA_U:
+			setAlpha_u(ALPHA_U_EDEFAULT);
+			return;
+		case RobotMLPackage.CAMERA_SYSTEM__ALPHA_V:
+			setAlpha_v(ALPHA_V_EDEFAULT);
+			return;
+		case RobotMLPackage.CAMERA_SYSTEM__U0:
+			setU0(U0_EDEFAULT);
+			return;
+		case RobotMLPackage.CAMERA_SYSTEM__V0:
+			setV0(V0_EDEFAULT);
+			return;
+		case RobotMLPackage.CAMERA_SYSTEM__COLOR_FORMAT:
+			setColor_format(COLOR_FORMAT_EDEFAULT);
+			return;
+		case RobotMLPackage.CAMERA_SYSTEM__TRANSLATE:
+			setTranslate((Point32)null);
+			return;
+		case RobotMLPackage.CAMERA_SYSTEM__ROTATE:
+			setRotate((Point32)null);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.CAMERA_SYSTEM__WIDTH:
+			return width != WIDTH_EDEFAULT;
+		case RobotMLPackage.CAMERA_SYSTEM__HEIGHT:
+			return height != HEIGHT_EDEFAULT;
+		case RobotMLPackage.CAMERA_SYSTEM__ALPHA_U:
+			return alpha_u != ALPHA_U_EDEFAULT;
+		case RobotMLPackage.CAMERA_SYSTEM__ALPHA_V:
+			return alpha_v != ALPHA_V_EDEFAULT;
+		case RobotMLPackage.CAMERA_SYSTEM__U0:
+			return u0 != U0_EDEFAULT;
+		case RobotMLPackage.CAMERA_SYSTEM__V0:
+			return v0 != V0_EDEFAULT;
+		case RobotMLPackage.CAMERA_SYSTEM__COLOR_FORMAT:
+			return COLOR_FORMAT_EDEFAULT == null ? color_format != null : !COLOR_FORMAT_EDEFAULT.equals(color_format);
+		case RobotMLPackage.CAMERA_SYSTEM__TRANSLATE:
+			return translate != null;
+		case RobotMLPackage.CAMERA_SYSTEM__ROTATE:
+			return rotate != null;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (width: ");
+		result.append(width);
+		result.append(", height: ");
+		result.append(height);
+		result.append(", alpha_u: ");
+		result.append(alpha_u);
+		result.append(", alpha_v: ");
+		result.append(alpha_v);
+		result.append(", u0: ");
+		result.append(u0);
+		result.append(", v0: ");
+		result.append(v0);
+		result.append(", color_format: ");
+		result.append(color_format);
+		result.append(')');
+		return result.toString();
+	}
+
+} //CameraSystemImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/CycabTKImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/CycabTKImpl.java
new file mode 100644
index 00000000000..96004a71d3d
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/CycabTKImpl.java
@@ -0,0 +1,297 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.papyrus.RobotML.CycabTK;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Cycab TK</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.CycabTKImpl#isUseRealTime <em>Use Real Time</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.CycabTKImpl#getTimeStep <em>Time Step</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.CycabTKImpl#getTimeFactor <em>Time Factor</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class CycabTKImpl extends RoboticSimulatorImpl implements CycabTK {
+
+	/**
+	 * The default value of the '{@link #isUseRealTime() <em>Use Real Time</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #isUseRealTime()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final boolean USE_REAL_TIME_EDEFAULT = false;
+
+	/**
+	 * The cached value of the '{@link #isUseRealTime() <em>Use Real Time</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #isUseRealTime()
+	 * @generated
+	 * @ordered
+	 */
+	protected boolean useRealTime = USE_REAL_TIME_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getTimeStep() <em>Time Step</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getTimeStep()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float TIME_STEP_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getTimeStep() <em>Time Step</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getTimeStep()
+	 * @generated
+	 * @ordered
+	 */
+	protected float timeStep = TIME_STEP_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getTimeFactor() <em>Time Factor</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getTimeFactor()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float TIME_FACTOR_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getTimeFactor() <em>Time Factor</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getTimeFactor()
+	 * @generated
+	 * @ordered
+	 */
+	protected float timeFactor = TIME_FACTOR_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected CycabTKImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.CYCAB_TK;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public boolean isUseRealTime() {
+		return useRealTime;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setUseRealTime(boolean newUseRealTime) {
+		boolean oldUseRealTime = useRealTime;
+		useRealTime = newUseRealTime;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.CYCAB_TK__USE_REAL_TIME, oldUseRealTime, useRealTime));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getTimeStep() {
+		return timeStep;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setTimeStep(float newTimeStep) {
+		float oldTimeStep = timeStep;
+		timeStep = newTimeStep;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.CYCAB_TK__TIME_STEP, oldTimeStep, timeStep));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getTimeFactor() {
+		return timeFactor;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setTimeFactor(float newTimeFactor) {
+		float oldTimeFactor = timeFactor;
+		timeFactor = newTimeFactor;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.CYCAB_TK__TIME_FACTOR, oldTimeFactor, timeFactor));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case RobotMLPackage.CYCAB_TK__USE_REAL_TIME:
+			return isUseRealTime();
+		case RobotMLPackage.CYCAB_TK__TIME_STEP:
+			return getTimeStep();
+		case RobotMLPackage.CYCAB_TK__TIME_FACTOR:
+			return getTimeFactor();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case RobotMLPackage.CYCAB_TK__USE_REAL_TIME:
+			setUseRealTime((Boolean)newValue);
+			return;
+		case RobotMLPackage.CYCAB_TK__TIME_STEP:
+			setTimeStep((Float)newValue);
+			return;
+		case RobotMLPackage.CYCAB_TK__TIME_FACTOR:
+			setTimeFactor((Float)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.CYCAB_TK__USE_REAL_TIME:
+			setUseRealTime(USE_REAL_TIME_EDEFAULT);
+			return;
+		case RobotMLPackage.CYCAB_TK__TIME_STEP:
+			setTimeStep(TIME_STEP_EDEFAULT);
+			return;
+		case RobotMLPackage.CYCAB_TK__TIME_FACTOR:
+			setTimeFactor(TIME_FACTOR_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.CYCAB_TK__USE_REAL_TIME:
+			return useRealTime != USE_REAL_TIME_EDEFAULT;
+		case RobotMLPackage.CYCAB_TK__TIME_STEP:
+			return timeStep != TIME_STEP_EDEFAULT;
+		case RobotMLPackage.CYCAB_TK__TIME_FACTOR:
+			return timeFactor != TIME_FACTOR_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (useRealTime: ");
+		result.append(useRealTime);
+		result.append(", timeStep: ");
+		result.append(timeStep);
+		result.append(", timeFactor: ");
+		result.append(timeFactor);
+		result.append(')');
+		return result.toString();
+	}
+
+} //CycabTKImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/DataFlowPortImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/DataFlowPortImpl.java
new file mode 100644
index 00000000000..be9a20c40a7
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/DataFlowPortImpl.java
@@ -0,0 +1,272 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.papyrus.RobotML.DataFlowDirectionKind;
+import org.eclipse.papyrus.RobotML.DataFlowPort;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.uml2.uml.Image;
+import org.eclipse.uml2.uml.Stereotype;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Data Flow Port</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.DataFlowPortImpl#getDirection <em>Direction</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.DataFlowPortImpl#getBufferSize <em>Buffer Size</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class DataFlowPortImpl extends PortImpl implements DataFlowPort {
+
+	/**
+	 * The default value of the '{@link #getDirection() <em>Direction</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getDirection()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final DataFlowDirectionKind DIRECTION_EDEFAULT = DataFlowDirectionKind.IN;
+
+	/**
+	 * The cached value of the '{@link #getDirection() <em>Direction</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getDirection()
+	 * @generated
+	 * @ordered
+	 */
+	protected DataFlowDirectionKind direction = DIRECTION_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getBufferSize() <em>Buffer Size</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getBufferSize()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final int BUFFER_SIZE_EDEFAULT = 0;
+
+	/**
+	 * The cached value of the '{@link #getBufferSize() <em>Buffer Size</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getBufferSize()
+	 * @generated
+	 * @ordered
+	 */
+	protected int bufferSize = BUFFER_SIZE_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected DataFlowPortImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.DATA_FLOW_PORT;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public DataFlowDirectionKind getDirection() {
+		return direction;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setDirection(DataFlowDirectionKind newDirection) {
+		DataFlowDirectionKind oldDirection = direction;
+		direction = newDirection == null ? DIRECTION_EDEFAULT : newDirection;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.DATA_FLOW_PORT__DIRECTION, oldDirection, direction));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public int getBufferSize() {
+		return bufferSize;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setBufferSize(int newBufferSize) {
+		int oldBufferSize = bufferSize;
+		bufferSize = newBufferSize;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.DATA_FLOW_PORT__BUFFER_SIZE, oldBufferSize, bufferSize));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case RobotMLPackage.DATA_FLOW_PORT__DIRECTION:
+			return getDirection();
+		case RobotMLPackage.DATA_FLOW_PORT__BUFFER_SIZE:
+			return getBufferSize();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case RobotMLPackage.DATA_FLOW_PORT__DIRECTION:
+			setDirection((DataFlowDirectionKind)newValue);
+			return;
+		case RobotMLPackage.DATA_FLOW_PORT__BUFFER_SIZE:
+			setBufferSize((Integer)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.DATA_FLOW_PORT__DIRECTION:
+			setDirection(DIRECTION_EDEFAULT);
+			return;
+		case RobotMLPackage.DATA_FLOW_PORT__BUFFER_SIZE:
+			setBufferSize(BUFFER_SIZE_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.DATA_FLOW_PORT__DIRECTION:
+			return direction != DIRECTION_EDEFAULT;
+		case RobotMLPackage.DATA_FLOW_PORT__BUFFER_SIZE:
+			return bufferSize != BUFFER_SIZE_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (direction: ");
+		result.append(direction);
+		result.append(", bufferSize: ");
+		result.append(bufferSize);
+		result.append(')');
+		return result.toString();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * Images registered in Profile are :
+	 * 
+	 * 0 - FlowPort IN
+	 * 1 - FlowPort OUT
+	 * 
+	 * <!-- end-user-doc -->.
+	 * 
+	 * @return the icon
+	 * @generated NOT
+	 */
+	public Image getIcon() {
+		Image ImageNotFound = null;
+		if(getBase_Port() != null) {
+			Stereotype st = getBase_Port().getAppliedStereotype("RobotML::DataFlowPort");
+			Image image = st.getIcons().get(0);
+
+			if(getDirection() == DataFlowDirectionKind.OUT) {
+				image = st.getIcons().get(1);
+			} else if(getDirection() == DataFlowDirectionKind.INOUT) {
+				image = st.getIcons().get(2);
+			}
+
+			return image;
+		} else {
+			return ImageNotFound;
+		}
+	}
+
+} //DataFlowPortImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/DataTypeImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/DataTypeImpl.java
new file mode 100644
index 00000000000..974f6439d84
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/DataTypeImpl.java
@@ -0,0 +1,306 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotML.DataType;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Data Type</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.DataTypeImpl#getBase_DataType <em>Base Data Type</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.DataTypeImpl#isNative <em>Native</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.DataTypeImpl#getLibraryPath <em>Library Path</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class DataTypeImpl extends EObjectImpl implements DataType {
+
+	/**
+	 * The cached value of the '{@link #getBase_DataType() <em>Base Data Type</em>}' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getBase_DataType()
+	 * @generated
+	 * @ordered
+	 */
+	protected org.eclipse.uml2.uml.DataType base_DataType;
+
+	/**
+	 * The default value of the '{@link #isNative() <em>Native</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #isNative()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final boolean NATIVE_EDEFAULT = false;
+
+	/**
+	 * The cached value of the '{@link #isNative() <em>Native</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #isNative()
+	 * @generated
+	 * @ordered
+	 */
+	protected boolean native_ = NATIVE_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getLibraryPath() <em>Library Path</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLibraryPath()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final String LIBRARY_PATH_EDEFAULT = null;
+
+	/**
+	 * The cached value of the '{@link #getLibraryPath() <em>Library Path</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLibraryPath()
+	 * @generated
+	 * @ordered
+	 */
+	protected String libraryPath = LIBRARY_PATH_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected DataTypeImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.DATA_TYPE;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public org.eclipse.uml2.uml.DataType getBase_DataType() {
+		if(base_DataType != null && base_DataType.eIsProxy()) {
+			InternalEObject oldBase_DataType = (InternalEObject)base_DataType;
+			base_DataType = (org.eclipse.uml2.uml.DataType)eResolveProxy(oldBase_DataType);
+			if(base_DataType != oldBase_DataType) {
+				if(eNotificationRequired())
+					eNotify(new ENotificationImpl(this, Notification.RESOLVE, RobotMLPackage.DATA_TYPE__BASE_DATA_TYPE, oldBase_DataType, base_DataType));
+			}
+		}
+		return base_DataType;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public org.eclipse.uml2.uml.DataType basicGetBase_DataType() {
+		return base_DataType;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setBase_DataType(org.eclipse.uml2.uml.DataType newBase_DataType) {
+		org.eclipse.uml2.uml.DataType oldBase_DataType = base_DataType;
+		base_DataType = newBase_DataType;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.DATA_TYPE__BASE_DATA_TYPE, oldBase_DataType, base_DataType));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public boolean isNative() {
+		return native_;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setNative(boolean newNative) {
+		boolean oldNative = native_;
+		native_ = newNative;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.DATA_TYPE__NATIVE, oldNative, native_));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getLibraryPath() {
+		return libraryPath;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setLibraryPath(String newLibraryPath) {
+		String oldLibraryPath = libraryPath;
+		libraryPath = newLibraryPath;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.DATA_TYPE__LIBRARY_PATH, oldLibraryPath, libraryPath));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case RobotMLPackage.DATA_TYPE__BASE_DATA_TYPE:
+			if(resolve)
+				return getBase_DataType();
+			return basicGetBase_DataType();
+		case RobotMLPackage.DATA_TYPE__NATIVE:
+			return isNative();
+		case RobotMLPackage.DATA_TYPE__LIBRARY_PATH:
+			return getLibraryPath();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case RobotMLPackage.DATA_TYPE__BASE_DATA_TYPE:
+			setBase_DataType((org.eclipse.uml2.uml.DataType)newValue);
+			return;
+		case RobotMLPackage.DATA_TYPE__NATIVE:
+			setNative((Boolean)newValue);
+			return;
+		case RobotMLPackage.DATA_TYPE__LIBRARY_PATH:
+			setLibraryPath((String)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.DATA_TYPE__BASE_DATA_TYPE:
+			setBase_DataType((org.eclipse.uml2.uml.DataType)null);
+			return;
+		case RobotMLPackage.DATA_TYPE__NATIVE:
+			setNative(NATIVE_EDEFAULT);
+			return;
+		case RobotMLPackage.DATA_TYPE__LIBRARY_PATH:
+			setLibraryPath(LIBRARY_PATH_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.DATA_TYPE__BASE_DATA_TYPE:
+			return base_DataType != null;
+		case RobotMLPackage.DATA_TYPE__NATIVE:
+			return native_ != NATIVE_EDEFAULT;
+		case RobotMLPackage.DATA_TYPE__LIBRARY_PATH:
+			return LIBRARY_PATH_EDEFAULT == null ? libraryPath != null : !LIBRARY_PATH_EDEFAULT.equals(libraryPath);
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (native: ");
+		result.append(native_);
+		result.append(", libraryPath: ");
+		result.append(libraryPath);
+		result.append(')');
+		return result.toString();
+	}
+
+} //DataTypeImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/DeploymentPlanImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/DeploymentPlanImpl.java
new file mode 100644
index 00000000000..ed52b3a3045
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/DeploymentPlanImpl.java
@@ -0,0 +1,240 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotML.DeploymentPlan;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.uml2.uml.InstanceSpecification;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Deployment Plan</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.DeploymentPlanImpl#getBase_Package <em>Base Package</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.DeploymentPlanImpl#getMainInstance <em>Main Instance</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class DeploymentPlanImpl extends EObjectImpl implements DeploymentPlan {
+
+	/**
+	 * The cached value of the '{@link #getBase_Package() <em>Base Package</em>}' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getBase_Package()
+	 * @generated
+	 * @ordered
+	 */
+	protected org.eclipse.uml2.uml.Package base_Package;
+
+	/**
+	 * The cached value of the '{@link #getMainInstance() <em>Main Instance</em>}' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getMainInstance()
+	 * @generated
+	 * @ordered
+	 */
+	protected InstanceSpecification mainInstance;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected DeploymentPlanImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.DEPLOYMENT_PLAN;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public org.eclipse.uml2.uml.Package getBase_Package() {
+		if(base_Package != null && base_Package.eIsProxy()) {
+			InternalEObject oldBase_Package = (InternalEObject)base_Package;
+			base_Package = (org.eclipse.uml2.uml.Package)eResolveProxy(oldBase_Package);
+			if(base_Package != oldBase_Package) {
+				if(eNotificationRequired())
+					eNotify(new ENotificationImpl(this, Notification.RESOLVE, RobotMLPackage.DEPLOYMENT_PLAN__BASE_PACKAGE, oldBase_Package, base_Package));
+			}
+		}
+		return base_Package;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public org.eclipse.uml2.uml.Package basicGetBase_Package() {
+		return base_Package;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setBase_Package(org.eclipse.uml2.uml.Package newBase_Package) {
+		org.eclipse.uml2.uml.Package oldBase_Package = base_Package;
+		base_Package = newBase_Package;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.DEPLOYMENT_PLAN__BASE_PACKAGE, oldBase_Package, base_Package));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public InstanceSpecification getMainInstance() {
+		if(mainInstance != null && mainInstance.eIsProxy()) {
+			InternalEObject oldMainInstance = (InternalEObject)mainInstance;
+			mainInstance = (InstanceSpecification)eResolveProxy(oldMainInstance);
+			if(mainInstance != oldMainInstance) {
+				if(eNotificationRequired())
+					eNotify(new ENotificationImpl(this, Notification.RESOLVE, RobotMLPackage.DEPLOYMENT_PLAN__MAIN_INSTANCE, oldMainInstance, mainInstance));
+			}
+		}
+		return mainInstance;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public InstanceSpecification basicGetMainInstance() {
+		return mainInstance;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setMainInstance(InstanceSpecification newMainInstance) {
+		InstanceSpecification oldMainInstance = mainInstance;
+		mainInstance = newMainInstance;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.DEPLOYMENT_PLAN__MAIN_INSTANCE, oldMainInstance, mainInstance));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case RobotMLPackage.DEPLOYMENT_PLAN__BASE_PACKAGE:
+			if(resolve)
+				return getBase_Package();
+			return basicGetBase_Package();
+		case RobotMLPackage.DEPLOYMENT_PLAN__MAIN_INSTANCE:
+			if(resolve)
+				return getMainInstance();
+			return basicGetMainInstance();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case RobotMLPackage.DEPLOYMENT_PLAN__BASE_PACKAGE:
+			setBase_Package((org.eclipse.uml2.uml.Package)newValue);
+			return;
+		case RobotMLPackage.DEPLOYMENT_PLAN__MAIN_INSTANCE:
+			setMainInstance((InstanceSpecification)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.DEPLOYMENT_PLAN__BASE_PACKAGE:
+			setBase_Package((org.eclipse.uml2.uml.Package)null);
+			return;
+		case RobotMLPackage.DEPLOYMENT_PLAN__MAIN_INSTANCE:
+			setMainInstance((InstanceSpecification)null);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.DEPLOYMENT_PLAN__BASE_PACKAGE:
+			return base_Package != null;
+		case RobotMLPackage.DEPLOYMENT_PLAN__MAIN_INSTANCE:
+			return mainInstance != null;
+		}
+		return super.eIsSet(featureID);
+	}
+
+} //DeploymentPlanImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/EngineSystemImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/EngineSystemImpl.java
new file mode 100644
index 00000000000..b8b40c43fe3
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/EngineSystemImpl.java
@@ -0,0 +1,471 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.papyrus.RobotML.EngineSystem;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Engine System</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.EngineSystemImpl#getVehicleTraction <em>Vehicle Traction</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.EngineSystemImpl#getMaxEngineForce <em>Max Engine Force</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.EngineSystemImpl#getMaxBreakingForce <em>Max Breaking Force</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.EngineSystemImpl#getMaxAllowedSteering <em>Max Allowed Steering</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.EngineSystemImpl#getMaxAllowedVelocity <em>Max Allowed Velocity</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.EngineSystemImpl#getGear_ration <em>Gear ration</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class EngineSystemImpl extends ActuatorSystemImpl implements EngineSystem {
+
+	/**
+	 * The default value of the '{@link #getVehicleTraction() <em>Vehicle Traction</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getVehicleTraction()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final String VEHICLE_TRACTION_EDEFAULT = null;
+
+	/**
+	 * The cached value of the '{@link #getVehicleTraction() <em>Vehicle Traction</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getVehicleTraction()
+	 * @generated
+	 * @ordered
+	 */
+	protected String vehicleTraction = VEHICLE_TRACTION_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getMaxEngineForce() <em>Max Engine Force</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getMaxEngineForce()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float MAX_ENGINE_FORCE_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getMaxEngineForce() <em>Max Engine Force</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getMaxEngineForce()
+	 * @generated
+	 * @ordered
+	 */
+	protected float maxEngineForce = MAX_ENGINE_FORCE_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getMaxBreakingForce() <em>Max Breaking Force</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getMaxBreakingForce()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float MAX_BREAKING_FORCE_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getMaxBreakingForce() <em>Max Breaking Force</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getMaxBreakingForce()
+	 * @generated
+	 * @ordered
+	 */
+	protected float maxBreakingForce = MAX_BREAKING_FORCE_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getMaxAllowedSteering() <em>Max Allowed Steering</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getMaxAllowedSteering()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float MAX_ALLOWED_STEERING_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getMaxAllowedSteering() <em>Max Allowed Steering</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getMaxAllowedSteering()
+	 * @generated
+	 * @ordered
+	 */
+	protected float maxAllowedSteering = MAX_ALLOWED_STEERING_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getMaxAllowedVelocity() <em>Max Allowed Velocity</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getMaxAllowedVelocity()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float MAX_ALLOWED_VELOCITY_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getMaxAllowedVelocity() <em>Max Allowed Velocity</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getMaxAllowedVelocity()
+	 * @generated
+	 * @ordered
+	 */
+	protected float maxAllowedVelocity = MAX_ALLOWED_VELOCITY_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getGear_ration() <em>Gear ration</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getGear_ration()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float GEAR_RATION_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getGear_ration() <em>Gear ration</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getGear_ration()
+	 * @generated
+	 * @ordered
+	 */
+	protected float gear_ration = GEAR_RATION_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected EngineSystemImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.ENGINE_SYSTEM;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getVehicleTraction() {
+		return vehicleTraction;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setVehicleTraction(String newVehicleTraction) {
+		String oldVehicleTraction = vehicleTraction;
+		vehicleTraction = newVehicleTraction;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.ENGINE_SYSTEM__VEHICLE_TRACTION, oldVehicleTraction, vehicleTraction));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getMaxEngineForce() {
+		return maxEngineForce;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setMaxEngineForce(float newMaxEngineForce) {
+		float oldMaxEngineForce = maxEngineForce;
+		maxEngineForce = newMaxEngineForce;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.ENGINE_SYSTEM__MAX_ENGINE_FORCE, oldMaxEngineForce, maxEngineForce));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getMaxBreakingForce() {
+		return maxBreakingForce;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setMaxBreakingForce(float newMaxBreakingForce) {
+		float oldMaxBreakingForce = maxBreakingForce;
+		maxBreakingForce = newMaxBreakingForce;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.ENGINE_SYSTEM__MAX_BREAKING_FORCE, oldMaxBreakingForce, maxBreakingForce));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getMaxAllowedSteering() {
+		return maxAllowedSteering;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setMaxAllowedSteering(float newMaxAllowedSteering) {
+		float oldMaxAllowedSteering = maxAllowedSteering;
+		maxAllowedSteering = newMaxAllowedSteering;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.ENGINE_SYSTEM__MAX_ALLOWED_STEERING, oldMaxAllowedSteering, maxAllowedSteering));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getMaxAllowedVelocity() {
+		return maxAllowedVelocity;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setMaxAllowedVelocity(float newMaxAllowedVelocity) {
+		float oldMaxAllowedVelocity = maxAllowedVelocity;
+		maxAllowedVelocity = newMaxAllowedVelocity;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.ENGINE_SYSTEM__MAX_ALLOWED_VELOCITY, oldMaxAllowedVelocity, maxAllowedVelocity));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getGear_ration() {
+		return gear_ration;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setGear_ration(float newGear_ration) {
+		float oldGear_ration = gear_ration;
+		gear_ration = newGear_ration;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.ENGINE_SYSTEM__GEAR_RATION, oldGear_ration, gear_ration));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case RobotMLPackage.ENGINE_SYSTEM__VEHICLE_TRACTION:
+			return getVehicleTraction();
+		case RobotMLPackage.ENGINE_SYSTEM__MAX_ENGINE_FORCE:
+			return getMaxEngineForce();
+		case RobotMLPackage.ENGINE_SYSTEM__MAX_BREAKING_FORCE:
+			return getMaxBreakingForce();
+		case RobotMLPackage.ENGINE_SYSTEM__MAX_ALLOWED_STEERING:
+			return getMaxAllowedSteering();
+		case RobotMLPackage.ENGINE_SYSTEM__MAX_ALLOWED_VELOCITY:
+			return getMaxAllowedVelocity();
+		case RobotMLPackage.ENGINE_SYSTEM__GEAR_RATION:
+			return getGear_ration();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case RobotMLPackage.ENGINE_SYSTEM__VEHICLE_TRACTION:
+			setVehicleTraction((String)newValue);
+			return;
+		case RobotMLPackage.ENGINE_SYSTEM__MAX_ENGINE_FORCE:
+			setMaxEngineForce((Float)newValue);
+			return;
+		case RobotMLPackage.ENGINE_SYSTEM__MAX_BREAKING_FORCE:
+			setMaxBreakingForce((Float)newValue);
+			return;
+		case RobotMLPackage.ENGINE_SYSTEM__MAX_ALLOWED_STEERING:
+			setMaxAllowedSteering((Float)newValue);
+			return;
+		case RobotMLPackage.ENGINE_SYSTEM__MAX_ALLOWED_VELOCITY:
+			setMaxAllowedVelocity((Float)newValue);
+			return;
+		case RobotMLPackage.ENGINE_SYSTEM__GEAR_RATION:
+			setGear_ration((Float)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.ENGINE_SYSTEM__VEHICLE_TRACTION:
+			setVehicleTraction(VEHICLE_TRACTION_EDEFAULT);
+			return;
+		case RobotMLPackage.ENGINE_SYSTEM__MAX_ENGINE_FORCE:
+			setMaxEngineForce(MAX_ENGINE_FORCE_EDEFAULT);
+			return;
+		case RobotMLPackage.ENGINE_SYSTEM__MAX_BREAKING_FORCE:
+			setMaxBreakingForce(MAX_BREAKING_FORCE_EDEFAULT);
+			return;
+		case RobotMLPackage.ENGINE_SYSTEM__MAX_ALLOWED_STEERING:
+			setMaxAllowedSteering(MAX_ALLOWED_STEERING_EDEFAULT);
+			return;
+		case RobotMLPackage.ENGINE_SYSTEM__MAX_ALLOWED_VELOCITY:
+			setMaxAllowedVelocity(MAX_ALLOWED_VELOCITY_EDEFAULT);
+			return;
+		case RobotMLPackage.ENGINE_SYSTEM__GEAR_RATION:
+			setGear_ration(GEAR_RATION_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.ENGINE_SYSTEM__VEHICLE_TRACTION:
+			return VEHICLE_TRACTION_EDEFAULT == null ? vehicleTraction != null : !VEHICLE_TRACTION_EDEFAULT.equals(vehicleTraction);
+		case RobotMLPackage.ENGINE_SYSTEM__MAX_ENGINE_FORCE:
+			return maxEngineForce != MAX_ENGINE_FORCE_EDEFAULT;
+		case RobotMLPackage.ENGINE_SYSTEM__MAX_BREAKING_FORCE:
+			return maxBreakingForce != MAX_BREAKING_FORCE_EDEFAULT;
+		case RobotMLPackage.ENGINE_SYSTEM__MAX_ALLOWED_STEERING:
+			return maxAllowedSteering != MAX_ALLOWED_STEERING_EDEFAULT;
+		case RobotMLPackage.ENGINE_SYSTEM__MAX_ALLOWED_VELOCITY:
+			return maxAllowedVelocity != MAX_ALLOWED_VELOCITY_EDEFAULT;
+		case RobotMLPackage.ENGINE_SYSTEM__GEAR_RATION:
+			return gear_ration != GEAR_RATION_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (vehicleTraction: ");
+		result.append(vehicleTraction);
+		result.append(", maxEngineForce: ");
+		result.append(maxEngineForce);
+		result.append(", maxBreakingForce: ");
+		result.append(maxBreakingForce);
+		result.append(", maxAllowedSteering: ");
+		result.append(maxAllowedSteering);
+		result.append(", maxAllowedVelocity: ");
+		result.append(maxAllowedVelocity);
+		result.append(", gear_ration: ");
+		result.append(gear_ration);
+		result.append(')');
+		return result.toString();
+	}
+
+} //EngineSystemImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/EnvironmentImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/EnvironmentImpl.java
new file mode 100644
index 00000000000..76cacdb8d2f
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/EnvironmentImpl.java
@@ -0,0 +1,50 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.papyrus.RobotML.Environment;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Environment</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * </p>
+ * 
+ * @generated
+ */
+public class EnvironmentImpl extends SystemImpl implements Environment {
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected EnvironmentImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.ENVIRONMENT;
+	}
+
+} //EnvironmentImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/FloorImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/FloorImpl.java
new file mode 100644
index 00000000000..904d092a1ef
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/FloorImpl.java
@@ -0,0 +1,50 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.papyrus.RobotML.Floor;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Floor</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * </p>
+ * 
+ * @generated
+ */
+public class FloorImpl extends GroundImpl implements Floor {
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected FloorImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.FLOOR;
+	}
+
+} //FloorImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/GPSSystemImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/GPSSystemImpl.java
new file mode 100644
index 00000000000..1a77adaf323
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/GPSSystemImpl.java
@@ -0,0 +1,196 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.papyrus.RobotML.GPSSystem;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point32;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>GPS System</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.GPSSystemImpl#getOriginPosition <em>Origin Position</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class GPSSystemImpl extends LocalizationSensorSystemImpl implements GPSSystem {
+
+	/**
+	 * The cached value of the '{@link #getOriginPosition() <em>Origin Position</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getOriginPosition()
+	 * @generated
+	 * @ordered
+	 */
+	protected Point32 originPosition;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected GPSSystemImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.GPS_SYSTEM;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Point32 getOriginPosition() {
+		return originPosition;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetOriginPosition(Point32 newOriginPosition, NotificationChain msgs) {
+		Point32 oldOriginPosition = originPosition;
+		originPosition = newOriginPosition;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, RobotMLPackage.GPS_SYSTEM__ORIGIN_POSITION, oldOriginPosition, newOriginPosition);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setOriginPosition(Point32 newOriginPosition) {
+		if(newOriginPosition != originPosition) {
+			NotificationChain msgs = null;
+			if(originPosition != null)
+				msgs = ((InternalEObject)originPosition).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - RobotMLPackage.GPS_SYSTEM__ORIGIN_POSITION, null, msgs);
+			if(newOriginPosition != null)
+				msgs = ((InternalEObject)newOriginPosition).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - RobotMLPackage.GPS_SYSTEM__ORIGIN_POSITION, null, msgs);
+			msgs = basicSetOriginPosition(newOriginPosition, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.GPS_SYSTEM__ORIGIN_POSITION, newOriginPosition, newOriginPosition));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case RobotMLPackage.GPS_SYSTEM__ORIGIN_POSITION:
+			return basicSetOriginPosition(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case RobotMLPackage.GPS_SYSTEM__ORIGIN_POSITION:
+			return getOriginPosition();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case RobotMLPackage.GPS_SYSTEM__ORIGIN_POSITION:
+			setOriginPosition((Point32)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.GPS_SYSTEM__ORIGIN_POSITION:
+			setOriginPosition((Point32)null);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.GPS_SYSTEM__ORIGIN_POSITION:
+			return originPosition != null;
+		}
+		return super.eIsSet(featureID);
+	}
+
+} //GPSSystemImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/GroundImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/GroundImpl.java
new file mode 100644
index 00000000000..9c287e24381
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/GroundImpl.java
@@ -0,0 +1,50 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.papyrus.RobotML.Ground;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Ground</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * </p>
+ * 
+ * @generated
+ */
+public abstract class GroundImpl extends SurfaceImpl implements Ground {
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected GroundImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.GROUND;
+	}
+
+} //GroundImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/GyroscopeImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/GyroscopeImpl.java
new file mode 100644
index 00000000000..62d87765c6f
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/GyroscopeImpl.java
@@ -0,0 +1,50 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.papyrus.RobotML.Gyroscope;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Gyroscope</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * </p>
+ * 
+ * @generated
+ */
+public class GyroscopeImpl extends SensorSystemImpl implements Gyroscope {
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected GyroscopeImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.GYROSCOPE;
+	}
+
+} //GyroscopeImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/HardwareImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/HardwareImpl.java
new file mode 100644
index 00000000000..787a0e40292
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/HardwareImpl.java
@@ -0,0 +1,50 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.papyrus.RobotML.Hardware;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Hardware</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * </p>
+ * 
+ * @generated
+ */
+public class HardwareImpl extends SystemImpl implements Hardware {
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected HardwareImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.HARDWARE;
+	}
+
+} //HardwareImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/HumanImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/HumanImpl.java
new file mode 100644
index 00000000000..075fc3713ba
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/HumanImpl.java
@@ -0,0 +1,50 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.papyrus.RobotML.Human;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Human</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * </p>
+ * 
+ * @generated
+ */
+public class HumanImpl extends AgentImpl implements Human {
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected HumanImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.HUMAN;
+	}
+
+} //HumanImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/ImageSensorSystemImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/ImageSensorSystemImpl.java
new file mode 100644
index 00000000000..b80d54beaa5
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/ImageSensorSystemImpl.java
@@ -0,0 +1,50 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.papyrus.RobotML.ImageSensorSystem;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Image Sensor System</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * </p>
+ * 
+ * @generated
+ */
+public class ImageSensorSystemImpl extends SensorSystemImpl implements ImageSensorSystem {
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected ImageSensorSystemImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.IMAGE_SENSOR_SYSTEM;
+	}
+
+} //ImageSensorSystemImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/InertialMeasurementUnitSystemImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/InertialMeasurementUnitSystemImpl.java
new file mode 100644
index 00000000000..06e62ec7f72
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/InertialMeasurementUnitSystemImpl.java
@@ -0,0 +1,50 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.papyrus.RobotML.InertialMeasurementUnitSystem;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Inertial Measurement Unit System</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * </p>
+ * 
+ * @generated
+ */
+public class InertialMeasurementUnitSystemImpl extends SensorSystemImpl implements InertialMeasurementUnitSystem {
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected InertialMeasurementUnitSystemImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.INERTIAL_MEASUREMENT_UNIT_SYSTEM;
+	}
+
+} //InertialMeasurementUnitSystemImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/InertialNavigationSystemImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/InertialNavigationSystemImpl.java
new file mode 100644
index 00000000000..594a5eefd0e
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/InertialNavigationSystemImpl.java
@@ -0,0 +1,50 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.papyrus.RobotML.InertialNavigationSystem;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Inertial Navigation System</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * </p>
+ * 
+ * @generated
+ */
+public class InertialNavigationSystemImpl extends GPSSystemImpl implements InertialNavigationSystem {
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected InertialNavigationSystemImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.INERTIAL_NAVIGATION_SYSTEM;
+	}
+
+} //InertialNavigationSystemImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/InfraRedProximetrySystemImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/InfraRedProximetrySystemImpl.java
new file mode 100644
index 00000000000..6900ff4b341
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/InfraRedProximetrySystemImpl.java
@@ -0,0 +1,50 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.papyrus.RobotML.InfraRedProximetrySystem;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Infra Red Proximetry System</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * </p>
+ * 
+ * @generated
+ */
+public class InfraRedProximetrySystemImpl extends ObjectDetectionSensorSystemImpl implements InfraRedProximetrySystem {
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected InfraRedProximetrySystemImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.INFRA_RED_PROXIMETRY_SYSTEM;
+	}
+
+} //InfraRedProximetrySystemImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/LandSurfaceImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/LandSurfaceImpl.java
new file mode 100644
index 00000000000..5444a16868b
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/LandSurfaceImpl.java
@@ -0,0 +1,50 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.papyrus.RobotML.LandSurface;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Land Surface</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * </p>
+ * 
+ * @generated
+ */
+public class LandSurfaceImpl extends GroundImpl implements LandSurface {
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected LandSurfaceImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.LAND_SURFACE;
+	}
+
+} //LandSurfaceImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/LidarSystemImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/LidarSystemImpl.java
new file mode 100644
index 00000000000..097c2e96061
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/LidarSystemImpl.java
@@ -0,0 +1,819 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.papyrus.RobotML.LidarSystem;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Lidar System</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.LidarSystemImpl#getNbLayers <em>Nb Layers</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.LidarSystemImpl#getLayerAngleMin <em>Layer Angle Min</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.LidarSystemImpl#getLayerAngleStep <em>Layer Angle Step</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.LidarSystemImpl#isNoise <em>Noise</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.LidarSystemImpl#getSigmaNoise <em>Sigma Noise</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.LidarSystemImpl#getAngle_min <em>Angle min</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.LidarSystemImpl#getAngle_max <em>Angle max</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.LidarSystemImpl#getTime_increment <em>Time increment</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.LidarSystemImpl#getScan_time <em>Scan time</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.LidarSystemImpl#getRange_min <em>Range min</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.LidarSystemImpl#getRange_max <em>Range max</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.LidarSystemImpl#getNbRays <em>Nb Rays</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class LidarSystemImpl extends ObjectDetectionSensorSystemImpl implements LidarSystem {
+
+	/**
+	 * The default value of the '{@link #getNbLayers() <em>Nb Layers</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getNbLayers()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final long NB_LAYERS_EDEFAULT = 0L;
+
+	/**
+	 * The cached value of the '{@link #getNbLayers() <em>Nb Layers</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getNbLayers()
+	 * @generated
+	 * @ordered
+	 */
+	protected long nbLayers = NB_LAYERS_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getLayerAngleMin() <em>Layer Angle Min</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLayerAngleMin()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float LAYER_ANGLE_MIN_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getLayerAngleMin() <em>Layer Angle Min</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLayerAngleMin()
+	 * @generated
+	 * @ordered
+	 */
+	protected float layerAngleMin = LAYER_ANGLE_MIN_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getLayerAngleStep() <em>Layer Angle Step</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLayerAngleStep()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float LAYER_ANGLE_STEP_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getLayerAngleStep() <em>Layer Angle Step</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLayerAngleStep()
+	 * @generated
+	 * @ordered
+	 */
+	protected float layerAngleStep = LAYER_ANGLE_STEP_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #isNoise() <em>Noise</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #isNoise()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final boolean NOISE_EDEFAULT = false;
+
+	/**
+	 * The cached value of the '{@link #isNoise() <em>Noise</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #isNoise()
+	 * @generated
+	 * @ordered
+	 */
+	protected boolean noise = NOISE_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getSigmaNoise() <em>Sigma Noise</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSigmaNoise()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float SIGMA_NOISE_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getSigmaNoise() <em>Sigma Noise</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSigmaNoise()
+	 * @generated
+	 * @ordered
+	 */
+	protected float sigmaNoise = SIGMA_NOISE_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getAngle_min() <em>Angle min</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getAngle_min()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float ANGLE_MIN_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getAngle_min() <em>Angle min</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getAngle_min()
+	 * @generated
+	 * @ordered
+	 */
+	protected float angle_min = ANGLE_MIN_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getAngle_max() <em>Angle max</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getAngle_max()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float ANGLE_MAX_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getAngle_max() <em>Angle max</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getAngle_max()
+	 * @generated
+	 * @ordered
+	 */
+	protected float angle_max = ANGLE_MAX_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getTime_increment() <em>Time increment</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getTime_increment()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float TIME_INCREMENT_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getTime_increment() <em>Time increment</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getTime_increment()
+	 * @generated
+	 * @ordered
+	 */
+	protected float time_increment = TIME_INCREMENT_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getScan_time() <em>Scan time</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getScan_time()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float SCAN_TIME_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getScan_time() <em>Scan time</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getScan_time()
+	 * @generated
+	 * @ordered
+	 */
+	protected float scan_time = SCAN_TIME_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getRange_min() <em>Range min</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getRange_min()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float RANGE_MIN_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getRange_min() <em>Range min</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getRange_min()
+	 * @generated
+	 * @ordered
+	 */
+	protected float range_min = RANGE_MIN_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getRange_max() <em>Range max</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getRange_max()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float RANGE_MAX_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getRange_max() <em>Range max</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getRange_max()
+	 * @generated
+	 * @ordered
+	 */
+	protected float range_max = RANGE_MAX_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getNbRays() <em>Nb Rays</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getNbRays()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final long NB_RAYS_EDEFAULT = 0L;
+
+	/**
+	 * The cached value of the '{@link #getNbRays() <em>Nb Rays</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getNbRays()
+	 * @generated
+	 * @ordered
+	 */
+	protected long nbRays = NB_RAYS_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected LidarSystemImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.LIDAR_SYSTEM;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public long getNbLayers() {
+		return nbLayers;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setNbLayers(long newNbLayers) {
+		long oldNbLayers = nbLayers;
+		nbLayers = newNbLayers;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.LIDAR_SYSTEM__NB_LAYERS, oldNbLayers, nbLayers));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getLayerAngleMin() {
+		return layerAngleMin;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setLayerAngleMin(float newLayerAngleMin) {
+		float oldLayerAngleMin = layerAngleMin;
+		layerAngleMin = newLayerAngleMin;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.LIDAR_SYSTEM__LAYER_ANGLE_MIN, oldLayerAngleMin, layerAngleMin));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getLayerAngleStep() {
+		return layerAngleStep;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setLayerAngleStep(float newLayerAngleStep) {
+		float oldLayerAngleStep = layerAngleStep;
+		layerAngleStep = newLayerAngleStep;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.LIDAR_SYSTEM__LAYER_ANGLE_STEP, oldLayerAngleStep, layerAngleStep));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public boolean isNoise() {
+		return noise;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setNoise(boolean newNoise) {
+		boolean oldNoise = noise;
+		noise = newNoise;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.LIDAR_SYSTEM__NOISE, oldNoise, noise));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getSigmaNoise() {
+		return sigmaNoise;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setSigmaNoise(float newSigmaNoise) {
+		float oldSigmaNoise = sigmaNoise;
+		sigmaNoise = newSigmaNoise;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.LIDAR_SYSTEM__SIGMA_NOISE, oldSigmaNoise, sigmaNoise));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getAngle_min() {
+		return angle_min;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setAngle_min(float newAngle_min) {
+		float oldAngle_min = angle_min;
+		angle_min = newAngle_min;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.LIDAR_SYSTEM__ANGLE_MIN, oldAngle_min, angle_min));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getAngle_max() {
+		return angle_max;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setAngle_max(float newAngle_max) {
+		float oldAngle_max = angle_max;
+		angle_max = newAngle_max;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.LIDAR_SYSTEM__ANGLE_MAX, oldAngle_max, angle_max));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getTime_increment() {
+		return time_increment;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setTime_increment(float newTime_increment) {
+		float oldTime_increment = time_increment;
+		time_increment = newTime_increment;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.LIDAR_SYSTEM__TIME_INCREMENT, oldTime_increment, time_increment));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getScan_time() {
+		return scan_time;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setScan_time(float newScan_time) {
+		float oldScan_time = scan_time;
+		scan_time = newScan_time;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.LIDAR_SYSTEM__SCAN_TIME, oldScan_time, scan_time));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getRange_min() {
+		return range_min;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setRange_min(float newRange_min) {
+		float oldRange_min = range_min;
+		range_min = newRange_min;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.LIDAR_SYSTEM__RANGE_MIN, oldRange_min, range_min));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getRange_max() {
+		return range_max;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setRange_max(float newRange_max) {
+		float oldRange_max = range_max;
+		range_max = newRange_max;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.LIDAR_SYSTEM__RANGE_MAX, oldRange_max, range_max));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public long getNbRays() {
+		return nbRays;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setNbRays(long newNbRays) {
+		long oldNbRays = nbRays;
+		nbRays = newNbRays;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.LIDAR_SYSTEM__NB_RAYS, oldNbRays, nbRays));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case RobotMLPackage.LIDAR_SYSTEM__NB_LAYERS:
+			return getNbLayers();
+		case RobotMLPackage.LIDAR_SYSTEM__LAYER_ANGLE_MIN:
+			return getLayerAngleMin();
+		case RobotMLPackage.LIDAR_SYSTEM__LAYER_ANGLE_STEP:
+			return getLayerAngleStep();
+		case RobotMLPackage.LIDAR_SYSTEM__NOISE:
+			return isNoise();
+		case RobotMLPackage.LIDAR_SYSTEM__SIGMA_NOISE:
+			return getSigmaNoise();
+		case RobotMLPackage.LIDAR_SYSTEM__ANGLE_MIN:
+			return getAngle_min();
+		case RobotMLPackage.LIDAR_SYSTEM__ANGLE_MAX:
+			return getAngle_max();
+		case RobotMLPackage.LIDAR_SYSTEM__TIME_INCREMENT:
+			return getTime_increment();
+		case RobotMLPackage.LIDAR_SYSTEM__SCAN_TIME:
+			return getScan_time();
+		case RobotMLPackage.LIDAR_SYSTEM__RANGE_MIN:
+			return getRange_min();
+		case RobotMLPackage.LIDAR_SYSTEM__RANGE_MAX:
+			return getRange_max();
+		case RobotMLPackage.LIDAR_SYSTEM__NB_RAYS:
+			return getNbRays();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case RobotMLPackage.LIDAR_SYSTEM__NB_LAYERS:
+			setNbLayers((Long)newValue);
+			return;
+		case RobotMLPackage.LIDAR_SYSTEM__LAYER_ANGLE_MIN:
+			setLayerAngleMin((Float)newValue);
+			return;
+		case RobotMLPackage.LIDAR_SYSTEM__LAYER_ANGLE_STEP:
+			setLayerAngleStep((Float)newValue);
+			return;
+		case RobotMLPackage.LIDAR_SYSTEM__NOISE:
+			setNoise((Boolean)newValue);
+			return;
+		case RobotMLPackage.LIDAR_SYSTEM__SIGMA_NOISE:
+			setSigmaNoise((Float)newValue);
+			return;
+		case RobotMLPackage.LIDAR_SYSTEM__ANGLE_MIN:
+			setAngle_min((Float)newValue);
+			return;
+		case RobotMLPackage.LIDAR_SYSTEM__ANGLE_MAX:
+			setAngle_max((Float)newValue);
+			return;
+		case RobotMLPackage.LIDAR_SYSTEM__TIME_INCREMENT:
+			setTime_increment((Float)newValue);
+			return;
+		case RobotMLPackage.LIDAR_SYSTEM__SCAN_TIME:
+			setScan_time((Float)newValue);
+			return;
+		case RobotMLPackage.LIDAR_SYSTEM__RANGE_MIN:
+			setRange_min((Float)newValue);
+			return;
+		case RobotMLPackage.LIDAR_SYSTEM__RANGE_MAX:
+			setRange_max((Float)newValue);
+			return;
+		case RobotMLPackage.LIDAR_SYSTEM__NB_RAYS:
+			setNbRays((Long)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.LIDAR_SYSTEM__NB_LAYERS:
+			setNbLayers(NB_LAYERS_EDEFAULT);
+			return;
+		case RobotMLPackage.LIDAR_SYSTEM__LAYER_ANGLE_MIN:
+			setLayerAngleMin(LAYER_ANGLE_MIN_EDEFAULT);
+			return;
+		case RobotMLPackage.LIDAR_SYSTEM__LAYER_ANGLE_STEP:
+			setLayerAngleStep(LAYER_ANGLE_STEP_EDEFAULT);
+			return;
+		case RobotMLPackage.LIDAR_SYSTEM__NOISE:
+			setNoise(NOISE_EDEFAULT);
+			return;
+		case RobotMLPackage.LIDAR_SYSTEM__SIGMA_NOISE:
+			setSigmaNoise(SIGMA_NOISE_EDEFAULT);
+			return;
+		case RobotMLPackage.LIDAR_SYSTEM__ANGLE_MIN:
+			setAngle_min(ANGLE_MIN_EDEFAULT);
+			return;
+		case RobotMLPackage.LIDAR_SYSTEM__ANGLE_MAX:
+			setAngle_max(ANGLE_MAX_EDEFAULT);
+			return;
+		case RobotMLPackage.LIDAR_SYSTEM__TIME_INCREMENT:
+			setTime_increment(TIME_INCREMENT_EDEFAULT);
+			return;
+		case RobotMLPackage.LIDAR_SYSTEM__SCAN_TIME:
+			setScan_time(SCAN_TIME_EDEFAULT);
+			return;
+		case RobotMLPackage.LIDAR_SYSTEM__RANGE_MIN:
+			setRange_min(RANGE_MIN_EDEFAULT);
+			return;
+		case RobotMLPackage.LIDAR_SYSTEM__RANGE_MAX:
+			setRange_max(RANGE_MAX_EDEFAULT);
+			return;
+		case RobotMLPackage.LIDAR_SYSTEM__NB_RAYS:
+			setNbRays(NB_RAYS_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.LIDAR_SYSTEM__NB_LAYERS:
+			return nbLayers != NB_LAYERS_EDEFAULT;
+		case RobotMLPackage.LIDAR_SYSTEM__LAYER_ANGLE_MIN:
+			return layerAngleMin != LAYER_ANGLE_MIN_EDEFAULT;
+		case RobotMLPackage.LIDAR_SYSTEM__LAYER_ANGLE_STEP:
+			return layerAngleStep != LAYER_ANGLE_STEP_EDEFAULT;
+		case RobotMLPackage.LIDAR_SYSTEM__NOISE:
+			return noise != NOISE_EDEFAULT;
+		case RobotMLPackage.LIDAR_SYSTEM__SIGMA_NOISE:
+			return sigmaNoise != SIGMA_NOISE_EDEFAULT;
+		case RobotMLPackage.LIDAR_SYSTEM__ANGLE_MIN:
+			return angle_min != ANGLE_MIN_EDEFAULT;
+		case RobotMLPackage.LIDAR_SYSTEM__ANGLE_MAX:
+			return angle_max != ANGLE_MAX_EDEFAULT;
+		case RobotMLPackage.LIDAR_SYSTEM__TIME_INCREMENT:
+			return time_increment != TIME_INCREMENT_EDEFAULT;
+		case RobotMLPackage.LIDAR_SYSTEM__SCAN_TIME:
+			return scan_time != SCAN_TIME_EDEFAULT;
+		case RobotMLPackage.LIDAR_SYSTEM__RANGE_MIN:
+			return range_min != RANGE_MIN_EDEFAULT;
+		case RobotMLPackage.LIDAR_SYSTEM__RANGE_MAX:
+			return range_max != RANGE_MAX_EDEFAULT;
+		case RobotMLPackage.LIDAR_SYSTEM__NB_RAYS:
+			return nbRays != NB_RAYS_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (nbLayers: ");
+		result.append(nbLayers);
+		result.append(", layerAngleMin: ");
+		result.append(layerAngleMin);
+		result.append(", layerAngleStep: ");
+		result.append(layerAngleStep);
+		result.append(", noise: ");
+		result.append(noise);
+		result.append(", sigmaNoise: ");
+		result.append(sigmaNoise);
+		result.append(", angle_min: ");
+		result.append(angle_min);
+		result.append(", angle_max: ");
+		result.append(angle_max);
+		result.append(", time_increment: ");
+		result.append(time_increment);
+		result.append(", scan_time: ");
+		result.append(scan_time);
+		result.append(", range_min: ");
+		result.append(range_min);
+		result.append(", range_max: ");
+		result.append(range_max);
+		result.append(", nbRays: ");
+		result.append(nbRays);
+		result.append(')');
+		return result.toString();
+	}
+
+} //LidarSystemImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/LocalizationSensorSystemImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/LocalizationSensorSystemImpl.java
new file mode 100644
index 00000000000..97e5a36754e
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/LocalizationSensorSystemImpl.java
@@ -0,0 +1,50 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.papyrus.RobotML.LocalizationSensorSystem;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Localization Sensor System</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * </p>
+ * 
+ * @generated
+ */
+public class LocalizationSensorSystemImpl extends SensorSystemImpl implements LocalizationSensorSystem {
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected LocalizationSensorSystemImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.LOCALIZATION_SENSOR_SYSTEM;
+	}
+
+} //LocalizationSensorSystemImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/ObjectDetectionSensorSystemImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/ObjectDetectionSensorSystemImpl.java
new file mode 100644
index 00000000000..4eba4a84b15
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/ObjectDetectionSensorSystemImpl.java
@@ -0,0 +1,50 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.papyrus.RobotML.ObjectDetectionSensorSystem;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Object Detection Sensor System</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * </p>
+ * 
+ * @generated
+ */
+public class ObjectDetectionSensorSystemImpl extends SensorSystemImpl implements ObjectDetectionSensorSystem {
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected ObjectDetectionSensorSystemImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.OBJECT_DETECTION_SENSOR_SYSTEM;
+	}
+
+} //ObjectDetectionSensorSystemImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/ObjectTrackingSensorSystemImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/ObjectTrackingSensorSystemImpl.java
new file mode 100644
index 00000000000..1754bebb26d
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/ObjectTrackingSensorSystemImpl.java
@@ -0,0 +1,50 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.papyrus.RobotML.ObjectTrackingSensorSystem;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Object Tracking Sensor System</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * </p>
+ * 
+ * @generated
+ */
+public class ObjectTrackingSensorSystemImpl extends SensorSystemImpl implements ObjectTrackingSensorSystem {
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected ObjectTrackingSensorSystemImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.OBJECT_TRACKING_SENSOR_SYSTEM;
+	}
+
+} //ObjectTrackingSensorSystemImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/OdometrySystemImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/OdometrySystemImpl.java
new file mode 100644
index 00000000000..f49e5f2aa62
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/OdometrySystemImpl.java
@@ -0,0 +1,50 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.papyrus.RobotML.OdometrySystem;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Odometry System</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * </p>
+ * 
+ * @generated
+ */
+public class OdometrySystemImpl extends LocalizationSensorSystemImpl implements OdometrySystem {
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected OdometrySystemImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.ODOMETRY_SYSTEM;
+	}
+
+} //OdometrySystemImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/OnPortImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/OnPortImpl.java
new file mode 100644
index 00000000000..7729d09326e
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/OnPortImpl.java
@@ -0,0 +1,241 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotML.OnPort;
+import org.eclipse.papyrus.RobotML.Port;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.uml2.uml.Parameter;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>On Port</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.OnPortImpl#getPort <em>Port</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.OnPortImpl#getBase_Parameter <em>Base Parameter</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class OnPortImpl extends EObjectImpl implements OnPort {
+
+	/**
+	 * The cached value of the '{@link #getPort() <em>Port</em>}' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getPort()
+	 * @generated
+	 * @ordered
+	 */
+	protected Port port;
+
+	/**
+	 * The cached value of the '{@link #getBase_Parameter() <em>Base Parameter</em>}' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getBase_Parameter()
+	 * @generated
+	 * @ordered
+	 */
+	protected Parameter base_Parameter;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected OnPortImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.ON_PORT;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Port getPort() {
+		if(port != null && port.eIsProxy()) {
+			InternalEObject oldPort = (InternalEObject)port;
+			port = (Port)eResolveProxy(oldPort);
+			if(port != oldPort) {
+				if(eNotificationRequired())
+					eNotify(new ENotificationImpl(this, Notification.RESOLVE, RobotMLPackage.ON_PORT__PORT, oldPort, port));
+			}
+		}
+		return port;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Port basicGetPort() {
+		return port;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setPort(Port newPort) {
+		Port oldPort = port;
+		port = newPort;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.ON_PORT__PORT, oldPort, port));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Parameter getBase_Parameter() {
+		if(base_Parameter != null && base_Parameter.eIsProxy()) {
+			InternalEObject oldBase_Parameter = (InternalEObject)base_Parameter;
+			base_Parameter = (Parameter)eResolveProxy(oldBase_Parameter);
+			if(base_Parameter != oldBase_Parameter) {
+				if(eNotificationRequired())
+					eNotify(new ENotificationImpl(this, Notification.RESOLVE, RobotMLPackage.ON_PORT__BASE_PARAMETER, oldBase_Parameter, base_Parameter));
+			}
+		}
+		return base_Parameter;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Parameter basicGetBase_Parameter() {
+		return base_Parameter;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setBase_Parameter(Parameter newBase_Parameter) {
+		Parameter oldBase_Parameter = base_Parameter;
+		base_Parameter = newBase_Parameter;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.ON_PORT__BASE_PARAMETER, oldBase_Parameter, base_Parameter));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case RobotMLPackage.ON_PORT__PORT:
+			if(resolve)
+				return getPort();
+			return basicGetPort();
+		case RobotMLPackage.ON_PORT__BASE_PARAMETER:
+			if(resolve)
+				return getBase_Parameter();
+			return basicGetBase_Parameter();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case RobotMLPackage.ON_PORT__PORT:
+			setPort((Port)newValue);
+			return;
+		case RobotMLPackage.ON_PORT__BASE_PARAMETER:
+			setBase_Parameter((Parameter)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.ON_PORT__PORT:
+			setPort((Port)null);
+			return;
+		case RobotMLPackage.ON_PORT__BASE_PARAMETER:
+			setBase_Parameter((Parameter)null);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.ON_PORT__PORT:
+			return port != null;
+		case RobotMLPackage.ON_PORT__BASE_PARAMETER:
+			return base_Parameter != null;
+		}
+		return super.eIsSet(featureID);
+	}
+
+} //OnPortImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/PedestrianImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/PedestrianImpl.java
new file mode 100644
index 00000000000..e84bc2c8dd1
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/PedestrianImpl.java
@@ -0,0 +1,50 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.papyrus.RobotML.Pedestrian;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Pedestrian</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * </p>
+ * 
+ * @generated
+ */
+public class PedestrianImpl extends HumanImpl implements Pedestrian {
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected PedestrianImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.PEDESTRIAN;
+	}
+
+} //PedestrianImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/PhysicalObjectImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/PhysicalObjectImpl.java
new file mode 100644
index 00000000000..7b40137fa92
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/PhysicalObjectImpl.java
@@ -0,0 +1,216 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import java.util.Collection;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.util.EObjectResolvingEList;
+import org.eclipse.papyrus.RobotML.Environment;
+import org.eclipse.papyrus.RobotML.PhysicalObject;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.papyrus.RobotML.Surface;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Physical Object</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.PhysicalObjectImpl#getEvelovesIn <em>Eveloves In</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.PhysicalObjectImpl#getHasSurface <em>Has Surface</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class PhysicalObjectImpl extends SystemImpl implements PhysicalObject {
+
+	/**
+	 * The cached value of the '{@link #getEvelovesIn() <em>Eveloves In</em>}' reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getEvelovesIn()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Environment> evelovesIn;
+
+	/**
+	 * The cached value of the '{@link #getHasSurface() <em>Has Surface</em>}' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHasSurface()
+	 * @generated
+	 * @ordered
+	 */
+	protected Surface hasSurface;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected PhysicalObjectImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.PHYSICAL_OBJECT;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Environment> getEvelovesIn() {
+		if(evelovesIn == null) {
+			evelovesIn = new EObjectResolvingEList<Environment>(Environment.class, this, RobotMLPackage.PHYSICAL_OBJECT__EVELOVES_IN);
+		}
+		return evelovesIn;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Surface getHasSurface() {
+		if(hasSurface != null && hasSurface.eIsProxy()) {
+			InternalEObject oldHasSurface = (InternalEObject)hasSurface;
+			hasSurface = (Surface)eResolveProxy(oldHasSurface);
+			if(hasSurface != oldHasSurface) {
+				if(eNotificationRequired())
+					eNotify(new ENotificationImpl(this, Notification.RESOLVE, RobotMLPackage.PHYSICAL_OBJECT__HAS_SURFACE, oldHasSurface, hasSurface));
+			}
+		}
+		return hasSurface;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Surface basicGetHasSurface() {
+		return hasSurface;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setHasSurface(Surface newHasSurface) {
+		Surface oldHasSurface = hasSurface;
+		hasSurface = newHasSurface;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.PHYSICAL_OBJECT__HAS_SURFACE, oldHasSurface, hasSurface));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case RobotMLPackage.PHYSICAL_OBJECT__EVELOVES_IN:
+			return getEvelovesIn();
+		case RobotMLPackage.PHYSICAL_OBJECT__HAS_SURFACE:
+			if(resolve)
+				return getHasSurface();
+			return basicGetHasSurface();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@SuppressWarnings("unchecked")
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case RobotMLPackage.PHYSICAL_OBJECT__EVELOVES_IN:
+			getEvelovesIn().clear();
+			getEvelovesIn().addAll((Collection<? extends Environment>)newValue);
+			return;
+		case RobotMLPackage.PHYSICAL_OBJECT__HAS_SURFACE:
+			setHasSurface((Surface)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.PHYSICAL_OBJECT__EVELOVES_IN:
+			getEvelovesIn().clear();
+			return;
+		case RobotMLPackage.PHYSICAL_OBJECT__HAS_SURFACE:
+			setHasSurface((Surface)null);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.PHYSICAL_OBJECT__EVELOVES_IN:
+			return evelovesIn != null && !evelovesIn.isEmpty();
+		case RobotMLPackage.PHYSICAL_OBJECT__HAS_SURFACE:
+			return hasSurface != null;
+		}
+		return super.eIsSet(featureID);
+	}
+
+} //PhysicalObjectImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/PlanetImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/PlanetImpl.java
new file mode 100644
index 00000000000..2f0212cc91c
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/PlanetImpl.java
@@ -0,0 +1,50 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.papyrus.RobotML.Planet;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Planet</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * </p>
+ * 
+ * @generated
+ */
+public class PlanetImpl extends PhysicalObjectImpl implements Planet {
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected PlanetImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.PLANET;
+	}
+
+} //PlanetImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/PlatformImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/PlatformImpl.java
new file mode 100644
index 00000000000..3f94bc1fe9c
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/PlatformImpl.java
@@ -0,0 +1,174 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.papyrus.RobotML.Platform;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.uml2.uml.Node;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Platform</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.PlatformImpl#getBase_Node <em>Base Node</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class PlatformImpl extends SystemImpl implements Platform {
+
+	/**
+	 * The cached value of the '{@link #getBase_Node() <em>Base Node</em>}' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getBase_Node()
+	 * @generated
+	 * @ordered
+	 */
+	protected Node base_Node;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected PlatformImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.PLATFORM;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Node getBase_Node() {
+		if(base_Node != null && base_Node.eIsProxy()) {
+			InternalEObject oldBase_Node = (InternalEObject)base_Node;
+			base_Node = (Node)eResolveProxy(oldBase_Node);
+			if(base_Node != oldBase_Node) {
+				if(eNotificationRequired())
+					eNotify(new ENotificationImpl(this, Notification.RESOLVE, RobotMLPackage.PLATFORM__BASE_NODE, oldBase_Node, base_Node));
+			}
+		}
+		return base_Node;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Node basicGetBase_Node() {
+		return base_Node;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setBase_Node(Node newBase_Node) {
+		Node oldBase_Node = base_Node;
+		base_Node = newBase_Node;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.PLATFORM__BASE_NODE, oldBase_Node, base_Node));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case RobotMLPackage.PLATFORM__BASE_NODE:
+			if(resolve)
+				return getBase_Node();
+			return basicGetBase_Node();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case RobotMLPackage.PLATFORM__BASE_NODE:
+			setBase_Node((Node)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.PLATFORM__BASE_NODE:
+			setBase_Node((Node)null);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.PLATFORM__BASE_NODE:
+			return base_Node != null;
+		}
+		return super.eIsSet(featureID);
+	}
+
+} //PlatformImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/PortImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/PortImpl.java
new file mode 100644
index 00000000000..eb9ee775a14
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/PortImpl.java
@@ -0,0 +1,249 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotML.Port;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.papyrus.RobotML.SynchronizationKind;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Port</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.PortImpl#getBase_Port <em>Base Port</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.PortImpl#getSynchronizationPolicy <em>Synchronization Policy</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public abstract class PortImpl extends EObjectImpl implements Port {
+
+	/**
+	 * The cached value of the '{@link #getBase_Port() <em>Base Port</em>}' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getBase_Port()
+	 * @generated
+	 * @ordered
+	 */
+	protected org.eclipse.uml2.uml.Port base_Port;
+
+	/**
+	 * The default value of the '{@link #getSynchronizationPolicy() <em>Synchronization Policy</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSynchronizationPolicy()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final SynchronizationKind SYNCHRONIZATION_POLICY_EDEFAULT = SynchronizationKind.SYNCH;
+
+	/**
+	 * The cached value of the '{@link #getSynchronizationPolicy() <em>Synchronization Policy</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSynchronizationPolicy()
+	 * @generated
+	 * @ordered
+	 */
+	protected SynchronizationKind synchronizationPolicy = SYNCHRONIZATION_POLICY_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected PortImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.PORT;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public org.eclipse.uml2.uml.Port getBase_Port() {
+		if(base_Port != null && base_Port.eIsProxy()) {
+			InternalEObject oldBase_Port = (InternalEObject)base_Port;
+			base_Port = (org.eclipse.uml2.uml.Port)eResolveProxy(oldBase_Port);
+			if(base_Port != oldBase_Port) {
+				if(eNotificationRequired())
+					eNotify(new ENotificationImpl(this, Notification.RESOLVE, RobotMLPackage.PORT__BASE_PORT, oldBase_Port, base_Port));
+			}
+		}
+		return base_Port;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public org.eclipse.uml2.uml.Port basicGetBase_Port() {
+		return base_Port;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setBase_Port(org.eclipse.uml2.uml.Port newBase_Port) {
+		org.eclipse.uml2.uml.Port oldBase_Port = base_Port;
+		base_Port = newBase_Port;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.PORT__BASE_PORT, oldBase_Port, base_Port));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public SynchronizationKind getSynchronizationPolicy() {
+		return synchronizationPolicy;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setSynchronizationPolicy(SynchronizationKind newSynchronizationPolicy) {
+		SynchronizationKind oldSynchronizationPolicy = synchronizationPolicy;
+		synchronizationPolicy = newSynchronizationPolicy == null ? SYNCHRONIZATION_POLICY_EDEFAULT : newSynchronizationPolicy;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.PORT__SYNCHRONIZATION_POLICY, oldSynchronizationPolicy, synchronizationPolicy));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case RobotMLPackage.PORT__BASE_PORT:
+			if(resolve)
+				return getBase_Port();
+			return basicGetBase_Port();
+		case RobotMLPackage.PORT__SYNCHRONIZATION_POLICY:
+			return getSynchronizationPolicy();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case RobotMLPackage.PORT__BASE_PORT:
+			setBase_Port((org.eclipse.uml2.uml.Port)newValue);
+			return;
+		case RobotMLPackage.PORT__SYNCHRONIZATION_POLICY:
+			setSynchronizationPolicy((SynchronizationKind)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.PORT__BASE_PORT:
+			setBase_Port((org.eclipse.uml2.uml.Port)null);
+			return;
+		case RobotMLPackage.PORT__SYNCHRONIZATION_POLICY:
+			setSynchronizationPolicy(SYNCHRONIZATION_POLICY_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.PORT__BASE_PORT:
+			return base_Port != null;
+		case RobotMLPackage.PORT__SYNCHRONIZATION_POLICY:
+			return synchronizationPolicy != SYNCHRONIZATION_POLICY_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (synchronizationPolicy: ");
+		result.append(synchronizationPolicy);
+		result.append(')');
+		return result.toString();
+	}
+
+} //PortImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/PrimitiveDataImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/PrimitiveDataImpl.java
new file mode 100644
index 00000000000..c44e3f4b98c
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/PrimitiveDataImpl.java
@@ -0,0 +1,174 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.papyrus.RobotML.PrimitiveData;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.uml2.uml.PrimitiveType;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Primitive Data</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.PrimitiveDataImpl#getBase_PrimitiveType <em>Base Primitive Type</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class PrimitiveDataImpl extends DataTypeImpl implements PrimitiveData {
+
+	/**
+	 * The cached value of the '{@link #getBase_PrimitiveType() <em>Base Primitive Type</em>}' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getBase_PrimitiveType()
+	 * @generated
+	 * @ordered
+	 */
+	protected PrimitiveType base_PrimitiveType;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected PrimitiveDataImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.PRIMITIVE_DATA;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public PrimitiveType getBase_PrimitiveType() {
+		if(base_PrimitiveType != null && base_PrimitiveType.eIsProxy()) {
+			InternalEObject oldBase_PrimitiveType = (InternalEObject)base_PrimitiveType;
+			base_PrimitiveType = (PrimitiveType)eResolveProxy(oldBase_PrimitiveType);
+			if(base_PrimitiveType != oldBase_PrimitiveType) {
+				if(eNotificationRequired())
+					eNotify(new ENotificationImpl(this, Notification.RESOLVE, RobotMLPackage.PRIMITIVE_DATA__BASE_PRIMITIVE_TYPE, oldBase_PrimitiveType, base_PrimitiveType));
+			}
+		}
+		return base_PrimitiveType;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public PrimitiveType basicGetBase_PrimitiveType() {
+		return base_PrimitiveType;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setBase_PrimitiveType(PrimitiveType newBase_PrimitiveType) {
+		PrimitiveType oldBase_PrimitiveType = base_PrimitiveType;
+		base_PrimitiveType = newBase_PrimitiveType;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.PRIMITIVE_DATA__BASE_PRIMITIVE_TYPE, oldBase_PrimitiveType, base_PrimitiveType));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case RobotMLPackage.PRIMITIVE_DATA__BASE_PRIMITIVE_TYPE:
+			if(resolve)
+				return getBase_PrimitiveType();
+			return basicGetBase_PrimitiveType();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case RobotMLPackage.PRIMITIVE_DATA__BASE_PRIMITIVE_TYPE:
+			setBase_PrimitiveType((PrimitiveType)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.PRIMITIVE_DATA__BASE_PRIMITIVE_TYPE:
+			setBase_PrimitiveType((PrimitiveType)null);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.PRIMITIVE_DATA__BASE_PRIMITIVE_TYPE:
+			return base_PrimitiveType != null;
+		}
+		return super.eIsSet(featureID);
+	}
+
+} //PrimitiveDataImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/RobotImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/RobotImpl.java
new file mode 100644
index 00000000000..1382fb0cd07
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/RobotImpl.java
@@ -0,0 +1,357 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.papyrus.RobotML.Robot;
+import org.eclipse.papyrus.RobotML.RobotKind;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.papyrus.RobotML.UGVKind;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Robot</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.RobotImpl#getKind <em>Kind</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.RobotImpl#getMass <em>Mass</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.RobotImpl#getWidth <em>Width</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.RobotImpl#getUgvKind <em>Ugv Kind</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class RobotImpl extends AgentImpl implements Robot {
+
+	/**
+	 * The default value of the '{@link #getKind() <em>Kind</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getKind()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final RobotKind KIND_EDEFAULT = RobotKind.UUV;
+
+	/**
+	 * The cached value of the '{@link #getKind() <em>Kind</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getKind()
+	 * @generated
+	 * @ordered
+	 */
+	protected RobotKind kind = KIND_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getMass() <em>Mass</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getMass()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float MASS_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getMass() <em>Mass</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getMass()
+	 * @generated
+	 * @ordered
+	 */
+	protected float mass = MASS_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getWidth() <em>Width</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWidth()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float WIDTH_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getWidth() <em>Width</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWidth()
+	 * @generated
+	 * @ordered
+	 */
+	protected float width = WIDTH_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getUgvKind() <em>Ugv Kind</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getUgvKind()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final UGVKind UGV_KIND_EDEFAULT = UGVKind.DIFFERENTIAL;
+
+	/**
+	 * The cached value of the '{@link #getUgvKind() <em>Ugv Kind</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getUgvKind()
+	 * @generated
+	 * @ordered
+	 */
+	protected UGVKind ugvKind = UGV_KIND_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected RobotImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.ROBOT;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public RobotKind getKind() {
+		return kind;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setKind(RobotKind newKind) {
+		RobotKind oldKind = kind;
+		kind = newKind == null ? KIND_EDEFAULT : newKind;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.ROBOT__KIND, oldKind, kind));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getMass() {
+		return mass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setMass(float newMass) {
+		float oldMass = mass;
+		mass = newMass;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.ROBOT__MASS, oldMass, mass));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getWidth() {
+		return width;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setWidth(float newWidth) {
+		float oldWidth = width;
+		width = newWidth;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.ROBOT__WIDTH, oldWidth, width));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public UGVKind getUgvKind() {
+		return ugvKind;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setUgvKind(UGVKind newUgvKind) {
+		UGVKind oldUgvKind = ugvKind;
+		ugvKind = newUgvKind == null ? UGV_KIND_EDEFAULT : newUgvKind;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.ROBOT__UGV_KIND, oldUgvKind, ugvKind));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case RobotMLPackage.ROBOT__KIND:
+			return getKind();
+		case RobotMLPackage.ROBOT__MASS:
+			return getMass();
+		case RobotMLPackage.ROBOT__WIDTH:
+			return getWidth();
+		case RobotMLPackage.ROBOT__UGV_KIND:
+			return getUgvKind();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case RobotMLPackage.ROBOT__KIND:
+			setKind((RobotKind)newValue);
+			return;
+		case RobotMLPackage.ROBOT__MASS:
+			setMass((Float)newValue);
+			return;
+		case RobotMLPackage.ROBOT__WIDTH:
+			setWidth((Float)newValue);
+			return;
+		case RobotMLPackage.ROBOT__UGV_KIND:
+			setUgvKind((UGVKind)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.ROBOT__KIND:
+			setKind(KIND_EDEFAULT);
+			return;
+		case RobotMLPackage.ROBOT__MASS:
+			setMass(MASS_EDEFAULT);
+			return;
+		case RobotMLPackage.ROBOT__WIDTH:
+			setWidth(WIDTH_EDEFAULT);
+			return;
+		case RobotMLPackage.ROBOT__UGV_KIND:
+			setUgvKind(UGV_KIND_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.ROBOT__KIND:
+			return kind != KIND_EDEFAULT;
+		case RobotMLPackage.ROBOT__MASS:
+			return mass != MASS_EDEFAULT;
+		case RobotMLPackage.ROBOT__WIDTH:
+			return width != WIDTH_EDEFAULT;
+		case RobotMLPackage.ROBOT__UGV_KIND:
+			return ugvKind != UGV_KIND_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (kind: ");
+		result.append(kind);
+		result.append(", mass: ");
+		result.append(mass);
+		result.append(", width: ");
+		result.append(width);
+		result.append(", ugvKind: ");
+		result.append(ugvKind);
+		result.append(')');
+		return result.toString();
+	}
+
+} //RobotImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/RobotMLFactoryImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/RobotMLFactoryImpl.java
new file mode 100644
index 00000000000..1da4961da1a
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/RobotMLFactoryImpl.java
@@ -0,0 +1,1035 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.EDataType;
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.emf.ecore.EPackage;
+import org.eclipse.emf.ecore.impl.EFactoryImpl;
+import org.eclipse.emf.ecore.plugin.EcorePlugin;
+import org.eclipse.papyrus.RobotML.ActuatorSystem;
+import org.eclipse.papyrus.RobotML.Agent;
+import org.eclipse.papyrus.RobotML.Algorithm;
+import org.eclipse.papyrus.RobotML.AlgorithmLibrary;
+import org.eclipse.papyrus.RobotML.Allocate;
+import org.eclipse.papyrus.RobotML.BlenderMorse;
+import org.eclipse.papyrus.RobotML.Building;
+import org.eclipse.papyrus.RobotML.CameraSystem;
+import org.eclipse.papyrus.RobotML.CycabTK;
+import org.eclipse.papyrus.RobotML.DataFlowDirectionKind;
+import org.eclipse.papyrus.RobotML.DataFlowPort;
+import org.eclipse.papyrus.RobotML.DataType;
+import org.eclipse.papyrus.RobotML.DeploymentPlan;
+import org.eclipse.papyrus.RobotML.EngineSystem;
+import org.eclipse.papyrus.RobotML.Environment;
+import org.eclipse.papyrus.RobotML.Floor;
+import org.eclipse.papyrus.RobotML.GPSSystem;
+import org.eclipse.papyrus.RobotML.Gyroscope;
+import org.eclipse.papyrus.RobotML.Hardware;
+import org.eclipse.papyrus.RobotML.Human;
+import org.eclipse.papyrus.RobotML.ImageSensorSystem;
+import org.eclipse.papyrus.RobotML.InertialMeasurementUnitSystem;
+import org.eclipse.papyrus.RobotML.InertialNavigationSystem;
+import org.eclipse.papyrus.RobotML.InfraRedProximetrySystem;
+import org.eclipse.papyrus.RobotML.LandSurface;
+import org.eclipse.papyrus.RobotML.LidarSystem;
+import org.eclipse.papyrus.RobotML.LocalizationSensorSystem;
+import org.eclipse.papyrus.RobotML.ObjectDetectionSensorSystem;
+import org.eclipse.papyrus.RobotML.ObjectTrackingSensorSystem;
+import org.eclipse.papyrus.RobotML.OdometrySystem;
+import org.eclipse.papyrus.RobotML.OnPort;
+import org.eclipse.papyrus.RobotML.Pedestrian;
+import org.eclipse.papyrus.RobotML.PhysicalObject;
+import org.eclipse.papyrus.RobotML.Planet;
+import org.eclipse.papyrus.RobotML.Platform;
+import org.eclipse.papyrus.RobotML.PrimitiveData;
+import org.eclipse.papyrus.RobotML.Robot;
+import org.eclipse.papyrus.RobotML.RobotKind;
+import org.eclipse.papyrus.RobotML.RobotMLFactory;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.papyrus.RobotML.RoboticMiddleware;
+import org.eclipse.papyrus.RobotML.RoboticMiddlewareKind;
+import org.eclipse.papyrus.RobotML.RoboticSimulator;
+import org.eclipse.papyrus.RobotML.RoboticSystem;
+import org.eclipse.papyrus.RobotML.SensorDriver;
+import org.eclipse.papyrus.RobotML.SensorSystem;
+import org.eclipse.papyrus.RobotML.ServiceFlowKind;
+import org.eclipse.papyrus.RobotML.ServicePort;
+import org.eclipse.papyrus.RobotML.Shade;
+import org.eclipse.papyrus.RobotML.SimulatedSystem;
+import org.eclipse.papyrus.RobotML.Software;
+import org.eclipse.papyrus.RobotML.Stairs;
+import org.eclipse.papyrus.RobotML.State;
+import org.eclipse.papyrus.RobotML.Surface;
+import org.eclipse.papyrus.RobotML.SynchronizationKind;
+import org.eclipse.papyrus.RobotML.Transition;
+import org.eclipse.papyrus.RobotML.UGVKind;
+import org.eclipse.papyrus.RobotML.WaterSurface;
+import org.eclipse.papyrus.RobotML.WheelSystem;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model <b>Factory</b>.
+ * <!-- end-user-doc -->
+ * 
+ * @generated
+ */
+public class RobotMLFactoryImpl extends EFactoryImpl implements RobotMLFactory {
+
+	/**
+	 * Creates the default factory implementation.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static RobotMLFactory init() {
+		try {
+			RobotMLFactory theRobotMLFactory = (RobotMLFactory)EPackage.Registry.INSTANCE.getEFactory("http://Papyrus/RobotML/1");
+			if(theRobotMLFactory != null) {
+				return theRobotMLFactory;
+			}
+		} catch (Exception exception) {
+			EcorePlugin.INSTANCE.log(exception);
+		}
+		return new RobotMLFactoryImpl();
+	}
+
+	/**
+	 * Creates an instance of the factory.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public RobotMLFactoryImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public EObject create(EClass eClass) {
+		switch(eClass.getClassifierID()) {
+		case RobotMLPackage.TRANSITION:
+			return createTransition();
+		case RobotMLPackage.ALGORITHM:
+			return createAlgorithm();
+		case RobotMLPackage.ROBOT:
+			return createRobot();
+		case RobotMLPackage.SYSTEM:
+			return createSystem();
+		case RobotMLPackage.AGENT:
+			return createAgent();
+		case RobotMLPackage.PHYSICAL_OBJECT:
+			return createPhysicalObject();
+		case RobotMLPackage.ENVIRONMENT:
+			return createEnvironment();
+		case RobotMLPackage.SURFACE:
+			return createSurface();
+		case RobotMLPackage.DATA_FLOW_PORT:
+			return createDataFlowPort();
+		case RobotMLPackage.SERVICE_PORT:
+			return createServicePort();
+		case RobotMLPackage.ACTUATOR_SYSTEM:
+			return createActuatorSystem();
+		case RobotMLPackage.ROBOTIC_SYSTEM:
+			return createRoboticSystem();
+		case RobotMLPackage.SENSOR_SYSTEM:
+			return createSensorSystem();
+		case RobotMLPackage.HARDWARE:
+			return createHardware();
+		case RobotMLPackage.SOFTWARE:
+			return createSoftware();
+		case RobotMLPackage.PRIMITIVE_DATA:
+			return createPrimitiveData();
+		case RobotMLPackage.DATA_TYPE:
+			return createDataType();
+		case RobotMLPackage.ENGINE_SYSTEM:
+			return createEngineSystem();
+		case RobotMLPackage.WHEEL_SYSTEM:
+			return createWheelSystem();
+		case RobotMLPackage.IMAGE_SENSOR_SYSTEM:
+			return createImageSensorSystem();
+		case RobotMLPackage.CAMERA_SYSTEM:
+			return createCameraSystem();
+		case RobotMLPackage.OBJECT_DETECTION_SENSOR_SYSTEM:
+			return createObjectDetectionSensorSystem();
+		case RobotMLPackage.OBJECT_TRACKING_SENSOR_SYSTEM:
+			return createObjectTrackingSensorSystem();
+		case RobotMLPackage.LIDAR_SYSTEM:
+			return createLidarSystem();
+		case RobotMLPackage.LOCALIZATION_SENSOR_SYSTEM:
+			return createLocalizationSensorSystem();
+		case RobotMLPackage.GPS_SYSTEM:
+			return createGPSSystem();
+		case RobotMLPackage.SIMULATED_SYSTEM:
+			return createSimulatedSystem();
+		case RobotMLPackage.ALGORITHM_LIBRARY:
+			return createAlgorithmLibrary();
+		case RobotMLPackage.STATE:
+			return createState();
+		case RobotMLPackage.SENSOR_DRIVER:
+			return createSensorDriver();
+		case RobotMLPackage.BUILDING:
+			return createBuilding();
+		case RobotMLPackage.PLANET:
+			return createPlanet();
+		case RobotMLPackage.LAND_SURFACE:
+			return createLandSurface();
+		case RobotMLPackage.FLOOR:
+			return createFloor();
+		case RobotMLPackage.WATER_SURFACE:
+			return createWaterSurface();
+		case RobotMLPackage.HUMAN:
+			return createHuman();
+		case RobotMLPackage.PEDESTRIAN:
+			return createPedestrian();
+		case RobotMLPackage.STAIRS:
+			return createStairs();
+		case RobotMLPackage.PLATFORM:
+			return createPlatform();
+		case RobotMLPackage.ROBOTIC_MIDDLEWARE:
+			return createRoboticMiddleware();
+		case RobotMLPackage.ROBOTIC_SIMULATOR:
+			return createRoboticSimulator();
+		case RobotMLPackage.CYCAB_TK:
+			return createCycabTK();
+		case RobotMLPackage.BLENDER_MORSE:
+			return createBlenderMorse();
+		case RobotMLPackage.ON_PORT:
+			return createOnPort();
+		case RobotMLPackage.ALLOCATE:
+			return createAllocate();
+		case RobotMLPackage.INERTIAL_MEASUREMENT_UNIT_SYSTEM:
+			return createInertialMeasurementUnitSystem();
+		case RobotMLPackage.INERTIAL_NAVIGATION_SYSTEM:
+			return createInertialNavigationSystem();
+		case RobotMLPackage.ODOMETRY_SYSTEM:
+			return createOdometrySystem();
+		case RobotMLPackage.INFRA_RED_PROXIMETRY_SYSTEM:
+			return createInfraRedProximetrySystem();
+		case RobotMLPackage.DEPLOYMENT_PLAN:
+			return createDeploymentPlan();
+		case RobotMLPackage.GYROSCOPE:
+			return createGyroscope();
+		default:
+			throw new IllegalArgumentException("The class '" + eClass.getName() + "' is not a valid classifier");
+		}
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object createFromString(EDataType eDataType, String initialValue) {
+		switch(eDataType.getClassifierID()) {
+		case RobotMLPackage.ROBOT_KIND:
+			return createRobotKindFromString(eDataType, initialValue);
+		case RobotMLPackage.UGV_KIND:
+			return createUGVKindFromString(eDataType, initialValue);
+		case RobotMLPackage.SYNCHRONIZATION_KIND:
+			return createSynchronizationKindFromString(eDataType, initialValue);
+		case RobotMLPackage.DATA_FLOW_DIRECTION_KIND:
+			return createDataFlowDirectionKindFromString(eDataType, initialValue);
+		case RobotMLPackage.SERVICE_FLOW_KIND:
+			return createServiceFlowKindFromString(eDataType, initialValue);
+		case RobotMLPackage.ROBOTIC_MIDDLEWARE_KIND:
+			return createRoboticMiddlewareKindFromString(eDataType, initialValue);
+		case RobotMLPackage.SHADE:
+			return createShadeFromString(eDataType, initialValue);
+		default:
+			throw new IllegalArgumentException("The datatype '" + eDataType.getName() + "' is not a valid classifier");
+		}
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String convertToString(EDataType eDataType, Object instanceValue) {
+		switch(eDataType.getClassifierID()) {
+		case RobotMLPackage.ROBOT_KIND:
+			return convertRobotKindToString(eDataType, instanceValue);
+		case RobotMLPackage.UGV_KIND:
+			return convertUGVKindToString(eDataType, instanceValue);
+		case RobotMLPackage.SYNCHRONIZATION_KIND:
+			return convertSynchronizationKindToString(eDataType, instanceValue);
+		case RobotMLPackage.DATA_FLOW_DIRECTION_KIND:
+			return convertDataFlowDirectionKindToString(eDataType, instanceValue);
+		case RobotMLPackage.SERVICE_FLOW_KIND:
+			return convertServiceFlowKindToString(eDataType, instanceValue);
+		case RobotMLPackage.ROBOTIC_MIDDLEWARE_KIND:
+			return convertRoboticMiddlewareKindToString(eDataType, instanceValue);
+		case RobotMLPackage.SHADE:
+			return convertShadeToString(eDataType, instanceValue);
+		default:
+			throw new IllegalArgumentException("The datatype '" + eDataType.getName() + "' is not a valid classifier");
+		}
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Transition createTransition() {
+		TransitionImpl transition = new TransitionImpl();
+		return transition;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Algorithm createAlgorithm() {
+		AlgorithmImpl algorithm = new AlgorithmImpl();
+		return algorithm;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Robot createRobot() {
+		RobotImpl robot = new RobotImpl();
+		return robot;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public org.eclipse.papyrus.RobotML.System createSystem() {
+		SystemImpl system = new SystemImpl();
+		return system;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Agent createAgent() {
+		AgentImpl agent = new AgentImpl();
+		return agent;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public PhysicalObject createPhysicalObject() {
+		PhysicalObjectImpl physicalObject = new PhysicalObjectImpl();
+		return physicalObject;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Environment createEnvironment() {
+		EnvironmentImpl environment = new EnvironmentImpl();
+		return environment;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Surface createSurface() {
+		SurfaceImpl surface = new SurfaceImpl();
+		return surface;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public DataFlowPort createDataFlowPort() {
+		DataFlowPortImpl dataFlowPort = new DataFlowPortImpl();
+		return dataFlowPort;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public ServicePort createServicePort() {
+		ServicePortImpl servicePort = new ServicePortImpl();
+		return servicePort;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public ActuatorSystem createActuatorSystem() {
+		ActuatorSystemImpl actuatorSystem = new ActuatorSystemImpl();
+		return actuatorSystem;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public RoboticSystem createRoboticSystem() {
+		RoboticSystemImpl roboticSystem = new RoboticSystemImpl();
+		return roboticSystem;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public SensorSystem createSensorSystem() {
+		SensorSystemImpl sensorSystem = new SensorSystemImpl();
+		return sensorSystem;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Hardware createHardware() {
+		HardwareImpl hardware = new HardwareImpl();
+		return hardware;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Software createSoftware() {
+		SoftwareImpl software = new SoftwareImpl();
+		return software;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public PrimitiveData createPrimitiveData() {
+		PrimitiveDataImpl primitiveData = new PrimitiveDataImpl();
+		return primitiveData;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public DataType createDataType() {
+		DataTypeImpl dataType = new DataTypeImpl();
+		return dataType;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EngineSystem createEngineSystem() {
+		EngineSystemImpl engineSystem = new EngineSystemImpl();
+		return engineSystem;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public WheelSystem createWheelSystem() {
+		WheelSystemImpl wheelSystem = new WheelSystemImpl();
+		return wheelSystem;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public ImageSensorSystem createImageSensorSystem() {
+		ImageSensorSystemImpl imageSensorSystem = new ImageSensorSystemImpl();
+		return imageSensorSystem;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public CameraSystem createCameraSystem() {
+		CameraSystemImpl cameraSystem = new CameraSystemImpl();
+		return cameraSystem;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public ObjectDetectionSensorSystem createObjectDetectionSensorSystem() {
+		ObjectDetectionSensorSystemImpl objectDetectionSensorSystem = new ObjectDetectionSensorSystemImpl();
+		return objectDetectionSensorSystem;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public ObjectTrackingSensorSystem createObjectTrackingSensorSystem() {
+		ObjectTrackingSensorSystemImpl objectTrackingSensorSystem = new ObjectTrackingSensorSystemImpl();
+		return objectTrackingSensorSystem;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public LidarSystem createLidarSystem() {
+		LidarSystemImpl lidarSystem = new LidarSystemImpl();
+		return lidarSystem;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public LocalizationSensorSystem createLocalizationSensorSystem() {
+		LocalizationSensorSystemImpl localizationSensorSystem = new LocalizationSensorSystemImpl();
+		return localizationSensorSystem;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public GPSSystem createGPSSystem() {
+		GPSSystemImpl gpsSystem = new GPSSystemImpl();
+		return gpsSystem;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public SimulatedSystem createSimulatedSystem() {
+		SimulatedSystemImpl simulatedSystem = new SimulatedSystemImpl();
+		return simulatedSystem;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public AlgorithmLibrary createAlgorithmLibrary() {
+		AlgorithmLibraryImpl algorithmLibrary = new AlgorithmLibraryImpl();
+		return algorithmLibrary;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public State createState() {
+		StateImpl state = new StateImpl();
+		return state;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public SensorDriver createSensorDriver() {
+		SensorDriverImpl sensorDriver = new SensorDriverImpl();
+		return sensorDriver;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Building createBuilding() {
+		BuildingImpl building = new BuildingImpl();
+		return building;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Planet createPlanet() {
+		PlanetImpl planet = new PlanetImpl();
+		return planet;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public LandSurface createLandSurface() {
+		LandSurfaceImpl landSurface = new LandSurfaceImpl();
+		return landSurface;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Floor createFloor() {
+		FloorImpl floor = new FloorImpl();
+		return floor;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public WaterSurface createWaterSurface() {
+		WaterSurfaceImpl waterSurface = new WaterSurfaceImpl();
+		return waterSurface;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Human createHuman() {
+		HumanImpl human = new HumanImpl();
+		return human;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Pedestrian createPedestrian() {
+		PedestrianImpl pedestrian = new PedestrianImpl();
+		return pedestrian;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Stairs createStairs() {
+		StairsImpl stairs = new StairsImpl();
+		return stairs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Platform createPlatform() {
+		PlatformImpl platform = new PlatformImpl();
+		return platform;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public RoboticMiddleware createRoboticMiddleware() {
+		RoboticMiddlewareImpl roboticMiddleware = new RoboticMiddlewareImpl();
+		return roboticMiddleware;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public RoboticSimulator createRoboticSimulator() {
+		RoboticSimulatorImpl roboticSimulator = new RoboticSimulatorImpl();
+		return roboticSimulator;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public CycabTK createCycabTK() {
+		CycabTKImpl cycabTK = new CycabTKImpl();
+		return cycabTK;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public BlenderMorse createBlenderMorse() {
+		BlenderMorseImpl blenderMorse = new BlenderMorseImpl();
+		return blenderMorse;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public OnPort createOnPort() {
+		OnPortImpl onPort = new OnPortImpl();
+		return onPort;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Allocate createAllocate() {
+		AllocateImpl allocate = new AllocateImpl();
+		return allocate;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public InertialMeasurementUnitSystem createInertialMeasurementUnitSystem() {
+		InertialMeasurementUnitSystemImpl inertialMeasurementUnitSystem = new InertialMeasurementUnitSystemImpl();
+		return inertialMeasurementUnitSystem;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public InertialNavigationSystem createInertialNavigationSystem() {
+		InertialNavigationSystemImpl inertialNavigationSystem = new InertialNavigationSystemImpl();
+		return inertialNavigationSystem;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public OdometrySystem createOdometrySystem() {
+		OdometrySystemImpl odometrySystem = new OdometrySystemImpl();
+		return odometrySystem;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public InfraRedProximetrySystem createInfraRedProximetrySystem() {
+		InfraRedProximetrySystemImpl infraRedProximetrySystem = new InfraRedProximetrySystemImpl();
+		return infraRedProximetrySystem;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public DeploymentPlan createDeploymentPlan() {
+		DeploymentPlanImpl deploymentPlan = new DeploymentPlanImpl();
+		return deploymentPlan;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Gyroscope createGyroscope() {
+		GyroscopeImpl gyroscope = new GyroscopeImpl();
+		return gyroscope;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public RobotKind createRobotKindFromString(EDataType eDataType, String initialValue) {
+		RobotKind result = RobotKind.get(initialValue);
+		if(result == null)
+			throw new IllegalArgumentException("The value '" + initialValue + "' is not a valid enumerator of '" + eDataType.getName() + "'");
+		return result;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String convertRobotKindToString(EDataType eDataType, Object instanceValue) {
+		return instanceValue == null ? null : instanceValue.toString();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public UGVKind createUGVKindFromString(EDataType eDataType, String initialValue) {
+		UGVKind result = UGVKind.get(initialValue);
+		if(result == null)
+			throw new IllegalArgumentException("The value '" + initialValue + "' is not a valid enumerator of '" + eDataType.getName() + "'");
+		return result;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String convertUGVKindToString(EDataType eDataType, Object instanceValue) {
+		return instanceValue == null ? null : instanceValue.toString();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public SynchronizationKind createSynchronizationKindFromString(EDataType eDataType, String initialValue) {
+		SynchronizationKind result = SynchronizationKind.get(initialValue);
+		if(result == null)
+			throw new IllegalArgumentException("The value '" + initialValue + "' is not a valid enumerator of '" + eDataType.getName() + "'");
+		return result;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String convertSynchronizationKindToString(EDataType eDataType, Object instanceValue) {
+		return instanceValue == null ? null : instanceValue.toString();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public DataFlowDirectionKind createDataFlowDirectionKindFromString(EDataType eDataType, String initialValue) {
+		DataFlowDirectionKind result = DataFlowDirectionKind.get(initialValue);
+		if(result == null)
+			throw new IllegalArgumentException("The value '" + initialValue + "' is not a valid enumerator of '" + eDataType.getName() + "'");
+		return result;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String convertDataFlowDirectionKindToString(EDataType eDataType, Object instanceValue) {
+		return instanceValue == null ? null : instanceValue.toString();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public ServiceFlowKind createServiceFlowKindFromString(EDataType eDataType, String initialValue) {
+		ServiceFlowKind result = ServiceFlowKind.get(initialValue);
+		if(result == null)
+			throw new IllegalArgumentException("The value '" + initialValue + "' is not a valid enumerator of '" + eDataType.getName() + "'");
+		return result;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String convertServiceFlowKindToString(EDataType eDataType, Object instanceValue) {
+		return instanceValue == null ? null : instanceValue.toString();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public RoboticMiddlewareKind createRoboticMiddlewareKindFromString(EDataType eDataType, String initialValue) {
+		RoboticMiddlewareKind result = RoboticMiddlewareKind.get(initialValue);
+		if(result == null)
+			throw new IllegalArgumentException("The value '" + initialValue + "' is not a valid enumerator of '" + eDataType.getName() + "'");
+		return result;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String convertRoboticMiddlewareKindToString(EDataType eDataType, Object instanceValue) {
+		return instanceValue == null ? null : instanceValue.toString();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Shade createShadeFromString(EDataType eDataType, String initialValue) {
+		Shade result = Shade.get(initialValue);
+		if(result == null)
+			throw new IllegalArgumentException("The value '" + initialValue + "' is not a valid enumerator of '" + eDataType.getName() + "'");
+		return result;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String convertShadeToString(EDataType eDataType, Object instanceValue) {
+		return instanceValue == null ? null : instanceValue.toString();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public RobotMLPackage getRobotMLPackage() {
+		return (RobotMLPackage)getEPackage();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @deprecated
+	 * @generated
+	 */
+	@Deprecated
+	public static RobotMLPackage getPackage() {
+		return RobotMLPackage.eINSTANCE;
+	}
+
+} //RobotMLFactoryImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/RobotMLPackageImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/RobotMLPackageImpl.java
new file mode 100644
index 00000000000..434d0bd01d0
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/RobotMLPackageImpl.java
@@ -0,0 +1,2885 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.ecore.EAttribute;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.EEnum;
+import org.eclipse.emf.ecore.EPackage;
+import org.eclipse.emf.ecore.EReference;
+import org.eclipse.emf.ecore.impl.EPackageImpl;
+import org.eclipse.papyrus.RobotML.ActuatorSystem;
+import org.eclipse.papyrus.RobotML.Agent;
+import org.eclipse.papyrus.RobotML.Algorithm;
+import org.eclipse.papyrus.RobotML.AlgorithmLibrary;
+import org.eclipse.papyrus.RobotML.Allocate;
+import org.eclipse.papyrus.RobotML.BlenderMorse;
+import org.eclipse.papyrus.RobotML.Building;
+import org.eclipse.papyrus.RobotML.CameraSystem;
+import org.eclipse.papyrus.RobotML.CycabTK;
+import org.eclipse.papyrus.RobotML.DataFlowDirectionKind;
+import org.eclipse.papyrus.RobotML.DataFlowPort;
+import org.eclipse.papyrus.RobotML.DataType;
+import org.eclipse.papyrus.RobotML.DeploymentPlan;
+import org.eclipse.papyrus.RobotML.EngineSystem;
+import org.eclipse.papyrus.RobotML.Environment;
+import org.eclipse.papyrus.RobotML.Floor;
+import org.eclipse.papyrus.RobotML.GPSSystem;
+import org.eclipse.papyrus.RobotML.Ground;
+import org.eclipse.papyrus.RobotML.Gyroscope;
+import org.eclipse.papyrus.RobotML.Hardware;
+import org.eclipse.papyrus.RobotML.Human;
+import org.eclipse.papyrus.RobotML.ImageSensorSystem;
+import org.eclipse.papyrus.RobotML.InertialMeasurementUnitSystem;
+import org.eclipse.papyrus.RobotML.InertialNavigationSystem;
+import org.eclipse.papyrus.RobotML.InfraRedProximetrySystem;
+import org.eclipse.papyrus.RobotML.LandSurface;
+import org.eclipse.papyrus.RobotML.LidarSystem;
+import org.eclipse.papyrus.RobotML.LocalizationSensorSystem;
+import org.eclipse.papyrus.RobotML.ObjectDetectionSensorSystem;
+import org.eclipse.papyrus.RobotML.ObjectTrackingSensorSystem;
+import org.eclipse.papyrus.RobotML.OdometrySystem;
+import org.eclipse.papyrus.RobotML.OnPort;
+import org.eclipse.papyrus.RobotML.Pedestrian;
+import org.eclipse.papyrus.RobotML.PhysicalObject;
+import org.eclipse.papyrus.RobotML.Planet;
+import org.eclipse.papyrus.RobotML.Platform;
+import org.eclipse.papyrus.RobotML.Port;
+import org.eclipse.papyrus.RobotML.PrimitiveData;
+import org.eclipse.papyrus.RobotML.Robot;
+import org.eclipse.papyrus.RobotML.RobotKind;
+import org.eclipse.papyrus.RobotML.RobotMLFactory;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.papyrus.RobotML.RoboticMiddleware;
+import org.eclipse.papyrus.RobotML.RoboticMiddlewareKind;
+import org.eclipse.papyrus.RobotML.RoboticSimulator;
+import org.eclipse.papyrus.RobotML.RoboticSystem;
+import org.eclipse.papyrus.RobotML.SensorDriver;
+import org.eclipse.papyrus.RobotML.SensorSystem;
+import org.eclipse.papyrus.RobotML.ServiceFlowKind;
+import org.eclipse.papyrus.RobotML.ServicePort;
+import org.eclipse.papyrus.RobotML.Shade;
+import org.eclipse.papyrus.RobotML.SimulatedSystem;
+import org.eclipse.papyrus.RobotML.Software;
+import org.eclipse.papyrus.RobotML.Stairs;
+import org.eclipse.papyrus.RobotML.State;
+import org.eclipse.papyrus.RobotML.Surface;
+import org.eclipse.papyrus.RobotML.SynchronizationKind;
+import org.eclipse.papyrus.RobotML.Transition;
+import org.eclipse.papyrus.RobotML.UGVKind;
+import org.eclipse.papyrus.RobotML.WaterSurface;
+import org.eclipse.papyrus.RobotML.WheelSystem;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.Actionlib_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.Diagnostic_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.Nav_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.Oarp1_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl.Oarp1_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl;
+import org.eclipse.uml2.types.TypesPackage;
+import org.eclipse.uml2.uml.UMLPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model <b>Package</b>.
+ * <!-- end-user-doc -->
+ * 
+ * @generated
+ */
+public class RobotMLPackageImpl extends EPackageImpl implements RobotMLPackage {
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass transitionEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass algorithmEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass robotEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass systemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass agentEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass physicalObjectEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass environmentEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass surfaceEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass dataFlowPortEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass portEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass servicePortEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass actuatorSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass roboticSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass sensorSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass hardwareEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass softwareEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass primitiveDataEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass dataTypeEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass engineSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass wheelSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass imageSensorSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass cameraSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass objectDetectionSensorSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass objectTrackingSensorSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass lidarSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass localizationSensorSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass gpsSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass simulatedSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass algorithmLibraryEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass stateEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass sensorDriverEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass buildingEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass planetEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass landSurfaceEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass groundEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass floorEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass waterSurfaceEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass humanEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass pedestrianEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass stairsEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass platformEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass roboticMiddlewareEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass roboticSimulatorEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass cycabTKEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass blenderMorseEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass onPortEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass allocateEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass inertialMeasurementUnitSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass inertialNavigationSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass odometrySystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass infraRedProximetrySystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass deploymentPlanEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass gyroscopeEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EEnum robotKindEEnum = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EEnum ugvKindEEnum = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EEnum synchronizationKindEEnum = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EEnum dataFlowDirectionKindEEnum = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EEnum serviceFlowKindEEnum = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EEnum roboticMiddlewareKindEEnum = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EEnum shadeEEnum = null;
+
+	/**
+	 * Creates an instance of the model <b>Package</b>, registered with {@link org.eclipse.emf.ecore.EPackage.Registry EPackage.Registry} by the
+	 * package
+	 * package URI value.
+	 * <p>
+	 * Note: the correct way to create the package is via the static factory method {@link #init init()}, which also performs initialization of the
+	 * package, or returns the registered package, if one already exists. <!-- begin-user-doc --> <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.emf.ecore.EPackage.Registry
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#eNS_URI
+	 * @see #init()
+	 * @generated
+	 */
+	private RobotMLPackageImpl() {
+		super(eNS_URI, RobotMLFactory.eINSTANCE);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private static boolean isInited = false;
+
+	/**
+	 * Creates, registers, and initializes the <b>Package</b> for this model, and for any others upon which it depends.
+	 * 
+	 * <p>
+	 * This method is used to initialize {@link RobotMLPackage#eINSTANCE} when that field is accessed. Clients should not invoke it directly. Instead,
+	 * they should simply access that field to obtain the package. <!-- begin-user-doc --> <!-- end-user-doc -->
+	 * 
+	 * @see #eNS_URI
+	 * @see #createPackageContents()
+	 * @see #initializePackageContents()
+	 * @generated
+	 */
+	public static RobotMLPackage init() {
+		if(isInited)
+			return (RobotMLPackage)EPackage.Registry.INSTANCE.getEPackage(RobotMLPackage.eNS_URI);
+
+		// Obtain or create and register package
+		RobotMLPackageImpl theRobotMLPackage = (RobotMLPackageImpl)(EPackage.Registry.INSTANCE.get(eNS_URI) instanceof RobotMLPackageImpl ? EPackage.Registry.INSTANCE.get(eNS_URI) : new RobotMLPackageImpl());
+
+		isInited = true;
+
+		// Initialize simple dependencies
+		UMLPackage.eINSTANCE.eClass();
+
+		// Obtain or create and register interdependencies
+		Diagnostic_datatypesPackageImpl theDiagnostic_datatypesPackage = (Diagnostic_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Diagnostic_datatypesPackage.eNS_URI) instanceof Diagnostic_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Diagnostic_datatypesPackage.eNS_URI) : Diagnostic_datatypesPackage.eINSTANCE);
+		Geometry_datatypesPackageImpl theGeometry_datatypesPackage = (Geometry_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Geometry_datatypesPackage.eNS_URI) instanceof Geometry_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Geometry_datatypesPackage.eNS_URI) : Geometry_datatypesPackage.eINSTANCE);
+		Nav_datatypesPackageImpl theNav_datatypesPackage = (Nav_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Nav_datatypesPackage.eNS_URI) instanceof Nav_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Nav_datatypesPackage.eNS_URI) : Nav_datatypesPackage.eINSTANCE);
+		Sensor_datatypesPackageImpl theSensor_datatypesPackage = (Sensor_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Sensor_datatypesPackage.eNS_URI) instanceof Sensor_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Sensor_datatypesPackage.eNS_URI) : Sensor_datatypesPackage.eINSTANCE);
+		Actionlib_datatypesPackageImpl theActionlib_datatypesPackage = (Actionlib_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Actionlib_datatypesPackage.eNS_URI) instanceof Actionlib_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Actionlib_datatypesPackage.eNS_URI) : Actionlib_datatypesPackage.eINSTANCE);
+		Oarp1_datatypesPackageImpl theOarp1_datatypesPackage = (Oarp1_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Oarp1_datatypesPackage.eNS_URI) instanceof Oarp1_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Oarp1_datatypesPackage.eNS_URI) : Oarp1_datatypesPackage.eINSTANCE);
+		Oarp4_datatypesPackageImpl theOarp4_datatypesPackage = (Oarp4_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Oarp4_datatypesPackage.eNS_URI) instanceof Oarp4_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Oarp4_datatypesPackage.eNS_URI) : Oarp4_datatypesPackage.eINSTANCE);
+		Std_datatypesPackageImpl theStd_datatypesPackage = (Std_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Std_datatypesPackage.eNS_URI) instanceof Std_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Std_datatypesPackage.eNS_URI) : Std_datatypesPackage.eINSTANCE);
+
+		// Create package meta-data objects
+		theRobotMLPackage.createPackageContents();
+		theDiagnostic_datatypesPackage.createPackageContents();
+		theGeometry_datatypesPackage.createPackageContents();
+		theNav_datatypesPackage.createPackageContents();
+		theSensor_datatypesPackage.createPackageContents();
+		theActionlib_datatypesPackage.createPackageContents();
+		theOarp1_datatypesPackage.createPackageContents();
+		theOarp4_datatypesPackage.createPackageContents();
+		theStd_datatypesPackage.createPackageContents();
+
+		// Initialize created meta-data
+		theRobotMLPackage.initializePackageContents();
+		theDiagnostic_datatypesPackage.initializePackageContents();
+		theGeometry_datatypesPackage.initializePackageContents();
+		theNav_datatypesPackage.initializePackageContents();
+		theSensor_datatypesPackage.initializePackageContents();
+		theActionlib_datatypesPackage.initializePackageContents();
+		theOarp1_datatypesPackage.initializePackageContents();
+		theOarp4_datatypesPackage.initializePackageContents();
+		theStd_datatypesPackage.initializePackageContents();
+
+		// Mark meta-data to indicate it can't be changed
+		theRobotMLPackage.freeze();
+
+
+		// Update the registry and return the package
+		EPackage.Registry.INSTANCE.put(RobotMLPackage.eNS_URI, theRobotMLPackage);
+		return theRobotMLPackage;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getTransition() {
+		return transitionEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getTransition_Base_Transition() {
+		return (EReference)transitionEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getTransition_Guard() {
+		return (EReference)transitionEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getTransition_Effect() {
+		return (EReference)transitionEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getAlgorithm() {
+		return algorithmEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getAlgorithm_Base_Operation() {
+		return (EReference)algorithmEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getAlgorithm_IsExternal() {
+		return (EAttribute)algorithmEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getAlgorithm_ExtFunctionName() {
+		return (EAttribute)algorithmEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getAlgorithm_LibPath() {
+		return (EAttribute)algorithmEClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getAlgorithm_LibFileFormat() {
+		return (EAttribute)algorithmEClass.getEStructuralFeatures().get(4);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getRobot() {
+		return robotEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getRobot_Kind() {
+		return (EAttribute)robotEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getRobot_Mass() {
+		return (EAttribute)robotEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getRobot_Width() {
+		return (EAttribute)robotEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getRobot_UgvKind() {
+		return (EAttribute)robotEClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getSystem() {
+		return systemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getSystem_Base_Class() {
+		return (EReference)systemEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getSystem_Native() {
+		return (EAttribute)systemEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getSystem_LibraryPath() {
+		return (EAttribute)systemEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getSystem_LibraryComponentName() {
+		return (EAttribute)systemEClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getAgent() {
+		return agentEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getAgent_MovesOver() {
+		return (EReference)agentEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getPhysicalObject() {
+		return physicalObjectEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getPhysicalObject_EvelovesIn() {
+		return (EReference)physicalObjectEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getPhysicalObject_HasSurface() {
+		return (EReference)physicalObjectEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getEnvironment() {
+		return environmentEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getSurface() {
+		return surfaceEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getDataFlowPort() {
+		return dataFlowPortEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getDataFlowPort_Direction() {
+		return (EAttribute)dataFlowPortEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getDataFlowPort_BufferSize() {
+		return (EAttribute)dataFlowPortEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getPort() {
+		return portEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getPort_Base_Port() {
+		return (EReference)portEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getPort_SynchronizationPolicy() {
+		return (EAttribute)portEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getServicePort() {
+		return servicePortEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getServicePort_Kind() {
+		return (EAttribute)servicePortEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getActuatorSystem() {
+		return actuatorSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getRoboticSystem() {
+		return roboticSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getRoboticSystem_LocalPosition() {
+		return (EReference)roboticSystemEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getRoboticSystem_LocalOrientation() {
+		return (EReference)roboticSystemEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getSensorSystem() {
+		return sensorSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getSensorSystem_Frequency() {
+		return (EAttribute)sensorSystemEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getSensorSystem_Identifier() {
+		return (EAttribute)sensorSystemEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getHardware() {
+		return hardwareEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getSoftware() {
+		return softwareEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getSoftware_IsPeriodic() {
+		return (EAttribute)softwareEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getSoftware_Period() {
+		return (EAttribute)softwareEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getSoftware_Priority() {
+		return (EAttribute)softwareEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getSoftware_Deadline() {
+		return (EAttribute)softwareEClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getSoftware_Wcet() {
+		return (EAttribute)softwareEClass.getEStructuralFeatures().get(4);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getPrimitiveData() {
+		return primitiveDataEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getPrimitiveData_Base_PrimitiveType() {
+		return (EReference)primitiveDataEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getDataType() {
+		return dataTypeEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getDataType_Base_DataType() {
+		return (EReference)dataTypeEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getDataType_Native() {
+		return (EAttribute)dataTypeEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getDataType_LibraryPath() {
+		return (EAttribute)dataTypeEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getEngineSystem() {
+		return engineSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getEngineSystem_VehicleTraction() {
+		return (EAttribute)engineSystemEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getEngineSystem_MaxEngineForce() {
+		return (EAttribute)engineSystemEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getEngineSystem_MaxBreakingForce() {
+		return (EAttribute)engineSystemEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getEngineSystem_MaxAllowedSteering() {
+		return (EAttribute)engineSystemEClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getEngineSystem_MaxAllowedVelocity() {
+		return (EAttribute)engineSystemEClass.getEStructuralFeatures().get(4);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getEngineSystem_Gear_ration() {
+		return (EAttribute)engineSystemEClass.getEStructuralFeatures().get(5);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getWheelSystem() {
+		return wheelSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getWheelSystem_WheelRadius() {
+		return (EAttribute)wheelSystemEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getWheelSystem_WheelWidth() {
+		return (EAttribute)wheelSystemEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getWheelSystem_SuspensionRestLength() {
+		return (EAttribute)wheelSystemEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getWheelSystem_WheelConnectionHeight() {
+		return (EAttribute)wheelSystemEClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getWheelSystem_TypeOfWheel() {
+		return (EAttribute)wheelSystemEClass.getEStructuralFeatures().get(4);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getWheelSystem_WheelVelocityPIDkp() {
+		return (EAttribute)wheelSystemEClass.getEStructuralFeatures().get(5);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getWheelSystem_WheelVelocityPIDki() {
+		return (EAttribute)wheelSystemEClass.getEStructuralFeatures().get(6);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getWheelSystem_WheelVelocityPIDkd() {
+		return (EAttribute)wheelSystemEClass.getEStructuralFeatures().get(7);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getWheelSystem_WheelSteeringPIDkp() {
+		return (EAttribute)wheelSystemEClass.getEStructuralFeatures().get(8);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getWheelSystem_WheelSteeringPIDkd() {
+		return (EAttribute)wheelSystemEClass.getEStructuralFeatures().get(9);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getWheelSystem_WheelFriction() {
+		return (EAttribute)wheelSystemEClass.getEStructuralFeatures().get(10);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getWheelSystem_SuspensionStiffness() {
+		return (EAttribute)wheelSystemEClass.getEStructuralFeatures().get(11);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getWheelSystem_SuspensionDamping() {
+		return (EAttribute)wheelSystemEClass.getEStructuralFeatures().get(12);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getWheelSystem_SuspensionCompression() {
+		return (EAttribute)wheelSystemEClass.getEStructuralFeatures().get(13);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getWheelSystem_WheelVelocityPIDmaxSum() {
+		return (EAttribute)wheelSystemEClass.getEStructuralFeatures().get(14);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getWheelSystem_WheelVelocityPIDmaxVal() {
+		return (EAttribute)wheelSystemEClass.getEStructuralFeatures().get(15);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getImageSensorSystem() {
+		return imageSensorSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getCameraSystem() {
+		return cameraSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getCameraSystem_Width() {
+		return (EAttribute)cameraSystemEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getCameraSystem_Height() {
+		return (EAttribute)cameraSystemEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getCameraSystem_Alpha_u() {
+		return (EAttribute)cameraSystemEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getCameraSystem_Alpha_v() {
+		return (EAttribute)cameraSystemEClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getCameraSystem_U0() {
+		return (EAttribute)cameraSystemEClass.getEStructuralFeatures().get(4);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getCameraSystem_V0() {
+		return (EAttribute)cameraSystemEClass.getEStructuralFeatures().get(5);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getCameraSystem_Color_format() {
+		return (EAttribute)cameraSystemEClass.getEStructuralFeatures().get(6);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getCameraSystem_Translate() {
+		return (EReference)cameraSystemEClass.getEStructuralFeatures().get(7);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getCameraSystem_Rotate() {
+		return (EReference)cameraSystemEClass.getEStructuralFeatures().get(8);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getObjectDetectionSensorSystem() {
+		return objectDetectionSensorSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getObjectTrackingSensorSystem() {
+		return objectTrackingSensorSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getLidarSystem() {
+		return lidarSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getLidarSystem_NbLayers() {
+		return (EAttribute)lidarSystemEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getLidarSystem_LayerAngleMin() {
+		return (EAttribute)lidarSystemEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getLidarSystem_LayerAngleStep() {
+		return (EAttribute)lidarSystemEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getLidarSystem_Noise() {
+		return (EAttribute)lidarSystemEClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getLidarSystem_SigmaNoise() {
+		return (EAttribute)lidarSystemEClass.getEStructuralFeatures().get(4);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getLidarSystem_Angle_min() {
+		return (EAttribute)lidarSystemEClass.getEStructuralFeatures().get(5);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getLidarSystem_Angle_max() {
+		return (EAttribute)lidarSystemEClass.getEStructuralFeatures().get(6);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getLidarSystem_Time_increment() {
+		return (EAttribute)lidarSystemEClass.getEStructuralFeatures().get(7);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getLidarSystem_Scan_time() {
+		return (EAttribute)lidarSystemEClass.getEStructuralFeatures().get(8);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getLidarSystem_Range_min() {
+		return (EAttribute)lidarSystemEClass.getEStructuralFeatures().get(9);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getLidarSystem_Range_max() {
+		return (EAttribute)lidarSystemEClass.getEStructuralFeatures().get(10);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getLidarSystem_NbRays() {
+		return (EAttribute)lidarSystemEClass.getEStructuralFeatures().get(11);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getLocalizationSensorSystem() {
+		return localizationSensorSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getGPSSystem() {
+		return gpsSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getGPSSystem_OriginPosition() {
+		return (EReference)gpsSystemEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getSimulatedSystem() {
+		return simulatedSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getSimulatedSystem_Base_Property() {
+		return (EReference)simulatedSystemEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getSimulatedSystem_Mesh() {
+		return (EAttribute)simulatedSystemEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getAlgorithmLibrary() {
+		return algorithmLibraryEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getAlgorithmLibrary_Base_Class() {
+		return (EReference)algorithmLibraryEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getAlgorithmLibrary_Path() {
+		return (EAttribute)algorithmLibraryEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getState() {
+		return stateEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getState_Base_State() {
+		return (EReference)stateEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getState_Operation() {
+		return (EReference)stateEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getState_Arguments() {
+		return (EReference)stateEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getSensorDriver() {
+		return sensorDriverEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getBuilding() {
+		return buildingEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getPlanet() {
+		return planetEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getLandSurface() {
+		return landSurfaceEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getGround() {
+		return groundEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getFloor() {
+		return floorEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getWaterSurface() {
+		return waterSurfaceEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getHuman() {
+		return humanEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getPedestrian() {
+		return pedestrianEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getStairs() {
+		return stairsEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getPlatform() {
+		return platformEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getPlatform_Base_Node() {
+		return (EReference)platformEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getRoboticMiddleware() {
+		return roboticMiddlewareEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getRoboticMiddleware_Kind() {
+		return (EAttribute)roboticMiddlewareEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getRoboticSimulator() {
+		return roboticSimulatorEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getCycabTK() {
+		return cycabTKEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getCycabTK_UseRealTime() {
+		return (EAttribute)cycabTKEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getCycabTK_TimeStep() {
+		return (EAttribute)cycabTKEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getCycabTK_TimeFactor() {
+		return (EAttribute)cycabTKEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getBlenderMorse() {
+		return blenderMorseEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getBlenderMorse_DebugMode() {
+		return (EAttribute)blenderMorseEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getBlenderMorse_DebugDisplay() {
+		return (EAttribute)blenderMorseEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getBlenderMorse_Gravity() {
+		return (EAttribute)blenderMorseEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getBlenderMorse__viewport_shade() {
+		return (EAttribute)blenderMorseEClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getOnPort() {
+		return onPortEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getOnPort_Port() {
+		return (EReference)onPortEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getOnPort_Base_Parameter() {
+		return (EReference)onPortEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getAllocate() {
+		return allocateEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getAllocate_Base_Abstraction() {
+		return (EReference)allocateEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getInertialMeasurementUnitSystem() {
+		return inertialMeasurementUnitSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getInertialNavigationSystem() {
+		return inertialNavigationSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getOdometrySystem() {
+		return odometrySystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getInfraRedProximetrySystem() {
+		return infraRedProximetrySystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getDeploymentPlan() {
+		return deploymentPlanEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getDeploymentPlan_Base_Package() {
+		return (EReference)deploymentPlanEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getDeploymentPlan_MainInstance() {
+		return (EReference)deploymentPlanEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getGyroscope() {
+		return gyroscopeEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EEnum getRobotKind() {
+		return robotKindEEnum;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EEnum getUGVKind() {
+		return ugvKindEEnum;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EEnum getSynchronizationKind() {
+		return synchronizationKindEEnum;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EEnum getDataFlowDirectionKind() {
+		return dataFlowDirectionKindEEnum;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EEnum getServiceFlowKind() {
+		return serviceFlowKindEEnum;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EEnum getRoboticMiddlewareKind() {
+		return roboticMiddlewareKindEEnum;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EEnum getShade() {
+		return shadeEEnum;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public RobotMLFactory getRobotMLFactory() {
+		return (RobotMLFactory)getEFactoryInstance();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private boolean isCreated = false;
+
+	/**
+	 * Creates the meta-model objects for the package. This method is
+	 * guarded to have no affect on any invocation but its first.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void createPackageContents() {
+		if(isCreated)
+			return;
+		isCreated = true;
+
+		// Create classes and their features
+		transitionEClass = createEClass(TRANSITION);
+		createEReference(transitionEClass, TRANSITION__BASE_TRANSITION);
+		createEReference(transitionEClass, TRANSITION__GUARD);
+		createEReference(transitionEClass, TRANSITION__EFFECT);
+
+		algorithmEClass = createEClass(ALGORITHM);
+		createEReference(algorithmEClass, ALGORITHM__BASE_OPERATION);
+		createEAttribute(algorithmEClass, ALGORITHM__IS_EXTERNAL);
+		createEAttribute(algorithmEClass, ALGORITHM__EXT_FUNCTION_NAME);
+		createEAttribute(algorithmEClass, ALGORITHM__LIB_PATH);
+		createEAttribute(algorithmEClass, ALGORITHM__LIB_FILE_FORMAT);
+
+		robotEClass = createEClass(ROBOT);
+		createEAttribute(robotEClass, ROBOT__KIND);
+		createEAttribute(robotEClass, ROBOT__MASS);
+		createEAttribute(robotEClass, ROBOT__WIDTH);
+		createEAttribute(robotEClass, ROBOT__UGV_KIND);
+
+		systemEClass = createEClass(SYSTEM);
+		createEReference(systemEClass, SYSTEM__BASE_CLASS);
+		createEAttribute(systemEClass, SYSTEM__NATIVE);
+		createEAttribute(systemEClass, SYSTEM__LIBRARY_PATH);
+		createEAttribute(systemEClass, SYSTEM__LIBRARY_COMPONENT_NAME);
+
+		agentEClass = createEClass(AGENT);
+		createEReference(agentEClass, AGENT__MOVES_OVER);
+
+		physicalObjectEClass = createEClass(PHYSICAL_OBJECT);
+		createEReference(physicalObjectEClass, PHYSICAL_OBJECT__EVELOVES_IN);
+		createEReference(physicalObjectEClass, PHYSICAL_OBJECT__HAS_SURFACE);
+
+		environmentEClass = createEClass(ENVIRONMENT);
+
+		surfaceEClass = createEClass(SURFACE);
+
+		dataFlowPortEClass = createEClass(DATA_FLOW_PORT);
+		createEAttribute(dataFlowPortEClass, DATA_FLOW_PORT__DIRECTION);
+		createEAttribute(dataFlowPortEClass, DATA_FLOW_PORT__BUFFER_SIZE);
+
+		portEClass = createEClass(PORT);
+		createEReference(portEClass, PORT__BASE_PORT);
+		createEAttribute(portEClass, PORT__SYNCHRONIZATION_POLICY);
+
+		servicePortEClass = createEClass(SERVICE_PORT);
+		createEAttribute(servicePortEClass, SERVICE_PORT__KIND);
+
+		actuatorSystemEClass = createEClass(ACTUATOR_SYSTEM);
+
+		roboticSystemEClass = createEClass(ROBOTIC_SYSTEM);
+		createEReference(roboticSystemEClass, ROBOTIC_SYSTEM__LOCAL_POSITION);
+		createEReference(roboticSystemEClass, ROBOTIC_SYSTEM__LOCAL_ORIENTATION);
+
+		sensorSystemEClass = createEClass(SENSOR_SYSTEM);
+		createEAttribute(sensorSystemEClass, SENSOR_SYSTEM__FREQUENCY);
+		createEAttribute(sensorSystemEClass, SENSOR_SYSTEM__IDENTIFIER);
+
+		hardwareEClass = createEClass(HARDWARE);
+
+		softwareEClass = createEClass(SOFTWARE);
+		createEAttribute(softwareEClass, SOFTWARE__IS_PERIODIC);
+		createEAttribute(softwareEClass, SOFTWARE__PERIOD);
+		createEAttribute(softwareEClass, SOFTWARE__PRIORITY);
+		createEAttribute(softwareEClass, SOFTWARE__DEADLINE);
+		createEAttribute(softwareEClass, SOFTWARE__WCET);
+
+		primitiveDataEClass = createEClass(PRIMITIVE_DATA);
+		createEReference(primitiveDataEClass, PRIMITIVE_DATA__BASE_PRIMITIVE_TYPE);
+
+		dataTypeEClass = createEClass(DATA_TYPE);
+		createEReference(dataTypeEClass, DATA_TYPE__BASE_DATA_TYPE);
+		createEAttribute(dataTypeEClass, DATA_TYPE__NATIVE);
+		createEAttribute(dataTypeEClass, DATA_TYPE__LIBRARY_PATH);
+
+		engineSystemEClass = createEClass(ENGINE_SYSTEM);
+		createEAttribute(engineSystemEClass, ENGINE_SYSTEM__VEHICLE_TRACTION);
+		createEAttribute(engineSystemEClass, ENGINE_SYSTEM__MAX_ENGINE_FORCE);
+		createEAttribute(engineSystemEClass, ENGINE_SYSTEM__MAX_BREAKING_FORCE);
+		createEAttribute(engineSystemEClass, ENGINE_SYSTEM__MAX_ALLOWED_STEERING);
+		createEAttribute(engineSystemEClass, ENGINE_SYSTEM__MAX_ALLOWED_VELOCITY);
+		createEAttribute(engineSystemEClass, ENGINE_SYSTEM__GEAR_RATION);
+
+		wheelSystemEClass = createEClass(WHEEL_SYSTEM);
+		createEAttribute(wheelSystemEClass, WHEEL_SYSTEM__WHEEL_RADIUS);
+		createEAttribute(wheelSystemEClass, WHEEL_SYSTEM__WHEEL_WIDTH);
+		createEAttribute(wheelSystemEClass, WHEEL_SYSTEM__SUSPENSION_REST_LENGTH);
+		createEAttribute(wheelSystemEClass, WHEEL_SYSTEM__WHEEL_CONNECTION_HEIGHT);
+		createEAttribute(wheelSystemEClass, WHEEL_SYSTEM__TYPE_OF_WHEEL);
+		createEAttribute(wheelSystemEClass, WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKP);
+		createEAttribute(wheelSystemEClass, WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKI);
+		createEAttribute(wheelSystemEClass, WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKD);
+		createEAttribute(wheelSystemEClass, WHEEL_SYSTEM__WHEEL_STEERING_PI_DKP);
+		createEAttribute(wheelSystemEClass, WHEEL_SYSTEM__WHEEL_STEERING_PI_DKD);
+		createEAttribute(wheelSystemEClass, WHEEL_SYSTEM__WHEEL_FRICTION);
+		createEAttribute(wheelSystemEClass, WHEEL_SYSTEM__SUSPENSION_STIFFNESS);
+		createEAttribute(wheelSystemEClass, WHEEL_SYSTEM__SUSPENSION_DAMPING);
+		createEAttribute(wheelSystemEClass, WHEEL_SYSTEM__SUSPENSION_COMPRESSION);
+		createEAttribute(wheelSystemEClass, WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DMAX_SUM);
+		createEAttribute(wheelSystemEClass, WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DMAX_VAL);
+
+		imageSensorSystemEClass = createEClass(IMAGE_SENSOR_SYSTEM);
+
+		cameraSystemEClass = createEClass(CAMERA_SYSTEM);
+		createEAttribute(cameraSystemEClass, CAMERA_SYSTEM__WIDTH);
+		createEAttribute(cameraSystemEClass, CAMERA_SYSTEM__HEIGHT);
+		createEAttribute(cameraSystemEClass, CAMERA_SYSTEM__ALPHA_U);
+		createEAttribute(cameraSystemEClass, CAMERA_SYSTEM__ALPHA_V);
+		createEAttribute(cameraSystemEClass, CAMERA_SYSTEM__U0);
+		createEAttribute(cameraSystemEClass, CAMERA_SYSTEM__V0);
+		createEAttribute(cameraSystemEClass, CAMERA_SYSTEM__COLOR_FORMAT);
+		createEReference(cameraSystemEClass, CAMERA_SYSTEM__TRANSLATE);
+		createEReference(cameraSystemEClass, CAMERA_SYSTEM__ROTATE);
+
+		objectDetectionSensorSystemEClass = createEClass(OBJECT_DETECTION_SENSOR_SYSTEM);
+
+		objectTrackingSensorSystemEClass = createEClass(OBJECT_TRACKING_SENSOR_SYSTEM);
+
+		lidarSystemEClass = createEClass(LIDAR_SYSTEM);
+		createEAttribute(lidarSystemEClass, LIDAR_SYSTEM__NB_LAYERS);
+		createEAttribute(lidarSystemEClass, LIDAR_SYSTEM__LAYER_ANGLE_MIN);
+		createEAttribute(lidarSystemEClass, LIDAR_SYSTEM__LAYER_ANGLE_STEP);
+		createEAttribute(lidarSystemEClass, LIDAR_SYSTEM__NOISE);
+		createEAttribute(lidarSystemEClass, LIDAR_SYSTEM__SIGMA_NOISE);
+		createEAttribute(lidarSystemEClass, LIDAR_SYSTEM__ANGLE_MIN);
+		createEAttribute(lidarSystemEClass, LIDAR_SYSTEM__ANGLE_MAX);
+		createEAttribute(lidarSystemEClass, LIDAR_SYSTEM__TIME_INCREMENT);
+		createEAttribute(lidarSystemEClass, LIDAR_SYSTEM__SCAN_TIME);
+		createEAttribute(lidarSystemEClass, LIDAR_SYSTEM__RANGE_MIN);
+		createEAttribute(lidarSystemEClass, LIDAR_SYSTEM__RANGE_MAX);
+		createEAttribute(lidarSystemEClass, LIDAR_SYSTEM__NB_RAYS);
+
+		localizationSensorSystemEClass = createEClass(LOCALIZATION_SENSOR_SYSTEM);
+
+		gpsSystemEClass = createEClass(GPS_SYSTEM);
+		createEReference(gpsSystemEClass, GPS_SYSTEM__ORIGIN_POSITION);
+
+		simulatedSystemEClass = createEClass(SIMULATED_SYSTEM);
+		createEReference(simulatedSystemEClass, SIMULATED_SYSTEM__BASE_PROPERTY);
+		createEAttribute(simulatedSystemEClass, SIMULATED_SYSTEM__MESH);
+
+		algorithmLibraryEClass = createEClass(ALGORITHM_LIBRARY);
+		createEReference(algorithmLibraryEClass, ALGORITHM_LIBRARY__BASE_CLASS);
+		createEAttribute(algorithmLibraryEClass, ALGORITHM_LIBRARY__PATH);
+
+		stateEClass = createEClass(STATE);
+		createEReference(stateEClass, STATE__BASE_STATE);
+		createEReference(stateEClass, STATE__OPERATION);
+		createEReference(stateEClass, STATE__ARGUMENTS);
+
+		sensorDriverEClass = createEClass(SENSOR_DRIVER);
+
+		buildingEClass = createEClass(BUILDING);
+
+		planetEClass = createEClass(PLANET);
+
+		landSurfaceEClass = createEClass(LAND_SURFACE);
+
+		groundEClass = createEClass(GROUND);
+
+		floorEClass = createEClass(FLOOR);
+
+		waterSurfaceEClass = createEClass(WATER_SURFACE);
+
+		humanEClass = createEClass(HUMAN);
+
+		pedestrianEClass = createEClass(PEDESTRIAN);
+
+		stairsEClass = createEClass(STAIRS);
+
+		platformEClass = createEClass(PLATFORM);
+		createEReference(platformEClass, PLATFORM__BASE_NODE);
+
+		roboticMiddlewareEClass = createEClass(ROBOTIC_MIDDLEWARE);
+		createEAttribute(roboticMiddlewareEClass, ROBOTIC_MIDDLEWARE__KIND);
+
+		roboticSimulatorEClass = createEClass(ROBOTIC_SIMULATOR);
+
+		cycabTKEClass = createEClass(CYCAB_TK);
+		createEAttribute(cycabTKEClass, CYCAB_TK__USE_REAL_TIME);
+		createEAttribute(cycabTKEClass, CYCAB_TK__TIME_STEP);
+		createEAttribute(cycabTKEClass, CYCAB_TK__TIME_FACTOR);
+
+		blenderMorseEClass = createEClass(BLENDER_MORSE);
+		createEAttribute(blenderMorseEClass, BLENDER_MORSE__DEBUG_MODE);
+		createEAttribute(blenderMorseEClass, BLENDER_MORSE__DEBUG_DISPLAY);
+		createEAttribute(blenderMorseEClass, BLENDER_MORSE__GRAVITY);
+		createEAttribute(blenderMorseEClass, BLENDER_MORSE__VIEWPORT_SHADE);
+
+		onPortEClass = createEClass(ON_PORT);
+		createEReference(onPortEClass, ON_PORT__PORT);
+		createEReference(onPortEClass, ON_PORT__BASE_PARAMETER);
+
+		allocateEClass = createEClass(ALLOCATE);
+		createEReference(allocateEClass, ALLOCATE__BASE_ABSTRACTION);
+
+		inertialMeasurementUnitSystemEClass = createEClass(INERTIAL_MEASUREMENT_UNIT_SYSTEM);
+
+		inertialNavigationSystemEClass = createEClass(INERTIAL_NAVIGATION_SYSTEM);
+
+		odometrySystemEClass = createEClass(ODOMETRY_SYSTEM);
+
+		infraRedProximetrySystemEClass = createEClass(INFRA_RED_PROXIMETRY_SYSTEM);
+
+		deploymentPlanEClass = createEClass(DEPLOYMENT_PLAN);
+		createEReference(deploymentPlanEClass, DEPLOYMENT_PLAN__BASE_PACKAGE);
+		createEReference(deploymentPlanEClass, DEPLOYMENT_PLAN__MAIN_INSTANCE);
+
+		gyroscopeEClass = createEClass(GYROSCOPE);
+
+		// Create enums
+		robotKindEEnum = createEEnum(ROBOT_KIND);
+		ugvKindEEnum = createEEnum(UGV_KIND);
+		synchronizationKindEEnum = createEEnum(SYNCHRONIZATION_KIND);
+		dataFlowDirectionKindEEnum = createEEnum(DATA_FLOW_DIRECTION_KIND);
+		serviceFlowKindEEnum = createEEnum(SERVICE_FLOW_KIND);
+		roboticMiddlewareKindEEnum = createEEnum(ROBOTIC_MIDDLEWARE_KIND);
+		shadeEEnum = createEEnum(SHADE);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private boolean isInitialized = false;
+
+	/**
+	 * Complete the initialization of the package and its meta-model. This
+	 * method is guarded to have no affect on any invocation but its first.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void initializePackageContents() {
+		if(isInitialized)
+			return;
+		isInitialized = true;
+
+		// Initialize package
+		setName(eNAME);
+		setNsPrefix(eNS_PREFIX);
+		setNsURI(eNS_URI);
+
+		// Obtain other dependent packages
+		UMLPackage theUMLPackage = (UMLPackage)EPackage.Registry.INSTANCE.getEPackage(UMLPackage.eNS_URI);
+		TypesPackage theTypesPackage = (TypesPackage)EPackage.Registry.INSTANCE.getEPackage(TypesPackage.eNS_URI);
+		Std_datatypesPackage theStd_datatypesPackage = (Std_datatypesPackage)EPackage.Registry.INSTANCE.getEPackage(Std_datatypesPackage.eNS_URI);
+		Geometry_datatypesPackage theGeometry_datatypesPackage = (Geometry_datatypesPackage)EPackage.Registry.INSTANCE.getEPackage(Geometry_datatypesPackage.eNS_URI);
+
+		// Create type parameters
+
+		// Set bounds for type parameters
+
+		// Add supertypes to classes
+		robotEClass.getESuperTypes().add(this.getAgent());
+		robotEClass.getESuperTypes().add(this.getSystem());
+		agentEClass.getESuperTypes().add(this.getPhysicalObject());
+		physicalObjectEClass.getESuperTypes().add(this.getSystem());
+		environmentEClass.getESuperTypes().add(this.getSystem());
+		surfaceEClass.getESuperTypes().add(this.getPhysicalObject());
+		dataFlowPortEClass.getESuperTypes().add(this.getPort());
+		servicePortEClass.getESuperTypes().add(this.getPort());
+		actuatorSystemEClass.getESuperTypes().add(this.getRoboticSystem());
+		roboticSystemEClass.getESuperTypes().add(this.getSystem());
+		sensorSystemEClass.getESuperTypes().add(this.getRoboticSystem());
+		hardwareEClass.getESuperTypes().add(this.getSystem());
+		softwareEClass.getESuperTypes().add(this.getSystem());
+		primitiveDataEClass.getESuperTypes().add(this.getDataType());
+		engineSystemEClass.getESuperTypes().add(this.getActuatorSystem());
+		wheelSystemEClass.getESuperTypes().add(this.getActuatorSystem());
+		imageSensorSystemEClass.getESuperTypes().add(this.getSensorSystem());
+		cameraSystemEClass.getESuperTypes().add(this.getImageSensorSystem());
+		objectDetectionSensorSystemEClass.getESuperTypes().add(this.getSensorSystem());
+		objectTrackingSensorSystemEClass.getESuperTypes().add(this.getSensorSystem());
+		lidarSystemEClass.getESuperTypes().add(this.getObjectDetectionSensorSystem());
+		lidarSystemEClass.getESuperTypes().add(this.getObjectTrackingSensorSystem());
+		localizationSensorSystemEClass.getESuperTypes().add(this.getSensorSystem());
+		gpsSystemEClass.getESuperTypes().add(this.getLocalizationSensorSystem());
+		simulatedSystemEClass.getESuperTypes().add(this.getSoftware());
+		sensorDriverEClass.getESuperTypes().add(this.getSoftware());
+		buildingEClass.getESuperTypes().add(this.getPhysicalObject());
+		planetEClass.getESuperTypes().add(this.getPhysicalObject());
+		landSurfaceEClass.getESuperTypes().add(this.getGround());
+		groundEClass.getESuperTypes().add(this.getSurface());
+		floorEClass.getESuperTypes().add(this.getGround());
+		waterSurfaceEClass.getESuperTypes().add(this.getSurface());
+		humanEClass.getESuperTypes().add(this.getAgent());
+		pedestrianEClass.getESuperTypes().add(this.getHuman());
+		stairsEClass.getESuperTypes().add(this.getGround());
+		platformEClass.getESuperTypes().add(this.getSystem());
+		roboticMiddlewareEClass.getESuperTypes().add(this.getPlatform());
+		roboticSimulatorEClass.getESuperTypes().add(this.getPlatform());
+		cycabTKEClass.getESuperTypes().add(this.getRoboticSimulator());
+		blenderMorseEClass.getESuperTypes().add(this.getRoboticSimulator());
+		inertialMeasurementUnitSystemEClass.getESuperTypes().add(this.getSensorSystem());
+		inertialNavigationSystemEClass.getESuperTypes().add(this.getGPSSystem());
+		odometrySystemEClass.getESuperTypes().add(this.getLocalizationSensorSystem());
+		infraRedProximetrySystemEClass.getESuperTypes().add(this.getObjectDetectionSensorSystem());
+		gyroscopeEClass.getESuperTypes().add(this.getSensorSystem());
+
+		// Initialize classes and features; add operations and parameters
+		initEClass(transitionEClass, Transition.class, "Transition", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getTransition_Base_Transition(), theUMLPackage.getTransition(), null, "base_Transition", null, 1, 1, Transition.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getTransition_Guard(), this.getAlgorithm(), null, "guard", null, 1, 1, Transition.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getTransition_Effect(), this.getAlgorithm(), null, "effect", null, 1, 1, Transition.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(algorithmEClass, Algorithm.class, "Algorithm", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getAlgorithm_Base_Operation(), theUMLPackage.getOperation(), null, "base_Operation", null, 1, 1, Algorithm.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getAlgorithm_IsExternal(), theTypesPackage.getBoolean(), "isExternal", null, 1, 1, Algorithm.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getAlgorithm_ExtFunctionName(), theTypesPackage.getString(), "extFunctionName", null, 1, 1, Algorithm.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getAlgorithm_LibPath(), theTypesPackage.getString(), "libPath", null, 1, 1, Algorithm.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getAlgorithm_LibFileFormat(), theTypesPackage.getString(), "libFileFormat", "elf", 1, 1, Algorithm.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(robotEClass, Robot.class, "Robot", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getRobot_Kind(), this.getRobotKind(), "kind", "UGV", 1, 1, Robot.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getRobot_Mass(), theStd_datatypesPackage.getFloat32(), "mass", null, 1, 1, Robot.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getRobot_Width(), theStd_datatypesPackage.getFloat32(), "width", null, 1, 1, Robot.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getRobot_UgvKind(), this.getUGVKind(), "ugvKind", null, 0, 1, Robot.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(systemEClass, org.eclipse.papyrus.RobotML.System.class, "System", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getSystem_Base_Class(), theUMLPackage.getClass_(), null, "base_Class", null, 1, 1, org.eclipse.papyrus.RobotML.System.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getSystem_Native(), theTypesPackage.getBoolean(), "native", null, 1, 1, org.eclipse.papyrus.RobotML.System.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getSystem_LibraryPath(), theTypesPackage.getString(), "libraryPath", null, 1, 1, org.eclipse.papyrus.RobotML.System.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getSystem_LibraryComponentName(), theTypesPackage.getString(), "libraryComponentName", null, 1, 1, org.eclipse.papyrus.RobotML.System.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(agentEClass, Agent.class, "Agent", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getAgent_MovesOver(), this.getSurface(), null, "movesOver", null, 0, -1, Agent.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(physicalObjectEClass, PhysicalObject.class, "PhysicalObject", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getPhysicalObject_EvelovesIn(), this.getEnvironment(), null, "evelovesIn", null, 0, -1, PhysicalObject.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getPhysicalObject_HasSurface(), this.getSurface(), null, "hasSurface", null, 1, 1, PhysicalObject.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(environmentEClass, Environment.class, "Environment", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(surfaceEClass, Surface.class, "Surface", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(dataFlowPortEClass, DataFlowPort.class, "DataFlowPort", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getDataFlowPort_Direction(), this.getDataFlowDirectionKind(), "direction", null, 1, 1, DataFlowPort.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getDataFlowPort_BufferSize(), theTypesPackage.getInteger(), "bufferSize", "0", 1, 1, DataFlowPort.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(portEClass, Port.class, "Port", IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getPort_Base_Port(), theUMLPackage.getPort(), null, "base_Port", null, 1, 1, Port.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getPort_SynchronizationPolicy(), this.getSynchronizationKind(), "synchronizationPolicy", null, 1, 1, Port.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(servicePortEClass, ServicePort.class, "ServicePort", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getServicePort_Kind(), this.getServiceFlowKind(), "kind", null, 1, 1, ServicePort.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(actuatorSystemEClass, ActuatorSystem.class, "ActuatorSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(roboticSystemEClass, RoboticSystem.class, "RoboticSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getRoboticSystem_LocalPosition(), theGeometry_datatypesPackage.getPoint32(), null, "localPosition", null, 1, 1, RoboticSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getRoboticSystem_LocalOrientation(), theGeometry_datatypesPackage.getPoint32(), null, "localOrientation", null, 1, 1, RoboticSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(sensorSystemEClass, SensorSystem.class, "SensorSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getSensorSystem_Frequency(), theStd_datatypesPackage.getFloat32(), "frequency", null, 1, 1, SensorSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getSensorSystem_Identifier(), theStd_datatypesPackage.getString(), "identifier", null, 1, 1, SensorSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(hardwareEClass, Hardware.class, "Hardware", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(softwareEClass, Software.class, "Software", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getSoftware_IsPeriodic(), theTypesPackage.getBoolean(), "isPeriodic", null, 1, 1, Software.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getSoftware_Period(), theStd_datatypesPackage.getFloat32(), "period", null, 1, 1, Software.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getSoftware_Priority(), theStd_datatypesPackage.getUInt8(), "priority", null, 1, 1, Software.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getSoftware_Deadline(), theStd_datatypesPackage.getFloat32(), "deadline", null, 1, 1, Software.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getSoftware_Wcet(), theStd_datatypesPackage.getFloat32(), "wcet", null, 1, 1, Software.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(primitiveDataEClass, PrimitiveData.class, "PrimitiveData", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getPrimitiveData_Base_PrimitiveType(), theUMLPackage.getPrimitiveType(), null, "base_PrimitiveType", null, 1, 1, PrimitiveData.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(dataTypeEClass, DataType.class, "DataType", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getDataType_Base_DataType(), theUMLPackage.getDataType(), null, "base_DataType", null, 1, 1, DataType.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getDataType_Native(), theTypesPackage.getBoolean(), "native", null, 1, 1, DataType.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getDataType_LibraryPath(), theTypesPackage.getString(), "libraryPath", null, 1, 1, DataType.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(engineSystemEClass, EngineSystem.class, "EngineSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getEngineSystem_VehicleTraction(), theTypesPackage.getString(), "vehicleTraction", null, 1, 1, EngineSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getEngineSystem_MaxEngineForce(), theStd_datatypesPackage.getFloat32(), "maxEngineForce", null, 1, 1, EngineSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getEngineSystem_MaxBreakingForce(), theStd_datatypesPackage.getFloat32(), "maxBreakingForce", null, 1, 1, EngineSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getEngineSystem_MaxAllowedSteering(), theStd_datatypesPackage.getFloat32(), "maxAllowedSteering", null, 1, 1, EngineSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getEngineSystem_MaxAllowedVelocity(), theStd_datatypesPackage.getFloat32(), "maxAllowedVelocity", null, 1, 1, EngineSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getEngineSystem_Gear_ration(), theStd_datatypesPackage.getFloat32(), "gear_ration", null, 1, 1, EngineSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(wheelSystemEClass, WheelSystem.class, "WheelSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getWheelSystem_WheelRadius(), theStd_datatypesPackage.getFloat32(), "wheelRadius", null, 1, 1, WheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getWheelSystem_WheelWidth(), theStd_datatypesPackage.getFloat32(), "wheelWidth", null, 1, 1, WheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getWheelSystem_SuspensionRestLength(), theStd_datatypesPackage.getFloat32(), "suspensionRestLength", null, 1, 1, WheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getWheelSystem_WheelConnectionHeight(), theStd_datatypesPackage.getFloat32(), "wheelConnectionHeight", null, 1, 1, WheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getWheelSystem_TypeOfWheel(), theStd_datatypesPackage.getString(), "typeOfWheel", null, 1, 1, WheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getWheelSystem_WheelVelocityPIDkp(), theStd_datatypesPackage.getFloat32(), "wheelVelocityPIDkp", null, 1, 1, WheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getWheelSystem_WheelVelocityPIDki(), theStd_datatypesPackage.getFloat32(), "wheelVelocityPIDki", null, 1, 1, WheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getWheelSystem_WheelVelocityPIDkd(), theStd_datatypesPackage.getFloat32(), "wheelVelocityPIDkd", null, 1, 1, WheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getWheelSystem_WheelSteeringPIDkp(), theStd_datatypesPackage.getFloat32(), "wheelSteeringPIDkp", null, 1, 1, WheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getWheelSystem_WheelSteeringPIDkd(), theStd_datatypesPackage.getFloat32(), "wheelSteeringPIDkd", null, 1, 1, WheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getWheelSystem_WheelFriction(), theStd_datatypesPackage.getFloat32(), "wheelFriction", null, 1, 1, WheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getWheelSystem_SuspensionStiffness(), theStd_datatypesPackage.getFloat32(), "suspensionStiffness", null, 1, 1, WheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getWheelSystem_SuspensionDamping(), theStd_datatypesPackage.getFloat32(), "suspensionDamping", null, 1, 1, WheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getWheelSystem_SuspensionCompression(), theStd_datatypesPackage.getFloat32(), "suspensionCompression", null, 1, 1, WheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getWheelSystem_WheelVelocityPIDmaxSum(), theStd_datatypesPackage.getFloat32(), "wheelVelocityPIDmaxSum", null, 1, 1, WheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getWheelSystem_WheelVelocityPIDmaxVal(), theStd_datatypesPackage.getFloat32(), "wheelVelocityPIDmaxVal", null, 1, 1, WheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(imageSensorSystemEClass, ImageSensorSystem.class, "ImageSensorSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(cameraSystemEClass, CameraSystem.class, "CameraSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getCameraSystem_Width(), theStd_datatypesPackage.getUInt32(), "width", "0", 1, 1, CameraSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getCameraSystem_Height(), theStd_datatypesPackage.getUInt32(), "height", null, 1, 1, CameraSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getCameraSystem_Alpha_u(), theStd_datatypesPackage.getFloat32(), "alpha_u", null, 1, 1, CameraSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getCameraSystem_Alpha_v(), theStd_datatypesPackage.getFloat32(), "alpha_v", null, 1, 1, CameraSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getCameraSystem_U0(), theStd_datatypesPackage.getFloat32(), "u0", null, 1, 1, CameraSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getCameraSystem_V0(), theStd_datatypesPackage.getFloat32(), "v0", null, 1, 1, CameraSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getCameraSystem_Color_format(), theStd_datatypesPackage.getString(), "color_format", null, 1, 1, CameraSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getCameraSystem_Translate(), theGeometry_datatypesPackage.getPoint32(), null, "translate", null, 1, 1, CameraSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getCameraSystem_Rotate(), theGeometry_datatypesPackage.getPoint32(), null, "rotate", null, 1, 1, CameraSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(objectDetectionSensorSystemEClass, ObjectDetectionSensorSystem.class, "ObjectDetectionSensorSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(objectTrackingSensorSystemEClass, ObjectTrackingSensorSystem.class, "ObjectTrackingSensorSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(lidarSystemEClass, LidarSystem.class, "LidarSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getLidarSystem_NbLayers(), theStd_datatypesPackage.getUInt32(), "nbLayers", null, 1, 1, LidarSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getLidarSystem_LayerAngleMin(), theStd_datatypesPackage.getFloat32(), "layerAngleMin", null, 1, 1, LidarSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getLidarSystem_LayerAngleStep(), theStd_datatypesPackage.getFloat32(), "layerAngleStep", null, 1, 1, LidarSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getLidarSystem_Noise(), theStd_datatypesPackage.getBool(), "noise", null, 1, 1, LidarSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getLidarSystem_SigmaNoise(), theStd_datatypesPackage.getFloat32(), "sigmaNoise", null, 1, 1, LidarSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getLidarSystem_Angle_min(), theStd_datatypesPackage.getFloat32(), "angle_min", null, 1, 1, LidarSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getLidarSystem_Angle_max(), theStd_datatypesPackage.getFloat32(), "angle_max", null, 1, 1, LidarSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getLidarSystem_Time_increment(), theStd_datatypesPackage.getFloat32(), "time_increment", null, 1, 1, LidarSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getLidarSystem_Scan_time(), theStd_datatypesPackage.getFloat32(), "scan_time", null, 1, 1, LidarSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getLidarSystem_Range_min(), theStd_datatypesPackage.getFloat32(), "range_min", null, 1, 1, LidarSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getLidarSystem_Range_max(), theStd_datatypesPackage.getFloat32(), "range_max", null, 1, 1, LidarSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getLidarSystem_NbRays(), theStd_datatypesPackage.getUInt32(), "nbRays", null, 1, 1, LidarSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(localizationSensorSystemEClass, LocalizationSensorSystem.class, "LocalizationSensorSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(gpsSystemEClass, GPSSystem.class, "GPSSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getGPSSystem_OriginPosition(), theGeometry_datatypesPackage.getPoint32(), null, "originPosition", null, 0, 1, GPSSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(simulatedSystemEClass, SimulatedSystem.class, "SimulatedSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getSimulatedSystem_Base_Property(), theUMLPackage.getProperty(), null, "base_Property", null, 1, 1, SimulatedSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getSimulatedSystem_Mesh(), theTypesPackage.getString(), "mesh", null, 0, -1, SimulatedSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(algorithmLibraryEClass, AlgorithmLibrary.class, "AlgorithmLibrary", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getAlgorithmLibrary_Base_Class(), theUMLPackage.getClass_(), null, "base_Class", null, 1, 1, AlgorithmLibrary.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getAlgorithmLibrary_Path(), theTypesPackage.getString(), "path", null, 1, 1, AlgorithmLibrary.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(stateEClass, State.class, "State", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getState_Base_State(), theUMLPackage.getState(), null, "base_State", null, 1, 1, State.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getState_Operation(), this.getAlgorithm(), null, "operation", null, 1, 1, State.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getState_Arguments(), theUMLPackage.getProperty(), null, "arguments", null, 0, -1, State.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(sensorDriverEClass, SensorDriver.class, "SensorDriver", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(buildingEClass, Building.class, "Building", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(planetEClass, Planet.class, "Planet", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(landSurfaceEClass, LandSurface.class, "LandSurface", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(groundEClass, Ground.class, "Ground", IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(floorEClass, Floor.class, "Floor", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(waterSurfaceEClass, WaterSurface.class, "WaterSurface", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(humanEClass, Human.class, "Human", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(pedestrianEClass, Pedestrian.class, "Pedestrian", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(stairsEClass, Stairs.class, "Stairs", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(platformEClass, Platform.class, "Platform", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getPlatform_Base_Node(), theUMLPackage.getNode(), null, "base_Node", null, 1, 1, Platform.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(roboticMiddlewareEClass, RoboticMiddleware.class, "RoboticMiddleware", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getRoboticMiddleware_Kind(), this.getRoboticMiddlewareKind(), "kind", null, 1, 1, RoboticMiddleware.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(roboticSimulatorEClass, RoboticSimulator.class, "RoboticSimulator", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(cycabTKEClass, CycabTK.class, "CycabTK", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getCycabTK_UseRealTime(), theTypesPackage.getBoolean(), "useRealTime", null, 0, 1, CycabTK.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getCycabTK_TimeStep(), theStd_datatypesPackage.getFloat32(), "timeStep", null, 0, 1, CycabTK.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getCycabTK_TimeFactor(), theStd_datatypesPackage.getFloat32(), "timeFactor", null, 0, 1, CycabTK.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(blenderMorseEClass, BlenderMorse.class, "BlenderMorse", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getBlenderMorse_DebugMode(), theTypesPackage.getBoolean(), "debugMode", null, 0, 1, BlenderMorse.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getBlenderMorse_DebugDisplay(), theTypesPackage.getBoolean(), "debugDisplay", null, 0, 1, BlenderMorse.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getBlenderMorse_Gravity(), theStd_datatypesPackage.getFloat32(), "gravity", null, 0, 1, BlenderMorse.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getBlenderMorse__viewport_shade(), this.getShade(), "_viewport_shade", "WIREFRAME", 0, 1, BlenderMorse.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(onPortEClass, OnPort.class, "OnPort", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getOnPort_Port(), this.getPort(), null, "port", null, 1, 1, OnPort.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getOnPort_Base_Parameter(), theUMLPackage.getParameter(), null, "base_Parameter", null, 1, 1, OnPort.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(allocateEClass, Allocate.class, "Allocate", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getAllocate_Base_Abstraction(), theUMLPackage.getAbstraction(), null, "base_Abstraction", null, 1, 1, Allocate.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(inertialMeasurementUnitSystemEClass, InertialMeasurementUnitSystem.class, "InertialMeasurementUnitSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(inertialNavigationSystemEClass, InertialNavigationSystem.class, "InertialNavigationSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(odometrySystemEClass, OdometrySystem.class, "OdometrySystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(infraRedProximetrySystemEClass, InfraRedProximetrySystem.class, "InfraRedProximetrySystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(deploymentPlanEClass, DeploymentPlan.class, "DeploymentPlan", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getDeploymentPlan_Base_Package(), theUMLPackage.getPackage(), null, "base_Package", null, 1, 1, DeploymentPlan.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getDeploymentPlan_MainInstance(), theUMLPackage.getInstanceSpecification(), null, "mainInstance", null, 1, 1, DeploymentPlan.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(gyroscopeEClass, Gyroscope.class, "Gyroscope", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		// Initialize enums and add enum literals
+		initEEnum(robotKindEEnum, RobotKind.class, "RobotKind");
+		addEEnumLiteral(robotKindEEnum, RobotKind.UUV);
+		addEEnumLiteral(robotKindEEnum, RobotKind.UG_VCAR);
+		addEEnumLiteral(robotKindEEnum, RobotKind.UG_VDIFFERENTIAL);
+		addEEnumLiteral(robotKindEEnum, RobotKind.UAV);
+		addEEnumLiteral(robotKindEEnum, RobotKind.USV);
+		addEEnumLiteral(robotKindEEnum, RobotKind.PILOTED);
+
+		initEEnum(ugvKindEEnum, UGVKind.class, "UGVKind");
+		addEEnumLiteral(ugvKindEEnum, UGVKind.DIFFERENTIAL);
+		addEEnumLiteral(ugvKindEEnum, UGVKind.CAR);
+
+		initEEnum(synchronizationKindEEnum, SynchronizationKind.class, "SynchronizationKind");
+		addEEnumLiteral(synchronizationKindEEnum, SynchronizationKind.SYNCH);
+		addEEnumLiteral(synchronizationKindEEnum, SynchronizationKind.ASYNCH);
+		addEEnumLiteral(synchronizationKindEEnum, SynchronizationKind.UNDEFINED);
+
+		initEEnum(dataFlowDirectionKindEEnum, DataFlowDirectionKind.class, "DataFlowDirectionKind");
+		addEEnumLiteral(dataFlowDirectionKindEEnum, DataFlowDirectionKind.IN);
+		addEEnumLiteral(dataFlowDirectionKindEEnum, DataFlowDirectionKind.OUT);
+		addEEnumLiteral(dataFlowDirectionKindEEnum, DataFlowDirectionKind.INOUT);
+
+		initEEnum(serviceFlowKindEEnum, ServiceFlowKind.class, "ServiceFlowKind");
+		addEEnumLiteral(serviceFlowKindEEnum, ServiceFlowKind.PROVIDED);
+		addEEnumLiteral(serviceFlowKindEEnum, ServiceFlowKind.REQUIRED);
+
+		initEEnum(roboticMiddlewareKindEEnum, RoboticMiddlewareKind.class, "RoboticMiddlewareKind");
+		addEEnumLiteral(roboticMiddlewareKindEEnum, RoboticMiddlewareKind.RT_MAPS);
+		addEEnumLiteral(roboticMiddlewareKindEEnum, RoboticMiddlewareKind.AROCAM);
+		addEEnumLiteral(roboticMiddlewareKindEEnum, RoboticMiddlewareKind.ROS);
+		addEEnumLiteral(roboticMiddlewareKindEEnum, RoboticMiddlewareKind.OROCOS);
+		addEEnumLiteral(roboticMiddlewareKindEEnum, RoboticMiddlewareKind.URBI);
+
+		initEEnum(shadeEEnum, Shade.class, "Shade");
+		addEEnumLiteral(shadeEEnum, Shade.WIREFRAME);
+		addEEnumLiteral(shadeEEnum, Shade.BOUNDBOX);
+		addEEnumLiteral(shadeEEnum, Shade.SOLID);
+		addEEnumLiteral(shadeEEnum, Shade.TEXTURED);
+
+		// Create resource
+		createResource(eNS_URI);
+	}
+
+} //RobotMLPackageImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/RoboticMiddlewareImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/RoboticMiddlewareImpl.java
new file mode 100644
index 00000000000..effcc7dcaf0
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/RoboticMiddlewareImpl.java
@@ -0,0 +1,182 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.papyrus.RobotML.RoboticMiddleware;
+import org.eclipse.papyrus.RobotML.RoboticMiddlewareKind;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Robotic Middleware</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.RoboticMiddlewareImpl#getKind <em>Kind</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class RoboticMiddlewareImpl extends PlatformImpl implements RoboticMiddleware {
+
+	/**
+	 * The default value of the '{@link #getKind() <em>Kind</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getKind()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final RoboticMiddlewareKind KIND_EDEFAULT = RoboticMiddlewareKind.RT_MAPS;
+
+	/**
+	 * The cached value of the '{@link #getKind() <em>Kind</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getKind()
+	 * @generated
+	 * @ordered
+	 */
+	protected RoboticMiddlewareKind kind = KIND_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected RoboticMiddlewareImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.ROBOTIC_MIDDLEWARE;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public RoboticMiddlewareKind getKind() {
+		return kind;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setKind(RoboticMiddlewareKind newKind) {
+		RoboticMiddlewareKind oldKind = kind;
+		kind = newKind == null ? KIND_EDEFAULT : newKind;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.ROBOTIC_MIDDLEWARE__KIND, oldKind, kind));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case RobotMLPackage.ROBOTIC_MIDDLEWARE__KIND:
+			return getKind();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case RobotMLPackage.ROBOTIC_MIDDLEWARE__KIND:
+			setKind((RoboticMiddlewareKind)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.ROBOTIC_MIDDLEWARE__KIND:
+			setKind(KIND_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.ROBOTIC_MIDDLEWARE__KIND:
+			return kind != KIND_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (kind: ");
+		result.append(kind);
+		result.append(')');
+		return result.toString();
+	}
+
+} //RoboticMiddlewareImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/RoboticSimulatorImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/RoboticSimulatorImpl.java
new file mode 100644
index 00000000000..fdcf43618d4
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/RoboticSimulatorImpl.java
@@ -0,0 +1,50 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.papyrus.RobotML.RoboticSimulator;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Robotic Simulator</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * </p>
+ * 
+ * @generated
+ */
+public class RoboticSimulatorImpl extends PlatformImpl implements RoboticSimulator {
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected RoboticSimulatorImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.ROBOTIC_SIMULATOR;
+	}
+
+} //RoboticSimulatorImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/RoboticSystemImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/RoboticSystemImpl.java
new file mode 100644
index 00000000000..cefaf2198e1
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/RoboticSystemImpl.java
@@ -0,0 +1,269 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.papyrus.RobotML.RoboticSystem;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point32;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Robotic System</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.RoboticSystemImpl#getLocalPosition <em>Local Position</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.RoboticSystemImpl#getLocalOrientation <em>Local Orientation</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class RoboticSystemImpl extends SystemImpl implements RoboticSystem {
+
+	/**
+	 * The cached value of the '{@link #getLocalPosition() <em>Local Position</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLocalPosition()
+	 * @generated
+	 * @ordered
+	 */
+	protected Point32 localPosition;
+
+	/**
+	 * The cached value of the '{@link #getLocalOrientation() <em>Local Orientation</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLocalOrientation()
+	 * @generated
+	 * @ordered
+	 */
+	protected Point32 localOrientation;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected RoboticSystemImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.ROBOTIC_SYSTEM;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Point32 getLocalPosition() {
+		return localPosition;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetLocalPosition(Point32 newLocalPosition, NotificationChain msgs) {
+		Point32 oldLocalPosition = localPosition;
+		localPosition = newLocalPosition;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, RobotMLPackage.ROBOTIC_SYSTEM__LOCAL_POSITION, oldLocalPosition, newLocalPosition);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setLocalPosition(Point32 newLocalPosition) {
+		if(newLocalPosition != localPosition) {
+			NotificationChain msgs = null;
+			if(localPosition != null)
+				msgs = ((InternalEObject)localPosition).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - RobotMLPackage.ROBOTIC_SYSTEM__LOCAL_POSITION, null, msgs);
+			if(newLocalPosition != null)
+				msgs = ((InternalEObject)newLocalPosition).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - RobotMLPackage.ROBOTIC_SYSTEM__LOCAL_POSITION, null, msgs);
+			msgs = basicSetLocalPosition(newLocalPosition, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.ROBOTIC_SYSTEM__LOCAL_POSITION, newLocalPosition, newLocalPosition));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Point32 getLocalOrientation() {
+		return localOrientation;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetLocalOrientation(Point32 newLocalOrientation, NotificationChain msgs) {
+		Point32 oldLocalOrientation = localOrientation;
+		localOrientation = newLocalOrientation;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, RobotMLPackage.ROBOTIC_SYSTEM__LOCAL_ORIENTATION, oldLocalOrientation, newLocalOrientation);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setLocalOrientation(Point32 newLocalOrientation) {
+		if(newLocalOrientation != localOrientation) {
+			NotificationChain msgs = null;
+			if(localOrientation != null)
+				msgs = ((InternalEObject)localOrientation).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - RobotMLPackage.ROBOTIC_SYSTEM__LOCAL_ORIENTATION, null, msgs);
+			if(newLocalOrientation != null)
+				msgs = ((InternalEObject)newLocalOrientation).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - RobotMLPackage.ROBOTIC_SYSTEM__LOCAL_ORIENTATION, null, msgs);
+			msgs = basicSetLocalOrientation(newLocalOrientation, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.ROBOTIC_SYSTEM__LOCAL_ORIENTATION, newLocalOrientation, newLocalOrientation));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case RobotMLPackage.ROBOTIC_SYSTEM__LOCAL_POSITION:
+			return basicSetLocalPosition(null, msgs);
+		case RobotMLPackage.ROBOTIC_SYSTEM__LOCAL_ORIENTATION:
+			return basicSetLocalOrientation(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case RobotMLPackage.ROBOTIC_SYSTEM__LOCAL_POSITION:
+			return getLocalPosition();
+		case RobotMLPackage.ROBOTIC_SYSTEM__LOCAL_ORIENTATION:
+			return getLocalOrientation();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case RobotMLPackage.ROBOTIC_SYSTEM__LOCAL_POSITION:
+			setLocalPosition((Point32)newValue);
+			return;
+		case RobotMLPackage.ROBOTIC_SYSTEM__LOCAL_ORIENTATION:
+			setLocalOrientation((Point32)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.ROBOTIC_SYSTEM__LOCAL_POSITION:
+			setLocalPosition((Point32)null);
+			return;
+		case RobotMLPackage.ROBOTIC_SYSTEM__LOCAL_ORIENTATION:
+			setLocalOrientation((Point32)null);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.ROBOTIC_SYSTEM__LOCAL_POSITION:
+			return localPosition != null;
+		case RobotMLPackage.ROBOTIC_SYSTEM__LOCAL_ORIENTATION:
+			return localOrientation != null;
+		}
+		return super.eIsSet(featureID);
+	}
+
+} //RoboticSystemImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/SensorDriverImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/SensorDriverImpl.java
new file mode 100644
index 00000000000..261a1c36382
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/SensorDriverImpl.java
@@ -0,0 +1,50 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.papyrus.RobotML.SensorDriver;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Sensor Driver</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * </p>
+ * 
+ * @generated
+ */
+public class SensorDriverImpl extends SoftwareImpl implements SensorDriver {
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected SensorDriverImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.SENSOR_DRIVER;
+	}
+
+} //SensorDriverImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/SensorSystemImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/SensorSystemImpl.java
new file mode 100644
index 00000000000..64aee0eeba0
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/SensorSystemImpl.java
@@ -0,0 +1,239 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.papyrus.RobotML.SensorSystem;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Sensor System</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.SensorSystemImpl#getFrequency <em>Frequency</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.SensorSystemImpl#getIdentifier <em>Identifier</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class SensorSystemImpl extends RoboticSystemImpl implements SensorSystem {
+
+	/**
+	 * The default value of the '{@link #getFrequency() <em>Frequency</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getFrequency()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float FREQUENCY_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getFrequency() <em>Frequency</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getFrequency()
+	 * @generated
+	 * @ordered
+	 */
+	protected float frequency = FREQUENCY_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getIdentifier() <em>Identifier</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getIdentifier()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final String IDENTIFIER_EDEFAULT = null;
+
+	/**
+	 * The cached value of the '{@link #getIdentifier() <em>Identifier</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getIdentifier()
+	 * @generated
+	 * @ordered
+	 */
+	protected String identifier = IDENTIFIER_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected SensorSystemImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.SENSOR_SYSTEM;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getFrequency() {
+		return frequency;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setFrequency(float newFrequency) {
+		float oldFrequency = frequency;
+		frequency = newFrequency;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.SENSOR_SYSTEM__FREQUENCY, oldFrequency, frequency));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getIdentifier() {
+		return identifier;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setIdentifier(String newIdentifier) {
+		String oldIdentifier = identifier;
+		identifier = newIdentifier;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.SENSOR_SYSTEM__IDENTIFIER, oldIdentifier, identifier));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case RobotMLPackage.SENSOR_SYSTEM__FREQUENCY:
+			return getFrequency();
+		case RobotMLPackage.SENSOR_SYSTEM__IDENTIFIER:
+			return getIdentifier();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case RobotMLPackage.SENSOR_SYSTEM__FREQUENCY:
+			setFrequency((Float)newValue);
+			return;
+		case RobotMLPackage.SENSOR_SYSTEM__IDENTIFIER:
+			setIdentifier((String)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.SENSOR_SYSTEM__FREQUENCY:
+			setFrequency(FREQUENCY_EDEFAULT);
+			return;
+		case RobotMLPackage.SENSOR_SYSTEM__IDENTIFIER:
+			setIdentifier(IDENTIFIER_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.SENSOR_SYSTEM__FREQUENCY:
+			return frequency != FREQUENCY_EDEFAULT;
+		case RobotMLPackage.SENSOR_SYSTEM__IDENTIFIER:
+			return IDENTIFIER_EDEFAULT == null ? identifier != null : !IDENTIFIER_EDEFAULT.equals(identifier);
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (frequency: ");
+		result.append(frequency);
+		result.append(", identifier: ");
+		result.append(identifier);
+		result.append(')');
+		return result.toString();
+	}
+
+} //SensorSystemImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/ServicePortImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/ServicePortImpl.java
new file mode 100644
index 00000000000..ee7ba230b61
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/ServicePortImpl.java
@@ -0,0 +1,212 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.papyrus.RobotML.ServiceFlowKind;
+import org.eclipse.papyrus.RobotML.ServicePort;
+import org.eclipse.uml2.uml.Image;
+import org.eclipse.uml2.uml.Stereotype;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Service Port</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.ServicePortImpl#getKind <em>Kind</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class ServicePortImpl extends PortImpl implements ServicePort {
+
+	/**
+	 * The default value of the '{@link #getKind() <em>Kind</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getKind()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final ServiceFlowKind KIND_EDEFAULT = ServiceFlowKind.PROVIDED;
+
+	/**
+	 * The cached value of the '{@link #getKind() <em>Kind</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getKind()
+	 * @generated
+	 * @ordered
+	 */
+	protected ServiceFlowKind kind = KIND_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected ServicePortImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.SERVICE_PORT;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public ServiceFlowKind getKind() {
+		return kind;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setKind(ServiceFlowKind newKind) {
+		ServiceFlowKind oldKind = kind;
+		kind = newKind == null ? KIND_EDEFAULT : newKind;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.SERVICE_PORT__KIND, oldKind, kind));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case RobotMLPackage.SERVICE_PORT__KIND:
+			return getKind();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case RobotMLPackage.SERVICE_PORT__KIND:
+			setKind((ServiceFlowKind)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.SERVICE_PORT__KIND:
+			setKind(KIND_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.SERVICE_PORT__KIND:
+			return kind != KIND_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (kind: ");
+		result.append(kind);
+		result.append(')');
+		return result.toString();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * Images registered in Profile are :
+	 * 
+	 * 0 - ServicePort Provided
+	 * 1 - ServicePort Required
+	 * 
+	 * <!-- end-user-doc -->.
+	 * 
+	 * @return the icon of the port
+	 * @generated NOT
+	 */
+	public Image getIcon() {
+		Image ImageNotFound = null;
+		if(getBase_Port() != null) {
+			Stereotype st = getBase_Port().getAppliedStereotype("RobotML::ServicePort");
+			Image image = st.getIcons().get(0);
+
+			if(getKind() == ServiceFlowKind.REQUIRED) {
+				image = st.getIcons().get(1);
+			}
+
+			return image;
+		} else {
+			return ImageNotFound;
+		}
+	}
+
+} //ServicePortImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/SimulatedSystemImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/SimulatedSystemImpl.java
new file mode 100644
index 00000000000..3a5ceaa9f44
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/SimulatedSystemImpl.java
@@ -0,0 +1,233 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import java.util.Collection;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.util.EDataTypeUniqueEList;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.papyrus.RobotML.SimulatedSystem;
+import org.eclipse.uml2.uml.Property;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Simulated System</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.SimulatedSystemImpl#getBase_Property <em>Base Property</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.SimulatedSystemImpl#getMesh <em>Mesh</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class SimulatedSystemImpl extends SoftwareImpl implements SimulatedSystem {
+
+	/**
+	 * The cached value of the '{@link #getBase_Property() <em>Base Property</em>}' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getBase_Property()
+	 * @generated
+	 * @ordered
+	 */
+	protected Property base_Property;
+
+	/**
+	 * The cached value of the '{@link #getMesh() <em>Mesh</em>}' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getMesh()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<String> mesh;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected SimulatedSystemImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.SIMULATED_SYSTEM;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Property getBase_Property() {
+		if(base_Property != null && base_Property.eIsProxy()) {
+			InternalEObject oldBase_Property = (InternalEObject)base_Property;
+			base_Property = (Property)eResolveProxy(oldBase_Property);
+			if(base_Property != oldBase_Property) {
+				if(eNotificationRequired())
+					eNotify(new ENotificationImpl(this, Notification.RESOLVE, RobotMLPackage.SIMULATED_SYSTEM__BASE_PROPERTY, oldBase_Property, base_Property));
+			}
+		}
+		return base_Property;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Property basicGetBase_Property() {
+		return base_Property;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setBase_Property(Property newBase_Property) {
+		Property oldBase_Property = base_Property;
+		base_Property = newBase_Property;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.SIMULATED_SYSTEM__BASE_PROPERTY, oldBase_Property, base_Property));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<String> getMesh() {
+		if(mesh == null) {
+			mesh = new EDataTypeUniqueEList<String>(String.class, this, RobotMLPackage.SIMULATED_SYSTEM__MESH);
+		}
+		return mesh;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case RobotMLPackage.SIMULATED_SYSTEM__BASE_PROPERTY:
+			if(resolve)
+				return getBase_Property();
+			return basicGetBase_Property();
+		case RobotMLPackage.SIMULATED_SYSTEM__MESH:
+			return getMesh();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@SuppressWarnings("unchecked")
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case RobotMLPackage.SIMULATED_SYSTEM__BASE_PROPERTY:
+			setBase_Property((Property)newValue);
+			return;
+		case RobotMLPackage.SIMULATED_SYSTEM__MESH:
+			getMesh().clear();
+			getMesh().addAll((Collection<? extends String>)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.SIMULATED_SYSTEM__BASE_PROPERTY:
+			setBase_Property((Property)null);
+			return;
+		case RobotMLPackage.SIMULATED_SYSTEM__MESH:
+			getMesh().clear();
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.SIMULATED_SYSTEM__BASE_PROPERTY:
+			return base_Property != null;
+		case RobotMLPackage.SIMULATED_SYSTEM__MESH:
+			return mesh != null && !mesh.isEmpty();
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (mesh: ");
+		result.append(mesh);
+		result.append(')');
+		return result.toString();
+	}
+
+} //SimulatedSystemImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/SoftwareImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/SoftwareImpl.java
new file mode 100644
index 00000000000..3266a71fd01
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/SoftwareImpl.java
@@ -0,0 +1,413 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.papyrus.RobotML.Software;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Software</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.SoftwareImpl#isIsPeriodic <em>Is Periodic</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.SoftwareImpl#getPeriod <em>Period</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.SoftwareImpl#getPriority <em>Priority</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.SoftwareImpl#getDeadline <em>Deadline</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.SoftwareImpl#getWcet <em>Wcet</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class SoftwareImpl extends SystemImpl implements Software {
+
+	/**
+	 * The default value of the '{@link #isIsPeriodic() <em>Is Periodic</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #isIsPeriodic()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final boolean IS_PERIODIC_EDEFAULT = false;
+
+	/**
+	 * The cached value of the '{@link #isIsPeriodic() <em>Is Periodic</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #isIsPeriodic()
+	 * @generated
+	 * @ordered
+	 */
+	protected boolean isPeriodic = IS_PERIODIC_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getPeriod() <em>Period</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getPeriod()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float PERIOD_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getPeriod() <em>Period</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getPeriod()
+	 * @generated
+	 * @ordered
+	 */
+	protected float period = PERIOD_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getPriority() <em>Priority</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getPriority()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final char PRIORITY_EDEFAULT = '\u0000';
+
+	/**
+	 * The cached value of the '{@link #getPriority() <em>Priority</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getPriority()
+	 * @generated
+	 * @ordered
+	 */
+	protected char priority = PRIORITY_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getDeadline() <em>Deadline</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getDeadline()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float DEADLINE_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getDeadline() <em>Deadline</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getDeadline()
+	 * @generated
+	 * @ordered
+	 */
+	protected float deadline = DEADLINE_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getWcet() <em>Wcet</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWcet()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float WCET_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getWcet() <em>Wcet</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWcet()
+	 * @generated
+	 * @ordered
+	 */
+	protected float wcet = WCET_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected SoftwareImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.SOFTWARE;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public boolean isIsPeriodic() {
+		return isPeriodic;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setIsPeriodic(boolean newIsPeriodic) {
+		boolean oldIsPeriodic = isPeriodic;
+		isPeriodic = newIsPeriodic;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.SOFTWARE__IS_PERIODIC, oldIsPeriodic, isPeriodic));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getPeriod() {
+		return period;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setPeriod(float newPeriod) {
+		float oldPeriod = period;
+		period = newPeriod;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.SOFTWARE__PERIOD, oldPeriod, period));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public char getPriority() {
+		return priority;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setPriority(char newPriority) {
+		char oldPriority = priority;
+		priority = newPriority;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.SOFTWARE__PRIORITY, oldPriority, priority));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getDeadline() {
+		return deadline;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setDeadline(float newDeadline) {
+		float oldDeadline = deadline;
+		deadline = newDeadline;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.SOFTWARE__DEADLINE, oldDeadline, deadline));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getWcet() {
+		return wcet;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setWcet(float newWcet) {
+		float oldWcet = wcet;
+		wcet = newWcet;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.SOFTWARE__WCET, oldWcet, wcet));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case RobotMLPackage.SOFTWARE__IS_PERIODIC:
+			return isIsPeriodic();
+		case RobotMLPackage.SOFTWARE__PERIOD:
+			return getPeriod();
+		case RobotMLPackage.SOFTWARE__PRIORITY:
+			return getPriority();
+		case RobotMLPackage.SOFTWARE__DEADLINE:
+			return getDeadline();
+		case RobotMLPackage.SOFTWARE__WCET:
+			return getWcet();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case RobotMLPackage.SOFTWARE__IS_PERIODIC:
+			setIsPeriodic((Boolean)newValue);
+			return;
+		case RobotMLPackage.SOFTWARE__PERIOD:
+			setPeriod((Float)newValue);
+			return;
+		case RobotMLPackage.SOFTWARE__PRIORITY:
+			setPriority((Character)newValue);
+			return;
+		case RobotMLPackage.SOFTWARE__DEADLINE:
+			setDeadline((Float)newValue);
+			return;
+		case RobotMLPackage.SOFTWARE__WCET:
+			setWcet((Float)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.SOFTWARE__IS_PERIODIC:
+			setIsPeriodic(IS_PERIODIC_EDEFAULT);
+			return;
+		case RobotMLPackage.SOFTWARE__PERIOD:
+			setPeriod(PERIOD_EDEFAULT);
+			return;
+		case RobotMLPackage.SOFTWARE__PRIORITY:
+			setPriority(PRIORITY_EDEFAULT);
+			return;
+		case RobotMLPackage.SOFTWARE__DEADLINE:
+			setDeadline(DEADLINE_EDEFAULT);
+			return;
+		case RobotMLPackage.SOFTWARE__WCET:
+			setWcet(WCET_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.SOFTWARE__IS_PERIODIC:
+			return isPeriodic != IS_PERIODIC_EDEFAULT;
+		case RobotMLPackage.SOFTWARE__PERIOD:
+			return period != PERIOD_EDEFAULT;
+		case RobotMLPackage.SOFTWARE__PRIORITY:
+			return priority != PRIORITY_EDEFAULT;
+		case RobotMLPackage.SOFTWARE__DEADLINE:
+			return deadline != DEADLINE_EDEFAULT;
+		case RobotMLPackage.SOFTWARE__WCET:
+			return wcet != WCET_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (isPeriodic: ");
+		result.append(isPeriodic);
+		result.append(", period: ");
+		result.append(period);
+		result.append(", priority: ");
+		result.append(priority);
+		result.append(", deadline: ");
+		result.append(deadline);
+		result.append(", wcet: ");
+		result.append(wcet);
+		result.append(')');
+		return result.toString();
+	}
+
+} //SoftwareImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/StairsImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/StairsImpl.java
new file mode 100644
index 00000000000..4d113a2a389
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/StairsImpl.java
@@ -0,0 +1,50 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.papyrus.RobotML.Stairs;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Stairs</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * </p>
+ * 
+ * @generated
+ */
+public class StairsImpl extends GroundImpl implements Stairs {
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected StairsImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.STAIRS;
+	}
+
+} //StairsImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/StateImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/StateImpl.java
new file mode 100644
index 00000000000..24d0a83b4ed
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/StateImpl.java
@@ -0,0 +1,282 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import java.util.Collection;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.emf.ecore.util.EObjectResolvingEList;
+import org.eclipse.papyrus.RobotML.Algorithm;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.papyrus.RobotML.State;
+import org.eclipse.uml2.uml.Property;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>State</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.StateImpl#getBase_State <em>Base State</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.StateImpl#getOperation <em>Operation</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.StateImpl#getArguments <em>Arguments</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class StateImpl extends EObjectImpl implements State {
+
+	/**
+	 * The cached value of the '{@link #getBase_State() <em>Base State</em>}' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getBase_State()
+	 * @generated
+	 * @ordered
+	 */
+	protected org.eclipse.uml2.uml.State base_State;
+
+	/**
+	 * The cached value of the '{@link #getOperation() <em>Operation</em>}' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getOperation()
+	 * @generated
+	 * @ordered
+	 */
+	protected Algorithm operation;
+
+	/**
+	 * The cached value of the '{@link #getArguments() <em>Arguments</em>}' reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getArguments()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Property> arguments;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected StateImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.STATE;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public org.eclipse.uml2.uml.State getBase_State() {
+		if(base_State != null && base_State.eIsProxy()) {
+			InternalEObject oldBase_State = (InternalEObject)base_State;
+			base_State = (org.eclipse.uml2.uml.State)eResolveProxy(oldBase_State);
+			if(base_State != oldBase_State) {
+				if(eNotificationRequired())
+					eNotify(new ENotificationImpl(this, Notification.RESOLVE, RobotMLPackage.STATE__BASE_STATE, oldBase_State, base_State));
+			}
+		}
+		return base_State;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public org.eclipse.uml2.uml.State basicGetBase_State() {
+		return base_State;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setBase_State(org.eclipse.uml2.uml.State newBase_State) {
+		org.eclipse.uml2.uml.State oldBase_State = base_State;
+		base_State = newBase_State;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.STATE__BASE_STATE, oldBase_State, base_State));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Algorithm getOperation() {
+		if(operation != null && operation.eIsProxy()) {
+			InternalEObject oldOperation = (InternalEObject)operation;
+			operation = (Algorithm)eResolveProxy(oldOperation);
+			if(operation != oldOperation) {
+				if(eNotificationRequired())
+					eNotify(new ENotificationImpl(this, Notification.RESOLVE, RobotMLPackage.STATE__OPERATION, oldOperation, operation));
+			}
+		}
+		return operation;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Algorithm basicGetOperation() {
+		return operation;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setOperation(Algorithm newOperation) {
+		Algorithm oldOperation = operation;
+		operation = newOperation;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.STATE__OPERATION, oldOperation, operation));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Property> getArguments() {
+		if(arguments == null) {
+			arguments = new EObjectResolvingEList<Property>(Property.class, this, RobotMLPackage.STATE__ARGUMENTS);
+		}
+		return arguments;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case RobotMLPackage.STATE__BASE_STATE:
+			if(resolve)
+				return getBase_State();
+			return basicGetBase_State();
+		case RobotMLPackage.STATE__OPERATION:
+			if(resolve)
+				return getOperation();
+			return basicGetOperation();
+		case RobotMLPackage.STATE__ARGUMENTS:
+			return getArguments();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@SuppressWarnings("unchecked")
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case RobotMLPackage.STATE__BASE_STATE:
+			setBase_State((org.eclipse.uml2.uml.State)newValue);
+			return;
+		case RobotMLPackage.STATE__OPERATION:
+			setOperation((Algorithm)newValue);
+			return;
+		case RobotMLPackage.STATE__ARGUMENTS:
+			getArguments().clear();
+			getArguments().addAll((Collection<? extends Property>)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.STATE__BASE_STATE:
+			setBase_State((org.eclipse.uml2.uml.State)null);
+			return;
+		case RobotMLPackage.STATE__OPERATION:
+			setOperation((Algorithm)null);
+			return;
+		case RobotMLPackage.STATE__ARGUMENTS:
+			getArguments().clear();
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.STATE__BASE_STATE:
+			return base_State != null;
+		case RobotMLPackage.STATE__OPERATION:
+			return operation != null;
+		case RobotMLPackage.STATE__ARGUMENTS:
+			return arguments != null && !arguments.isEmpty();
+		}
+		return super.eIsSet(featureID);
+	}
+
+} //StateImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/SurfaceImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/SurfaceImpl.java
new file mode 100644
index 00000000000..0fefa7e9373
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/SurfaceImpl.java
@@ -0,0 +1,50 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.papyrus.RobotML.Surface;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Surface</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * </p>
+ * 
+ * @generated
+ */
+public class SurfaceImpl extends PhysicalObjectImpl implements Surface {
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected SurfaceImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.SURFACE;
+	}
+
+} //SurfaceImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/SystemImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/SystemImpl.java
new file mode 100644
index 00000000000..5cfa45617e7
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/SystemImpl.java
@@ -0,0 +1,363 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>System</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.SystemImpl#getBase_Class <em>Base Class</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.SystemImpl#isNative <em>Native</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.SystemImpl#getLibraryPath <em>Library Path</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.SystemImpl#getLibraryComponentName <em>Library Component Name</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class SystemImpl extends EObjectImpl implements org.eclipse.papyrus.RobotML.System {
+
+	/**
+	 * The cached value of the '{@link #getBase_Class() <em>Base Class</em>}' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getBase_Class()
+	 * @generated
+	 * @ordered
+	 */
+	protected org.eclipse.uml2.uml.Class base_Class;
+
+	/**
+	 * The default value of the '{@link #isNative() <em>Native</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #isNative()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final boolean NATIVE_EDEFAULT = false;
+
+	/**
+	 * The cached value of the '{@link #isNative() <em>Native</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #isNative()
+	 * @generated
+	 * @ordered
+	 */
+	protected boolean native_ = NATIVE_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getLibraryPath() <em>Library Path</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLibraryPath()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final String LIBRARY_PATH_EDEFAULT = null;
+
+	/**
+	 * The cached value of the '{@link #getLibraryPath() <em>Library Path</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLibraryPath()
+	 * @generated
+	 * @ordered
+	 */
+	protected String libraryPath = LIBRARY_PATH_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getLibraryComponentName() <em>Library Component Name</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLibraryComponentName()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final String LIBRARY_COMPONENT_NAME_EDEFAULT = null;
+
+	/**
+	 * The cached value of the '{@link #getLibraryComponentName() <em>Library Component Name</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLibraryComponentName()
+	 * @generated
+	 * @ordered
+	 */
+	protected String libraryComponentName = LIBRARY_COMPONENT_NAME_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected SystemImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.SYSTEM;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public org.eclipse.uml2.uml.Class getBase_Class() {
+		if(base_Class != null && base_Class.eIsProxy()) {
+			InternalEObject oldBase_Class = (InternalEObject)base_Class;
+			base_Class = (org.eclipse.uml2.uml.Class)eResolveProxy(oldBase_Class);
+			if(base_Class != oldBase_Class) {
+				if(eNotificationRequired())
+					eNotify(new ENotificationImpl(this, Notification.RESOLVE, RobotMLPackage.SYSTEM__BASE_CLASS, oldBase_Class, base_Class));
+			}
+		}
+		return base_Class;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public org.eclipse.uml2.uml.Class basicGetBase_Class() {
+		return base_Class;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setBase_Class(org.eclipse.uml2.uml.Class newBase_Class) {
+		org.eclipse.uml2.uml.Class oldBase_Class = base_Class;
+		base_Class = newBase_Class;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.SYSTEM__BASE_CLASS, oldBase_Class, base_Class));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public boolean isNative() {
+		return native_;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setNative(boolean newNative) {
+		boolean oldNative = native_;
+		native_ = newNative;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.SYSTEM__NATIVE, oldNative, native_));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getLibraryPath() {
+		return libraryPath;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setLibraryPath(String newLibraryPath) {
+		String oldLibraryPath = libraryPath;
+		libraryPath = newLibraryPath;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.SYSTEM__LIBRARY_PATH, oldLibraryPath, libraryPath));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getLibraryComponentName() {
+		return libraryComponentName;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setLibraryComponentName(String newLibraryComponentName) {
+		String oldLibraryComponentName = libraryComponentName;
+		libraryComponentName = newLibraryComponentName;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.SYSTEM__LIBRARY_COMPONENT_NAME, oldLibraryComponentName, libraryComponentName));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case RobotMLPackage.SYSTEM__BASE_CLASS:
+			if(resolve)
+				return getBase_Class();
+			return basicGetBase_Class();
+		case RobotMLPackage.SYSTEM__NATIVE:
+			return isNative();
+		case RobotMLPackage.SYSTEM__LIBRARY_PATH:
+			return getLibraryPath();
+		case RobotMLPackage.SYSTEM__LIBRARY_COMPONENT_NAME:
+			return getLibraryComponentName();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case RobotMLPackage.SYSTEM__BASE_CLASS:
+			setBase_Class((org.eclipse.uml2.uml.Class)newValue);
+			return;
+		case RobotMLPackage.SYSTEM__NATIVE:
+			setNative((Boolean)newValue);
+			return;
+		case RobotMLPackage.SYSTEM__LIBRARY_PATH:
+			setLibraryPath((String)newValue);
+			return;
+		case RobotMLPackage.SYSTEM__LIBRARY_COMPONENT_NAME:
+			setLibraryComponentName((String)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.SYSTEM__BASE_CLASS:
+			setBase_Class((org.eclipse.uml2.uml.Class)null);
+			return;
+		case RobotMLPackage.SYSTEM__NATIVE:
+			setNative(NATIVE_EDEFAULT);
+			return;
+		case RobotMLPackage.SYSTEM__LIBRARY_PATH:
+			setLibraryPath(LIBRARY_PATH_EDEFAULT);
+			return;
+		case RobotMLPackage.SYSTEM__LIBRARY_COMPONENT_NAME:
+			setLibraryComponentName(LIBRARY_COMPONENT_NAME_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.SYSTEM__BASE_CLASS:
+			return base_Class != null;
+		case RobotMLPackage.SYSTEM__NATIVE:
+			return native_ != NATIVE_EDEFAULT;
+		case RobotMLPackage.SYSTEM__LIBRARY_PATH:
+			return LIBRARY_PATH_EDEFAULT == null ? libraryPath != null : !LIBRARY_PATH_EDEFAULT.equals(libraryPath);
+		case RobotMLPackage.SYSTEM__LIBRARY_COMPONENT_NAME:
+			return LIBRARY_COMPONENT_NAME_EDEFAULT == null ? libraryComponentName != null : !LIBRARY_COMPONENT_NAME_EDEFAULT.equals(libraryComponentName);
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (native: ");
+		result.append(native_);
+		result.append(", libraryPath: ");
+		result.append(libraryPath);
+		result.append(", libraryComponentName: ");
+		result.append(libraryComponentName);
+		result.append(')');
+		return result.toString();
+	}
+
+} //SystemImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/TransitionImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/TransitionImpl.java
new file mode 100644
index 00000000000..c5874b918fb
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/TransitionImpl.java
@@ -0,0 +1,305 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotML.Algorithm;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.papyrus.RobotML.Transition;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Transition</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.TransitionImpl#getBase_Transition <em>Base Transition</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.TransitionImpl#getGuard <em>Guard</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.TransitionImpl#getEffect <em>Effect</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class TransitionImpl extends EObjectImpl implements Transition {
+
+	/**
+	 * The cached value of the '{@link #getBase_Transition() <em>Base Transition</em>}' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getBase_Transition()
+	 * @generated
+	 * @ordered
+	 */
+	protected org.eclipse.uml2.uml.Transition base_Transition;
+
+	/**
+	 * The cached value of the '{@link #getGuard() <em>Guard</em>}' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getGuard()
+	 * @generated
+	 * @ordered
+	 */
+	protected Algorithm guard;
+
+	/**
+	 * The cached value of the '{@link #getEffect() <em>Effect</em>}' reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getEffect()
+	 * @generated
+	 * @ordered
+	 */
+	protected Algorithm effect;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected TransitionImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.TRANSITION;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public org.eclipse.uml2.uml.Transition getBase_Transition() {
+		if(base_Transition != null && base_Transition.eIsProxy()) {
+			InternalEObject oldBase_Transition = (InternalEObject)base_Transition;
+			base_Transition = (org.eclipse.uml2.uml.Transition)eResolveProxy(oldBase_Transition);
+			if(base_Transition != oldBase_Transition) {
+				if(eNotificationRequired())
+					eNotify(new ENotificationImpl(this, Notification.RESOLVE, RobotMLPackage.TRANSITION__BASE_TRANSITION, oldBase_Transition, base_Transition));
+			}
+		}
+		return base_Transition;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public org.eclipse.uml2.uml.Transition basicGetBase_Transition() {
+		return base_Transition;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setBase_Transition(org.eclipse.uml2.uml.Transition newBase_Transition) {
+		org.eclipse.uml2.uml.Transition oldBase_Transition = base_Transition;
+		base_Transition = newBase_Transition;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.TRANSITION__BASE_TRANSITION, oldBase_Transition, base_Transition));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Algorithm getGuard() {
+		if(guard != null && guard.eIsProxy()) {
+			InternalEObject oldGuard = (InternalEObject)guard;
+			guard = (Algorithm)eResolveProxy(oldGuard);
+			if(guard != oldGuard) {
+				if(eNotificationRequired())
+					eNotify(new ENotificationImpl(this, Notification.RESOLVE, RobotMLPackage.TRANSITION__GUARD, oldGuard, guard));
+			}
+		}
+		return guard;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Algorithm basicGetGuard() {
+		return guard;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setGuard(Algorithm newGuard) {
+		Algorithm oldGuard = guard;
+		guard = newGuard;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.TRANSITION__GUARD, oldGuard, guard));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Algorithm getEffect() {
+		if(effect != null && effect.eIsProxy()) {
+			InternalEObject oldEffect = (InternalEObject)effect;
+			effect = (Algorithm)eResolveProxy(oldEffect);
+			if(effect != oldEffect) {
+				if(eNotificationRequired())
+					eNotify(new ENotificationImpl(this, Notification.RESOLVE, RobotMLPackage.TRANSITION__EFFECT, oldEffect, effect));
+			}
+		}
+		return effect;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Algorithm basicGetEffect() {
+		return effect;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setEffect(Algorithm newEffect) {
+		Algorithm oldEffect = effect;
+		effect = newEffect;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.TRANSITION__EFFECT, oldEffect, effect));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case RobotMLPackage.TRANSITION__BASE_TRANSITION:
+			if(resolve)
+				return getBase_Transition();
+			return basicGetBase_Transition();
+		case RobotMLPackage.TRANSITION__GUARD:
+			if(resolve)
+				return getGuard();
+			return basicGetGuard();
+		case RobotMLPackage.TRANSITION__EFFECT:
+			if(resolve)
+				return getEffect();
+			return basicGetEffect();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case RobotMLPackage.TRANSITION__BASE_TRANSITION:
+			setBase_Transition((org.eclipse.uml2.uml.Transition)newValue);
+			return;
+		case RobotMLPackage.TRANSITION__GUARD:
+			setGuard((Algorithm)newValue);
+			return;
+		case RobotMLPackage.TRANSITION__EFFECT:
+			setEffect((Algorithm)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.TRANSITION__BASE_TRANSITION:
+			setBase_Transition((org.eclipse.uml2.uml.Transition)null);
+			return;
+		case RobotMLPackage.TRANSITION__GUARD:
+			setGuard((Algorithm)null);
+			return;
+		case RobotMLPackage.TRANSITION__EFFECT:
+			setEffect((Algorithm)null);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.TRANSITION__BASE_TRANSITION:
+			return base_Transition != null;
+		case RobotMLPackage.TRANSITION__GUARD:
+			return guard != null;
+		case RobotMLPackage.TRANSITION__EFFECT:
+			return effect != null;
+		}
+		return super.eIsSet(featureID);
+	}
+
+} //TransitionImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/WaterSurfaceImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/WaterSurfaceImpl.java
new file mode 100644
index 00000000000..5e58b782977
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/WaterSurfaceImpl.java
@@ -0,0 +1,50 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.papyrus.RobotML.WaterSurface;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Water Surface</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * </p>
+ * 
+ * @generated
+ */
+public class WaterSurfaceImpl extends SurfaceImpl implements WaterSurface {
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected WaterSurfaceImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.WATER_SURFACE;
+	}
+
+} //WaterSurfaceImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/WheelSystemImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/WheelSystemImpl.java
new file mode 100644
index 00000000000..5eac3e67c86
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/WheelSystemImpl.java
@@ -0,0 +1,1051 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.papyrus.RobotML.WheelSystem;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Wheel System</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.WheelSystemImpl#getWheelRadius <em>Wheel Radius</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.WheelSystemImpl#getWheelWidth <em>Wheel Width</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.WheelSystemImpl#getSuspensionRestLength <em>Suspension Rest Length</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.WheelSystemImpl#getWheelConnectionHeight <em>Wheel Connection Height</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.WheelSystemImpl#getTypeOfWheel <em>Type Of Wheel</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.WheelSystemImpl#getWheelVelocityPIDkp <em>Wheel Velocity PI Dkp</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.WheelSystemImpl#getWheelVelocityPIDki <em>Wheel Velocity PI Dki</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.WheelSystemImpl#getWheelVelocityPIDkd <em>Wheel Velocity PI Dkd</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.WheelSystemImpl#getWheelSteeringPIDkp <em>Wheel Steering PI Dkp</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.WheelSystemImpl#getWheelSteeringPIDkd <em>Wheel Steering PI Dkd</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.WheelSystemImpl#getWheelFriction <em>Wheel Friction</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.WheelSystemImpl#getSuspensionStiffness <em>Suspension Stiffness</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.WheelSystemImpl#getSuspensionDamping <em>Suspension Damping</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.WheelSystemImpl#getSuspensionCompression <em>Suspension Compression</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.WheelSystemImpl#getWheelVelocityPIDmaxSum <em>Wheel Velocity PI Dmax Sum</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotML.impl.WheelSystemImpl#getWheelVelocityPIDmaxVal <em>Wheel Velocity PI Dmax Val</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class WheelSystemImpl extends ActuatorSystemImpl implements WheelSystem {
+
+	/**
+	 * The default value of the '{@link #getWheelRadius() <em>Wheel Radius</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWheelRadius()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float WHEEL_RADIUS_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getWheelRadius() <em>Wheel Radius</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWheelRadius()
+	 * @generated
+	 * @ordered
+	 */
+	protected float wheelRadius = WHEEL_RADIUS_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getWheelWidth() <em>Wheel Width</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWheelWidth()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float WHEEL_WIDTH_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getWheelWidth() <em>Wheel Width</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWheelWidth()
+	 * @generated
+	 * @ordered
+	 */
+	protected float wheelWidth = WHEEL_WIDTH_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getSuspensionRestLength() <em>Suspension Rest Length</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSuspensionRestLength()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float SUSPENSION_REST_LENGTH_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getSuspensionRestLength() <em>Suspension Rest Length</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSuspensionRestLength()
+	 * @generated
+	 * @ordered
+	 */
+	protected float suspensionRestLength = SUSPENSION_REST_LENGTH_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getWheelConnectionHeight() <em>Wheel Connection Height</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWheelConnectionHeight()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float WHEEL_CONNECTION_HEIGHT_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getWheelConnectionHeight() <em>Wheel Connection Height</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWheelConnectionHeight()
+	 * @generated
+	 * @ordered
+	 */
+	protected float wheelConnectionHeight = WHEEL_CONNECTION_HEIGHT_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getTypeOfWheel() <em>Type Of Wheel</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getTypeOfWheel()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final String TYPE_OF_WHEEL_EDEFAULT = null;
+
+	/**
+	 * The cached value of the '{@link #getTypeOfWheel() <em>Type Of Wheel</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getTypeOfWheel()
+	 * @generated
+	 * @ordered
+	 */
+	protected String typeOfWheel = TYPE_OF_WHEEL_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getWheelVelocityPIDkp() <em>Wheel Velocity PI Dkp</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWheelVelocityPIDkp()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float WHEEL_VELOCITY_PI_DKP_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getWheelVelocityPIDkp() <em>Wheel Velocity PI Dkp</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWheelVelocityPIDkp()
+	 * @generated
+	 * @ordered
+	 */
+	protected float wheelVelocityPIDkp = WHEEL_VELOCITY_PI_DKP_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getWheelVelocityPIDki() <em>Wheel Velocity PI Dki</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWheelVelocityPIDki()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float WHEEL_VELOCITY_PI_DKI_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getWheelVelocityPIDki() <em>Wheel Velocity PI Dki</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWheelVelocityPIDki()
+	 * @generated
+	 * @ordered
+	 */
+	protected float wheelVelocityPIDki = WHEEL_VELOCITY_PI_DKI_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getWheelVelocityPIDkd() <em>Wheel Velocity PI Dkd</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWheelVelocityPIDkd()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float WHEEL_VELOCITY_PI_DKD_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getWheelVelocityPIDkd() <em>Wheel Velocity PI Dkd</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWheelVelocityPIDkd()
+	 * @generated
+	 * @ordered
+	 */
+	protected float wheelVelocityPIDkd = WHEEL_VELOCITY_PI_DKD_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getWheelSteeringPIDkp() <em>Wheel Steering PI Dkp</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWheelSteeringPIDkp()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float WHEEL_STEERING_PI_DKP_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getWheelSteeringPIDkp() <em>Wheel Steering PI Dkp</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWheelSteeringPIDkp()
+	 * @generated
+	 * @ordered
+	 */
+	protected float wheelSteeringPIDkp = WHEEL_STEERING_PI_DKP_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getWheelSteeringPIDkd() <em>Wheel Steering PI Dkd</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWheelSteeringPIDkd()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float WHEEL_STEERING_PI_DKD_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getWheelSteeringPIDkd() <em>Wheel Steering PI Dkd</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWheelSteeringPIDkd()
+	 * @generated
+	 * @ordered
+	 */
+	protected float wheelSteeringPIDkd = WHEEL_STEERING_PI_DKD_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getWheelFriction() <em>Wheel Friction</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWheelFriction()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float WHEEL_FRICTION_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getWheelFriction() <em>Wheel Friction</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWheelFriction()
+	 * @generated
+	 * @ordered
+	 */
+	protected float wheelFriction = WHEEL_FRICTION_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getSuspensionStiffness() <em>Suspension Stiffness</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSuspensionStiffness()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float SUSPENSION_STIFFNESS_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getSuspensionStiffness() <em>Suspension Stiffness</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSuspensionStiffness()
+	 * @generated
+	 * @ordered
+	 */
+	protected float suspensionStiffness = SUSPENSION_STIFFNESS_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getSuspensionDamping() <em>Suspension Damping</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSuspensionDamping()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float SUSPENSION_DAMPING_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getSuspensionDamping() <em>Suspension Damping</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSuspensionDamping()
+	 * @generated
+	 * @ordered
+	 */
+	protected float suspensionDamping = SUSPENSION_DAMPING_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getSuspensionCompression() <em>Suspension Compression</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSuspensionCompression()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float SUSPENSION_COMPRESSION_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getSuspensionCompression() <em>Suspension Compression</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSuspensionCompression()
+	 * @generated
+	 * @ordered
+	 */
+	protected float suspensionCompression = SUSPENSION_COMPRESSION_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getWheelVelocityPIDmaxSum() <em>Wheel Velocity PI Dmax Sum</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWheelVelocityPIDmaxSum()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float WHEEL_VELOCITY_PI_DMAX_SUM_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getWheelVelocityPIDmaxSum() <em>Wheel Velocity PI Dmax Sum</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWheelVelocityPIDmaxSum()
+	 * @generated
+	 * @ordered
+	 */
+	protected float wheelVelocityPIDmaxSum = WHEEL_VELOCITY_PI_DMAX_SUM_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getWheelVelocityPIDmaxVal() <em>Wheel Velocity PI Dmax Val</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWheelVelocityPIDmaxVal()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float WHEEL_VELOCITY_PI_DMAX_VAL_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getWheelVelocityPIDmaxVal() <em>Wheel Velocity PI Dmax Val</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWheelVelocityPIDmaxVal()
+	 * @generated
+	 * @ordered
+	 */
+	protected float wheelVelocityPIDmaxVal = WHEEL_VELOCITY_PI_DMAX_VAL_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected WheelSystemImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return RobotMLPackage.Literals.WHEEL_SYSTEM;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getWheelRadius() {
+		return wheelRadius;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setWheelRadius(float newWheelRadius) {
+		float oldWheelRadius = wheelRadius;
+		wheelRadius = newWheelRadius;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.WHEEL_SYSTEM__WHEEL_RADIUS, oldWheelRadius, wheelRadius));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getWheelWidth() {
+		return wheelWidth;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setWheelWidth(float newWheelWidth) {
+		float oldWheelWidth = wheelWidth;
+		wheelWidth = newWheelWidth;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.WHEEL_SYSTEM__WHEEL_WIDTH, oldWheelWidth, wheelWidth));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getSuspensionRestLength() {
+		return suspensionRestLength;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setSuspensionRestLength(float newSuspensionRestLength) {
+		float oldSuspensionRestLength = suspensionRestLength;
+		suspensionRestLength = newSuspensionRestLength;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_REST_LENGTH, oldSuspensionRestLength, suspensionRestLength));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getWheelConnectionHeight() {
+		return wheelConnectionHeight;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setWheelConnectionHeight(float newWheelConnectionHeight) {
+		float oldWheelConnectionHeight = wheelConnectionHeight;
+		wheelConnectionHeight = newWheelConnectionHeight;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.WHEEL_SYSTEM__WHEEL_CONNECTION_HEIGHT, oldWheelConnectionHeight, wheelConnectionHeight));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getTypeOfWheel() {
+		return typeOfWheel;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setTypeOfWheel(String newTypeOfWheel) {
+		String oldTypeOfWheel = typeOfWheel;
+		typeOfWheel = newTypeOfWheel;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.WHEEL_SYSTEM__TYPE_OF_WHEEL, oldTypeOfWheel, typeOfWheel));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getWheelVelocityPIDkp() {
+		return wheelVelocityPIDkp;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setWheelVelocityPIDkp(float newWheelVelocityPIDkp) {
+		float oldWheelVelocityPIDkp = wheelVelocityPIDkp;
+		wheelVelocityPIDkp = newWheelVelocityPIDkp;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKP, oldWheelVelocityPIDkp, wheelVelocityPIDkp));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getWheelVelocityPIDki() {
+		return wheelVelocityPIDki;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setWheelVelocityPIDki(float newWheelVelocityPIDki) {
+		float oldWheelVelocityPIDki = wheelVelocityPIDki;
+		wheelVelocityPIDki = newWheelVelocityPIDki;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKI, oldWheelVelocityPIDki, wheelVelocityPIDki));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getWheelVelocityPIDkd() {
+		return wheelVelocityPIDkd;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setWheelVelocityPIDkd(float newWheelVelocityPIDkd) {
+		float oldWheelVelocityPIDkd = wheelVelocityPIDkd;
+		wheelVelocityPIDkd = newWheelVelocityPIDkd;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKD, oldWheelVelocityPIDkd, wheelVelocityPIDkd));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getWheelSteeringPIDkp() {
+		return wheelSteeringPIDkp;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setWheelSteeringPIDkp(float newWheelSteeringPIDkp) {
+		float oldWheelSteeringPIDkp = wheelSteeringPIDkp;
+		wheelSteeringPIDkp = newWheelSteeringPIDkp;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.WHEEL_SYSTEM__WHEEL_STEERING_PI_DKP, oldWheelSteeringPIDkp, wheelSteeringPIDkp));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getWheelSteeringPIDkd() {
+		return wheelSteeringPIDkd;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setWheelSteeringPIDkd(float newWheelSteeringPIDkd) {
+		float oldWheelSteeringPIDkd = wheelSteeringPIDkd;
+		wheelSteeringPIDkd = newWheelSteeringPIDkd;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.WHEEL_SYSTEM__WHEEL_STEERING_PI_DKD, oldWheelSteeringPIDkd, wheelSteeringPIDkd));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getWheelFriction() {
+		return wheelFriction;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setWheelFriction(float newWheelFriction) {
+		float oldWheelFriction = wheelFriction;
+		wheelFriction = newWheelFriction;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.WHEEL_SYSTEM__WHEEL_FRICTION, oldWheelFriction, wheelFriction));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getSuspensionStiffness() {
+		return suspensionStiffness;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setSuspensionStiffness(float newSuspensionStiffness) {
+		float oldSuspensionStiffness = suspensionStiffness;
+		suspensionStiffness = newSuspensionStiffness;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_STIFFNESS, oldSuspensionStiffness, suspensionStiffness));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getSuspensionDamping() {
+		return suspensionDamping;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setSuspensionDamping(float newSuspensionDamping) {
+		float oldSuspensionDamping = suspensionDamping;
+		suspensionDamping = newSuspensionDamping;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_DAMPING, oldSuspensionDamping, suspensionDamping));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getSuspensionCompression() {
+		return suspensionCompression;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setSuspensionCompression(float newSuspensionCompression) {
+		float oldSuspensionCompression = suspensionCompression;
+		suspensionCompression = newSuspensionCompression;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_COMPRESSION, oldSuspensionCompression, suspensionCompression));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getWheelVelocityPIDmaxSum() {
+		return wheelVelocityPIDmaxSum;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setWheelVelocityPIDmaxSum(float newWheelVelocityPIDmaxSum) {
+		float oldWheelVelocityPIDmaxSum = wheelVelocityPIDmaxSum;
+		wheelVelocityPIDmaxSum = newWheelVelocityPIDmaxSum;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DMAX_SUM, oldWheelVelocityPIDmaxSum, wheelVelocityPIDmaxSum));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getWheelVelocityPIDmaxVal() {
+		return wheelVelocityPIDmaxVal;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setWheelVelocityPIDmaxVal(float newWheelVelocityPIDmaxVal) {
+		float oldWheelVelocityPIDmaxVal = wheelVelocityPIDmaxVal;
+		wheelVelocityPIDmaxVal = newWheelVelocityPIDmaxVal;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DMAX_VAL, oldWheelVelocityPIDmaxVal, wheelVelocityPIDmaxVal));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_RADIUS:
+			return getWheelRadius();
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_WIDTH:
+			return getWheelWidth();
+		case RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_REST_LENGTH:
+			return getSuspensionRestLength();
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_CONNECTION_HEIGHT:
+			return getWheelConnectionHeight();
+		case RobotMLPackage.WHEEL_SYSTEM__TYPE_OF_WHEEL:
+			return getTypeOfWheel();
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKP:
+			return getWheelVelocityPIDkp();
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKI:
+			return getWheelVelocityPIDki();
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKD:
+			return getWheelVelocityPIDkd();
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_STEERING_PI_DKP:
+			return getWheelSteeringPIDkp();
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_STEERING_PI_DKD:
+			return getWheelSteeringPIDkd();
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_FRICTION:
+			return getWheelFriction();
+		case RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_STIFFNESS:
+			return getSuspensionStiffness();
+		case RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_DAMPING:
+			return getSuspensionDamping();
+		case RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_COMPRESSION:
+			return getSuspensionCompression();
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DMAX_SUM:
+			return getWheelVelocityPIDmaxSum();
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DMAX_VAL:
+			return getWheelVelocityPIDmaxVal();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_RADIUS:
+			setWheelRadius((Float)newValue);
+			return;
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_WIDTH:
+			setWheelWidth((Float)newValue);
+			return;
+		case RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_REST_LENGTH:
+			setSuspensionRestLength((Float)newValue);
+			return;
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_CONNECTION_HEIGHT:
+			setWheelConnectionHeight((Float)newValue);
+			return;
+		case RobotMLPackage.WHEEL_SYSTEM__TYPE_OF_WHEEL:
+			setTypeOfWheel((String)newValue);
+			return;
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKP:
+			setWheelVelocityPIDkp((Float)newValue);
+			return;
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKI:
+			setWheelVelocityPIDki((Float)newValue);
+			return;
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKD:
+			setWheelVelocityPIDkd((Float)newValue);
+			return;
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_STEERING_PI_DKP:
+			setWheelSteeringPIDkp((Float)newValue);
+			return;
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_STEERING_PI_DKD:
+			setWheelSteeringPIDkd((Float)newValue);
+			return;
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_FRICTION:
+			setWheelFriction((Float)newValue);
+			return;
+		case RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_STIFFNESS:
+			setSuspensionStiffness((Float)newValue);
+			return;
+		case RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_DAMPING:
+			setSuspensionDamping((Float)newValue);
+			return;
+		case RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_COMPRESSION:
+			setSuspensionCompression((Float)newValue);
+			return;
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DMAX_SUM:
+			setWheelVelocityPIDmaxSum((Float)newValue);
+			return;
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DMAX_VAL:
+			setWheelVelocityPIDmaxVal((Float)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_RADIUS:
+			setWheelRadius(WHEEL_RADIUS_EDEFAULT);
+			return;
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_WIDTH:
+			setWheelWidth(WHEEL_WIDTH_EDEFAULT);
+			return;
+		case RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_REST_LENGTH:
+			setSuspensionRestLength(SUSPENSION_REST_LENGTH_EDEFAULT);
+			return;
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_CONNECTION_HEIGHT:
+			setWheelConnectionHeight(WHEEL_CONNECTION_HEIGHT_EDEFAULT);
+			return;
+		case RobotMLPackage.WHEEL_SYSTEM__TYPE_OF_WHEEL:
+			setTypeOfWheel(TYPE_OF_WHEEL_EDEFAULT);
+			return;
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKP:
+			setWheelVelocityPIDkp(WHEEL_VELOCITY_PI_DKP_EDEFAULT);
+			return;
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKI:
+			setWheelVelocityPIDki(WHEEL_VELOCITY_PI_DKI_EDEFAULT);
+			return;
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKD:
+			setWheelVelocityPIDkd(WHEEL_VELOCITY_PI_DKD_EDEFAULT);
+			return;
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_STEERING_PI_DKP:
+			setWheelSteeringPIDkp(WHEEL_STEERING_PI_DKP_EDEFAULT);
+			return;
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_STEERING_PI_DKD:
+			setWheelSteeringPIDkd(WHEEL_STEERING_PI_DKD_EDEFAULT);
+			return;
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_FRICTION:
+			setWheelFriction(WHEEL_FRICTION_EDEFAULT);
+			return;
+		case RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_STIFFNESS:
+			setSuspensionStiffness(SUSPENSION_STIFFNESS_EDEFAULT);
+			return;
+		case RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_DAMPING:
+			setSuspensionDamping(SUSPENSION_DAMPING_EDEFAULT);
+			return;
+		case RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_COMPRESSION:
+			setSuspensionCompression(SUSPENSION_COMPRESSION_EDEFAULT);
+			return;
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DMAX_SUM:
+			setWheelVelocityPIDmaxSum(WHEEL_VELOCITY_PI_DMAX_SUM_EDEFAULT);
+			return;
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DMAX_VAL:
+			setWheelVelocityPIDmaxVal(WHEEL_VELOCITY_PI_DMAX_VAL_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_RADIUS:
+			return wheelRadius != WHEEL_RADIUS_EDEFAULT;
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_WIDTH:
+			return wheelWidth != WHEEL_WIDTH_EDEFAULT;
+		case RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_REST_LENGTH:
+			return suspensionRestLength != SUSPENSION_REST_LENGTH_EDEFAULT;
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_CONNECTION_HEIGHT:
+			return wheelConnectionHeight != WHEEL_CONNECTION_HEIGHT_EDEFAULT;
+		case RobotMLPackage.WHEEL_SYSTEM__TYPE_OF_WHEEL:
+			return TYPE_OF_WHEEL_EDEFAULT == null ? typeOfWheel != null : !TYPE_OF_WHEEL_EDEFAULT.equals(typeOfWheel);
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKP:
+			return wheelVelocityPIDkp != WHEEL_VELOCITY_PI_DKP_EDEFAULT;
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKI:
+			return wheelVelocityPIDki != WHEEL_VELOCITY_PI_DKI_EDEFAULT;
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKD:
+			return wheelVelocityPIDkd != WHEEL_VELOCITY_PI_DKD_EDEFAULT;
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_STEERING_PI_DKP:
+			return wheelSteeringPIDkp != WHEEL_STEERING_PI_DKP_EDEFAULT;
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_STEERING_PI_DKD:
+			return wheelSteeringPIDkd != WHEEL_STEERING_PI_DKD_EDEFAULT;
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_FRICTION:
+			return wheelFriction != WHEEL_FRICTION_EDEFAULT;
+		case RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_STIFFNESS:
+			return suspensionStiffness != SUSPENSION_STIFFNESS_EDEFAULT;
+		case RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_DAMPING:
+			return suspensionDamping != SUSPENSION_DAMPING_EDEFAULT;
+		case RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_COMPRESSION:
+			return suspensionCompression != SUSPENSION_COMPRESSION_EDEFAULT;
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DMAX_SUM:
+			return wheelVelocityPIDmaxSum != WHEEL_VELOCITY_PI_DMAX_SUM_EDEFAULT;
+		case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DMAX_VAL:
+			return wheelVelocityPIDmaxVal != WHEEL_VELOCITY_PI_DMAX_VAL_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (wheelRadius: ");
+		result.append(wheelRadius);
+		result.append(", wheelWidth: ");
+		result.append(wheelWidth);
+		result.append(", suspensionRestLength: ");
+		result.append(suspensionRestLength);
+		result.append(", wheelConnectionHeight: ");
+		result.append(wheelConnectionHeight);
+		result.append(", typeOfWheel: ");
+		result.append(typeOfWheel);
+		result.append(", wheelVelocityPIDkp: ");
+		result.append(wheelVelocityPIDkp);
+		result.append(", wheelVelocityPIDki: ");
+		result.append(wheelVelocityPIDki);
+		result.append(", wheelVelocityPIDkd: ");
+		result.append(wheelVelocityPIDkd);
+		result.append(", wheelSteeringPIDkp: ");
+		result.append(wheelSteeringPIDkp);
+		result.append(", wheelSteeringPIDkd: ");
+		result.append(wheelSteeringPIDkd);
+		result.append(", wheelFriction: ");
+		result.append(wheelFriction);
+		result.append(", suspensionStiffness: ");
+		result.append(suspensionStiffness);
+		result.append(", suspensionDamping: ");
+		result.append(suspensionDamping);
+		result.append(", suspensionCompression: ");
+		result.append(suspensionCompression);
+		result.append(", wheelVelocityPIDmaxSum: ");
+		result.append(wheelVelocityPIDmaxSum);
+		result.append(", wheelVelocityPIDmaxVal: ");
+		result.append(wheelVelocityPIDmaxVal);
+		result.append(')');
+		return result.toString();
+	}
+
+} //WheelSystemImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/util/RobotMLAdapterFactory.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/util/RobotMLAdapterFactory.java
new file mode 100644
index 00000000000..6c8eba16dd5
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/util/RobotMLAdapterFactory.java
@@ -0,0 +1,1235 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.util;
+
+import org.eclipse.emf.common.notify.Adapter;
+import org.eclipse.emf.common.notify.Notifier;
+import org.eclipse.emf.common.notify.impl.AdapterFactoryImpl;
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.papyrus.RobotML.ActuatorSystem;
+import org.eclipse.papyrus.RobotML.Agent;
+import org.eclipse.papyrus.RobotML.Algorithm;
+import org.eclipse.papyrus.RobotML.AlgorithmLibrary;
+import org.eclipse.papyrus.RobotML.Allocate;
+import org.eclipse.papyrus.RobotML.BlenderMorse;
+import org.eclipse.papyrus.RobotML.Building;
+import org.eclipse.papyrus.RobotML.CameraSystem;
+import org.eclipse.papyrus.RobotML.CycabTK;
+import org.eclipse.papyrus.RobotML.DataFlowPort;
+import org.eclipse.papyrus.RobotML.DataType;
+import org.eclipse.papyrus.RobotML.DeploymentPlan;
+import org.eclipse.papyrus.RobotML.EngineSystem;
+import org.eclipse.papyrus.RobotML.Environment;
+import org.eclipse.papyrus.RobotML.Floor;
+import org.eclipse.papyrus.RobotML.GPSSystem;
+import org.eclipse.papyrus.RobotML.Ground;
+import org.eclipse.papyrus.RobotML.Gyroscope;
+import org.eclipse.papyrus.RobotML.Hardware;
+import org.eclipse.papyrus.RobotML.Human;
+import org.eclipse.papyrus.RobotML.ImageSensorSystem;
+import org.eclipse.papyrus.RobotML.InertialMeasurementUnitSystem;
+import org.eclipse.papyrus.RobotML.InertialNavigationSystem;
+import org.eclipse.papyrus.RobotML.InfraRedProximetrySystem;
+import org.eclipse.papyrus.RobotML.LandSurface;
+import org.eclipse.papyrus.RobotML.LidarSystem;
+import org.eclipse.papyrus.RobotML.LocalizationSensorSystem;
+import org.eclipse.papyrus.RobotML.ObjectDetectionSensorSystem;
+import org.eclipse.papyrus.RobotML.ObjectTrackingSensorSystem;
+import org.eclipse.papyrus.RobotML.OdometrySystem;
+import org.eclipse.papyrus.RobotML.OnPort;
+import org.eclipse.papyrus.RobotML.Pedestrian;
+import org.eclipse.papyrus.RobotML.PhysicalObject;
+import org.eclipse.papyrus.RobotML.Planet;
+import org.eclipse.papyrus.RobotML.Platform;
+import org.eclipse.papyrus.RobotML.Port;
+import org.eclipse.papyrus.RobotML.PrimitiveData;
+import org.eclipse.papyrus.RobotML.Robot;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.papyrus.RobotML.RoboticMiddleware;
+import org.eclipse.papyrus.RobotML.RoboticSimulator;
+import org.eclipse.papyrus.RobotML.RoboticSystem;
+import org.eclipse.papyrus.RobotML.SensorDriver;
+import org.eclipse.papyrus.RobotML.SensorSystem;
+import org.eclipse.papyrus.RobotML.ServicePort;
+import org.eclipse.papyrus.RobotML.SimulatedSystem;
+import org.eclipse.papyrus.RobotML.Software;
+import org.eclipse.papyrus.RobotML.Stairs;
+import org.eclipse.papyrus.RobotML.State;
+import org.eclipse.papyrus.RobotML.Surface;
+import org.eclipse.papyrus.RobotML.Transition;
+import org.eclipse.papyrus.RobotML.WaterSurface;
+import org.eclipse.papyrus.RobotML.WheelSystem;
+
+/**
+ * <!-- begin-user-doc -->
+ * The <b>Adapter Factory</b> for the model.
+ * It provides an adapter <code>createXXX</code> method for each class of the model.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage
+ * @generated
+ */
+public class RobotMLAdapterFactory extends AdapterFactoryImpl {
+
+	/**
+	 * The cached model package.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected static RobotMLPackage modelPackage;
+
+	/**
+	 * Creates an instance of the adapter factory.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public RobotMLAdapterFactory() {
+		if(modelPackage == null) {
+			modelPackage = RobotMLPackage.eINSTANCE;
+		}
+	}
+
+	/**
+	 * Returns whether this factory is applicable for the type of the object.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns <code>true</code> if the object is either the model's package or is an instance object of the model.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return whether this factory is applicable for the type of the object.
+	 * @generated
+	 */
+	@Override
+	public boolean isFactoryForType(Object object) {
+		if(object == modelPackage) {
+			return true;
+		}
+		if(object instanceof EObject) {
+			return ((EObject)object).eClass().getEPackage() == modelPackage;
+		}
+		return false;
+	}
+
+	/**
+	 * The switch that delegates to the <code>createXXX</code> methods.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected RobotMLSwitch<Adapter> modelSwitch = new RobotMLSwitch<Adapter>() {
+
+		@Override
+		public Adapter caseTransition(Transition object) {
+			return createTransitionAdapter();
+		}
+
+		@Override
+		public Adapter caseAlgorithm(Algorithm object) {
+			return createAlgorithmAdapter();
+		}
+
+		@Override
+		public Adapter caseRobot(Robot object) {
+			return createRobotAdapter();
+		}
+
+		@Override
+		public Adapter caseSystem(org.eclipse.papyrus.RobotML.System object) {
+			return createSystemAdapter();
+		}
+
+		@Override
+		public Adapter caseAgent(Agent object) {
+			return createAgentAdapter();
+		}
+
+		@Override
+		public Adapter casePhysicalObject(PhysicalObject object) {
+			return createPhysicalObjectAdapter();
+		}
+
+		@Override
+		public Adapter caseEnvironment(Environment object) {
+			return createEnvironmentAdapter();
+		}
+
+		@Override
+		public Adapter caseSurface(Surface object) {
+			return createSurfaceAdapter();
+		}
+
+		@Override
+		public Adapter caseDataFlowPort(DataFlowPort object) {
+			return createDataFlowPortAdapter();
+		}
+
+		@Override
+		public Adapter casePort(Port object) {
+			return createPortAdapter();
+		}
+
+		@Override
+		public Adapter caseServicePort(ServicePort object) {
+			return createServicePortAdapter();
+		}
+
+		@Override
+		public Adapter caseActuatorSystem(ActuatorSystem object) {
+			return createActuatorSystemAdapter();
+		}
+
+		@Override
+		public Adapter caseRoboticSystem(RoboticSystem object) {
+			return createRoboticSystemAdapter();
+		}
+
+		@Override
+		public Adapter caseSensorSystem(SensorSystem object) {
+			return createSensorSystemAdapter();
+		}
+
+		@Override
+		public Adapter caseHardware(Hardware object) {
+			return createHardwareAdapter();
+		}
+
+		@Override
+		public Adapter caseSoftware(Software object) {
+			return createSoftwareAdapter();
+		}
+
+		@Override
+		public Adapter casePrimitiveData(PrimitiveData object) {
+			return createPrimitiveDataAdapter();
+		}
+
+		@Override
+		public Adapter caseDataType(DataType object) {
+			return createDataTypeAdapter();
+		}
+
+		@Override
+		public Adapter caseEngineSystem(EngineSystem object) {
+			return createEngineSystemAdapter();
+		}
+
+		@Override
+		public Adapter caseWheelSystem(WheelSystem object) {
+			return createWheelSystemAdapter();
+		}
+
+		@Override
+		public Adapter caseImageSensorSystem(ImageSensorSystem object) {
+			return createImageSensorSystemAdapter();
+		}
+
+		@Override
+		public Adapter caseCameraSystem(CameraSystem object) {
+			return createCameraSystemAdapter();
+		}
+
+		@Override
+		public Adapter caseObjectDetectionSensorSystem(ObjectDetectionSensorSystem object) {
+			return createObjectDetectionSensorSystemAdapter();
+		}
+
+		@Override
+		public Adapter caseObjectTrackingSensorSystem(ObjectTrackingSensorSystem object) {
+			return createObjectTrackingSensorSystemAdapter();
+		}
+
+		@Override
+		public Adapter caseLidarSystem(LidarSystem object) {
+			return createLidarSystemAdapter();
+		}
+
+		@Override
+		public Adapter caseLocalizationSensorSystem(LocalizationSensorSystem object) {
+			return createLocalizationSensorSystemAdapter();
+		}
+
+		@Override
+		public Adapter caseGPSSystem(GPSSystem object) {
+			return createGPSSystemAdapter();
+		}
+
+		@Override
+		public Adapter caseSimulatedSystem(SimulatedSystem object) {
+			return createSimulatedSystemAdapter();
+		}
+
+		@Override
+		public Adapter caseAlgorithmLibrary(AlgorithmLibrary object) {
+			return createAlgorithmLibraryAdapter();
+		}
+
+		@Override
+		public Adapter caseState(State object) {
+			return createStateAdapter();
+		}
+
+		@Override
+		public Adapter caseSensorDriver(SensorDriver object) {
+			return createSensorDriverAdapter();
+		}
+
+		@Override
+		public Adapter caseBuilding(Building object) {
+			return createBuildingAdapter();
+		}
+
+		@Override
+		public Adapter casePlanet(Planet object) {
+			return createPlanetAdapter();
+		}
+
+		@Override
+		public Adapter caseLandSurface(LandSurface object) {
+			return createLandSurfaceAdapter();
+		}
+
+		@Override
+		public Adapter caseGround(Ground object) {
+			return createGroundAdapter();
+		}
+
+		@Override
+		public Adapter caseFloor(Floor object) {
+			return createFloorAdapter();
+		}
+
+		@Override
+		public Adapter caseWaterSurface(WaterSurface object) {
+			return createWaterSurfaceAdapter();
+		}
+
+		@Override
+		public Adapter caseHuman(Human object) {
+			return createHumanAdapter();
+		}
+
+		@Override
+		public Adapter casePedestrian(Pedestrian object) {
+			return createPedestrianAdapter();
+		}
+
+		@Override
+		public Adapter caseStairs(Stairs object) {
+			return createStairsAdapter();
+		}
+
+		@Override
+		public Adapter casePlatform(Platform object) {
+			return createPlatformAdapter();
+		}
+
+		@Override
+		public Adapter caseRoboticMiddleware(RoboticMiddleware object) {
+			return createRoboticMiddlewareAdapter();
+		}
+
+		@Override
+		public Adapter caseRoboticSimulator(RoboticSimulator object) {
+			return createRoboticSimulatorAdapter();
+		}
+
+		@Override
+		public Adapter caseCycabTK(CycabTK object) {
+			return createCycabTKAdapter();
+		}
+
+		@Override
+		public Adapter caseBlenderMorse(BlenderMorse object) {
+			return createBlenderMorseAdapter();
+		}
+
+		@Override
+		public Adapter caseOnPort(OnPort object) {
+			return createOnPortAdapter();
+		}
+
+		@Override
+		public Adapter caseAllocate(Allocate object) {
+			return createAllocateAdapter();
+		}
+
+		@Override
+		public Adapter caseInertialMeasurementUnitSystem(InertialMeasurementUnitSystem object) {
+			return createInertialMeasurementUnitSystemAdapter();
+		}
+
+		@Override
+		public Adapter caseInertialNavigationSystem(InertialNavigationSystem object) {
+			return createInertialNavigationSystemAdapter();
+		}
+
+		@Override
+		public Adapter caseOdometrySystem(OdometrySystem object) {
+			return createOdometrySystemAdapter();
+		}
+
+		@Override
+		public Adapter caseInfraRedProximetrySystem(InfraRedProximetrySystem object) {
+			return createInfraRedProximetrySystemAdapter();
+		}
+
+		@Override
+		public Adapter caseDeploymentPlan(DeploymentPlan object) {
+			return createDeploymentPlanAdapter();
+		}
+
+		@Override
+		public Adapter caseGyroscope(Gyroscope object) {
+			return createGyroscopeAdapter();
+		}
+
+		@Override
+		public Adapter defaultCase(EObject object) {
+			return createEObjectAdapter();
+		}
+	};
+
+	/**
+	 * Creates an adapter for the <code>target</code>.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param target
+	 *        the object to adapt.
+	 * @return the adapter for the <code>target</code>.
+	 * @generated
+	 */
+	@Override
+	public Adapter createAdapter(Notifier target) {
+		return modelSwitch.doSwitch((EObject)target);
+	}
+
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.Transition <em>Transition</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.Transition
+	 * @generated
+	 */
+	public Adapter createTransitionAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.Algorithm <em>Algorithm</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.Algorithm
+	 * @generated
+	 */
+	public Adapter createAlgorithmAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.Robot <em>Robot</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.Robot
+	 * @generated
+	 */
+	public Adapter createRobotAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.System <em>System</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.System
+	 * @generated
+	 */
+	public Adapter createSystemAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.Agent <em>Agent</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.Agent
+	 * @generated
+	 */
+	public Adapter createAgentAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.PhysicalObject <em>Physical Object</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.PhysicalObject
+	 * @generated
+	 */
+	public Adapter createPhysicalObjectAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.Environment <em>Environment</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.Environment
+	 * @generated
+	 */
+	public Adapter createEnvironmentAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.Surface <em>Surface</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.Surface
+	 * @generated
+	 */
+	public Adapter createSurfaceAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.DataFlowPort <em>Data Flow Port</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.DataFlowPort
+	 * @generated
+	 */
+	public Adapter createDataFlowPortAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.Port <em>Port</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.Port
+	 * @generated
+	 */
+	public Adapter createPortAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.ServicePort <em>Service Port</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.ServicePort
+	 * @generated
+	 */
+	public Adapter createServicePortAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.ActuatorSystem <em>Actuator System</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.ActuatorSystem
+	 * @generated
+	 */
+	public Adapter createActuatorSystemAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.RoboticSystem <em>Robotic System</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.RoboticSystem
+	 * @generated
+	 */
+	public Adapter createRoboticSystemAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.SensorSystem <em>Sensor System</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.SensorSystem
+	 * @generated
+	 */
+	public Adapter createSensorSystemAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.Hardware <em>Hardware</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.Hardware
+	 * @generated
+	 */
+	public Adapter createHardwareAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.Software <em>Software</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.Software
+	 * @generated
+	 */
+	public Adapter createSoftwareAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.PrimitiveData <em>Primitive Data</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.PrimitiveData
+	 * @generated
+	 */
+	public Adapter createPrimitiveDataAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.DataType <em>Data Type</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.DataType
+	 * @generated
+	 */
+	public Adapter createDataTypeAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.EngineSystem <em>Engine System</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.EngineSystem
+	 * @generated
+	 */
+	public Adapter createEngineSystemAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.WheelSystem <em>Wheel System</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.WheelSystem
+	 * @generated
+	 */
+	public Adapter createWheelSystemAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.ImageSensorSystem <em>Image Sensor System</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.ImageSensorSystem
+	 * @generated
+	 */
+	public Adapter createImageSensorSystemAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.CameraSystem <em>Camera System</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.CameraSystem
+	 * @generated
+	 */
+	public Adapter createCameraSystemAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.ObjectDetectionSensorSystem
+	 * <em>Object Detection Sensor System</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.ObjectDetectionSensorSystem
+	 * @generated
+	 */
+	public Adapter createObjectDetectionSensorSystemAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.ObjectTrackingSensorSystem
+	 * <em>Object Tracking Sensor System</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.ObjectTrackingSensorSystem
+	 * @generated
+	 */
+	public Adapter createObjectTrackingSensorSystemAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.LidarSystem <em>Lidar System</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.LidarSystem
+	 * @generated
+	 */
+	public Adapter createLidarSystemAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.LocalizationSensorSystem <em>Localization Sensor System</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.LocalizationSensorSystem
+	 * @generated
+	 */
+	public Adapter createLocalizationSensorSystemAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.GPSSystem <em>GPS System</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.GPSSystem
+	 * @generated
+	 */
+	public Adapter createGPSSystemAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.SimulatedSystem <em>Simulated System</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.SimulatedSystem
+	 * @generated
+	 */
+	public Adapter createSimulatedSystemAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.AlgorithmLibrary <em>Algorithm Library</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.AlgorithmLibrary
+	 * @generated
+	 */
+	public Adapter createAlgorithmLibraryAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.State <em>State</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.State
+	 * @generated
+	 */
+	public Adapter createStateAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.SensorDriver <em>Sensor Driver</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.SensorDriver
+	 * @generated
+	 */
+	public Adapter createSensorDriverAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.Building <em>Building</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.Building
+	 * @generated
+	 */
+	public Adapter createBuildingAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.Planet <em>Planet</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.Planet
+	 * @generated
+	 */
+	public Adapter createPlanetAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.LandSurface <em>Land Surface</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.LandSurface
+	 * @generated
+	 */
+	public Adapter createLandSurfaceAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.Ground <em>Ground</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.Ground
+	 * @generated
+	 */
+	public Adapter createGroundAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.Floor <em>Floor</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.Floor
+	 * @generated
+	 */
+	public Adapter createFloorAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.WaterSurface <em>Water Surface</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.WaterSurface
+	 * @generated
+	 */
+	public Adapter createWaterSurfaceAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.Human <em>Human</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.Human
+	 * @generated
+	 */
+	public Adapter createHumanAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.Pedestrian <em>Pedestrian</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.Pedestrian
+	 * @generated
+	 */
+	public Adapter createPedestrianAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.Stairs <em>Stairs</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.Stairs
+	 * @generated
+	 */
+	public Adapter createStairsAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.Platform <em>Platform</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.Platform
+	 * @generated
+	 */
+	public Adapter createPlatformAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.RoboticMiddleware <em>Robotic Middleware</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.RoboticMiddleware
+	 * @generated
+	 */
+	public Adapter createRoboticMiddlewareAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.RoboticSimulator <em>Robotic Simulator</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.RoboticSimulator
+	 * @generated
+	 */
+	public Adapter createRoboticSimulatorAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.CycabTK <em>Cycab TK</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.CycabTK
+	 * @generated
+	 */
+	public Adapter createCycabTKAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.BlenderMorse <em>Blender Morse</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.BlenderMorse
+	 * @generated
+	 */
+	public Adapter createBlenderMorseAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.OnPort <em>On Port</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.OnPort
+	 * @generated
+	 */
+	public Adapter createOnPortAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.Allocate <em>Allocate</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.Allocate
+	 * @generated
+	 */
+	public Adapter createAllocateAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.InertialMeasurementUnitSystem
+	 * <em>Inertial Measurement Unit System</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.InertialMeasurementUnitSystem
+	 * @generated
+	 */
+	public Adapter createInertialMeasurementUnitSystemAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.InertialNavigationSystem <em>Inertial Navigation System</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.InertialNavigationSystem
+	 * @generated
+	 */
+	public Adapter createInertialNavigationSystemAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.OdometrySystem <em>Odometry System</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.OdometrySystem
+	 * @generated
+	 */
+	public Adapter createOdometrySystemAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.InfraRedProximetrySystem <em>Infra Red Proximetry System</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.InfraRedProximetrySystem
+	 * @generated
+	 */
+	public Adapter createInfraRedProximetrySystemAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.DeploymentPlan <em>Deployment Plan</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.DeploymentPlan
+	 * @generated
+	 */
+	public Adapter createDeploymentPlanAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '{@link org.eclipse.papyrus.RobotML.Gyroscope <em>Gyroscope</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotML.Gyroscope
+	 * @generated
+	 */
+	public Adapter createGyroscopeAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for the default case.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @generated
+	 */
+	public Adapter createEObjectAdapter() {
+		return null;
+	}
+
+} //RobotMLAdapterFactory
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/util/RobotMLResourceFactoryImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/util/RobotMLResourceFactoryImpl.java
new file mode 100644
index 00000000000..af36298c55f
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/util/RobotMLResourceFactoryImpl.java
@@ -0,0 +1,62 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.util;
+
+import org.eclipse.emf.common.util.URI;
+import org.eclipse.emf.ecore.resource.Resource;
+import org.eclipse.emf.ecore.resource.impl.ResourceFactoryImpl;
+import org.eclipse.emf.ecore.xmi.XMLResource;
+
+/**
+ * <!-- begin-user-doc -->
+ * The <b>Resource Factory</b> associated with the package.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotML.util.RobotMLResourceImpl
+ * @generated
+ */
+public class RobotMLResourceFactoryImpl extends ResourceFactoryImpl {
+
+	/**
+	 * Creates an instance of the resource factory.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public RobotMLResourceFactoryImpl() {
+		super();
+	}
+
+	/**
+	 * Creates an instance of the resource.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Resource createResource(URI uri) {
+		XMLResource result = new RobotMLResourceImpl(uri);
+		result.getDefaultSaveOptions().put(XMLResource.OPTION_EXTENDED_META_DATA, Boolean.TRUE);
+		result.getDefaultLoadOptions().put(XMLResource.OPTION_EXTENDED_META_DATA, Boolean.TRUE);
+
+		result.getDefaultSaveOptions().put(XMLResource.OPTION_SCHEMA_LOCATION, Boolean.TRUE);
+
+		result.getDefaultLoadOptions().put(XMLResource.OPTION_USE_ENCODED_ATTRIBUTE_STYLE, Boolean.TRUE);
+		result.getDefaultSaveOptions().put(XMLResource.OPTION_USE_ENCODED_ATTRIBUTE_STYLE, Boolean.TRUE);
+
+		result.getDefaultLoadOptions().put(XMLResource.OPTION_USE_LEXICAL_HANDLER, Boolean.TRUE);
+		return result;
+	}
+
+} //RobotMLResourceFactoryImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/util/RobotMLResourceImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/util/RobotMLResourceImpl.java
new file mode 100644
index 00000000000..ff68e2c2ad2
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/util/RobotMLResourceImpl.java
@@ -0,0 +1,40 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.util;
+
+import org.eclipse.emf.common.util.URI;
+import org.eclipse.emf.ecore.xmi.impl.XMLResourceImpl;
+
+/**
+ * <!-- begin-user-doc -->
+ * The <b>Resource </b> associated with the package.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotML.util.RobotMLResourceFactoryImpl
+ * @generated
+ */
+public class RobotMLResourceImpl extends XMLResourceImpl {
+
+	/**
+	 * Creates an instance of the resource.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param uri
+	 *        the URI of the new resource.
+	 * @generated
+	 */
+	public RobotMLResourceImpl(URI uri) {
+		super(uri);
+	}
+
+} //RobotMLResourceImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/util/RobotMLSwitch.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/util/RobotMLSwitch.java
new file mode 100644
index 00000000000..31555c5cf21
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/util/RobotMLSwitch.java
@@ -0,0 +1,1707 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.util;
+
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.emf.ecore.EPackage;
+import org.eclipse.emf.ecore.util.Switch;
+import org.eclipse.papyrus.RobotML.ActuatorSystem;
+import org.eclipse.papyrus.RobotML.Agent;
+import org.eclipse.papyrus.RobotML.Algorithm;
+import org.eclipse.papyrus.RobotML.AlgorithmLibrary;
+import org.eclipse.papyrus.RobotML.Allocate;
+import org.eclipse.papyrus.RobotML.BlenderMorse;
+import org.eclipse.papyrus.RobotML.Building;
+import org.eclipse.papyrus.RobotML.CameraSystem;
+import org.eclipse.papyrus.RobotML.CycabTK;
+import org.eclipse.papyrus.RobotML.DataFlowPort;
+import org.eclipse.papyrus.RobotML.DataType;
+import org.eclipse.papyrus.RobotML.DeploymentPlan;
+import org.eclipse.papyrus.RobotML.EngineSystem;
+import org.eclipse.papyrus.RobotML.Environment;
+import org.eclipse.papyrus.RobotML.Floor;
+import org.eclipse.papyrus.RobotML.GPSSystem;
+import org.eclipse.papyrus.RobotML.Ground;
+import org.eclipse.papyrus.RobotML.Gyroscope;
+import org.eclipse.papyrus.RobotML.Hardware;
+import org.eclipse.papyrus.RobotML.Human;
+import org.eclipse.papyrus.RobotML.ImageSensorSystem;
+import org.eclipse.papyrus.RobotML.InertialMeasurementUnitSystem;
+import org.eclipse.papyrus.RobotML.InertialNavigationSystem;
+import org.eclipse.papyrus.RobotML.InfraRedProximetrySystem;
+import org.eclipse.papyrus.RobotML.LandSurface;
+import org.eclipse.papyrus.RobotML.LidarSystem;
+import org.eclipse.papyrus.RobotML.LocalizationSensorSystem;
+import org.eclipse.papyrus.RobotML.ObjectDetectionSensorSystem;
+import org.eclipse.papyrus.RobotML.ObjectTrackingSensorSystem;
+import org.eclipse.papyrus.RobotML.OdometrySystem;
+import org.eclipse.papyrus.RobotML.OnPort;
+import org.eclipse.papyrus.RobotML.Pedestrian;
+import org.eclipse.papyrus.RobotML.PhysicalObject;
+import org.eclipse.papyrus.RobotML.Planet;
+import org.eclipse.papyrus.RobotML.Platform;
+import org.eclipse.papyrus.RobotML.Port;
+import org.eclipse.papyrus.RobotML.PrimitiveData;
+import org.eclipse.papyrus.RobotML.Robot;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.papyrus.RobotML.RoboticMiddleware;
+import org.eclipse.papyrus.RobotML.RoboticSimulator;
+import org.eclipse.papyrus.RobotML.RoboticSystem;
+import org.eclipse.papyrus.RobotML.SensorDriver;
+import org.eclipse.papyrus.RobotML.SensorSystem;
+import org.eclipse.papyrus.RobotML.ServicePort;
+import org.eclipse.papyrus.RobotML.SimulatedSystem;
+import org.eclipse.papyrus.RobotML.Software;
+import org.eclipse.papyrus.RobotML.Stairs;
+import org.eclipse.papyrus.RobotML.State;
+import org.eclipse.papyrus.RobotML.Surface;
+import org.eclipse.papyrus.RobotML.Transition;
+import org.eclipse.papyrus.RobotML.WaterSurface;
+import org.eclipse.papyrus.RobotML.WheelSystem;
+
+/**
+ * <!-- begin-user-doc -->
+ * The <b>Switch</b> for the model's inheritance hierarchy.
+ * It supports the call {@link #doSwitch(EObject) doSwitch(object)} to invoke the <code>caseXXX</code> method for each class of the model,
+ * starting with the actual class of the object
+ * and proceeding up the inheritance hierarchy
+ * until a non-null result is returned,
+ * which is the result of the switch.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotML.RobotMLPackage
+ * @generated
+ */
+public class RobotMLSwitch<T> extends Switch<T> {
+
+	/**
+	 * The cached model package
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected static RobotMLPackage modelPackage;
+
+	/**
+	 * Creates an instance of the switch.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public RobotMLSwitch() {
+		if(modelPackage == null) {
+			modelPackage = RobotMLPackage.eINSTANCE;
+		}
+	}
+
+	/**
+	 * Checks whether this is a switch for the given package.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @parameter ePackage the package in question.
+	 * @return whether this is a switch for the given package.
+	 * @generated
+	 */
+	@Override
+	protected boolean isSwitchFor(EPackage ePackage) {
+		return ePackage == modelPackage;
+	}
+
+	/**
+	 * Calls <code>caseXXX</code> for each class of the model until one returns a non null result; it yields that result.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the first non-null result returned by a <code>caseXXX</code> call.
+	 * @generated
+	 */
+	@Override
+	protected T doSwitch(int classifierID, EObject theEObject) {
+		switch(classifierID) {
+		case RobotMLPackage.TRANSITION:
+		{
+			Transition transition = (Transition)theEObject;
+			T result = caseTransition(transition);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.ALGORITHM:
+		{
+			Algorithm algorithm = (Algorithm)theEObject;
+			T result = caseAlgorithm(algorithm);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.ROBOT:
+		{
+			Robot robot = (Robot)theEObject;
+			T result = caseRobot(robot);
+			if(result == null)
+				result = caseAgent(robot);
+			if(result == null)
+				result = casePhysicalObject(robot);
+			if(result == null)
+				result = caseSystem(robot);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.SYSTEM:
+		{
+			org.eclipse.papyrus.RobotML.System system = (org.eclipse.papyrus.RobotML.System)theEObject;
+			T result = caseSystem(system);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.AGENT:
+		{
+			Agent agent = (Agent)theEObject;
+			T result = caseAgent(agent);
+			if(result == null)
+				result = casePhysicalObject(agent);
+			if(result == null)
+				result = caseSystem(agent);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.PHYSICAL_OBJECT:
+		{
+			PhysicalObject physicalObject = (PhysicalObject)theEObject;
+			T result = casePhysicalObject(physicalObject);
+			if(result == null)
+				result = caseSystem(physicalObject);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.ENVIRONMENT:
+		{
+			Environment environment = (Environment)theEObject;
+			T result = caseEnvironment(environment);
+			if(result == null)
+				result = caseSystem(environment);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.SURFACE:
+		{
+			Surface surface = (Surface)theEObject;
+			T result = caseSurface(surface);
+			if(result == null)
+				result = casePhysicalObject(surface);
+			if(result == null)
+				result = caseSystem(surface);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.DATA_FLOW_PORT:
+		{
+			DataFlowPort dataFlowPort = (DataFlowPort)theEObject;
+			T result = caseDataFlowPort(dataFlowPort);
+			if(result == null)
+				result = casePort(dataFlowPort);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.PORT:
+		{
+			Port port = (Port)theEObject;
+			T result = casePort(port);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.SERVICE_PORT:
+		{
+			ServicePort servicePort = (ServicePort)theEObject;
+			T result = caseServicePort(servicePort);
+			if(result == null)
+				result = casePort(servicePort);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.ACTUATOR_SYSTEM:
+		{
+			ActuatorSystem actuatorSystem = (ActuatorSystem)theEObject;
+			T result = caseActuatorSystem(actuatorSystem);
+			if(result == null)
+				result = caseRoboticSystem(actuatorSystem);
+			if(result == null)
+				result = caseSystem(actuatorSystem);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.ROBOTIC_SYSTEM:
+		{
+			RoboticSystem roboticSystem = (RoboticSystem)theEObject;
+			T result = caseRoboticSystem(roboticSystem);
+			if(result == null)
+				result = caseSystem(roboticSystem);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.SENSOR_SYSTEM:
+		{
+			SensorSystem sensorSystem = (SensorSystem)theEObject;
+			T result = caseSensorSystem(sensorSystem);
+			if(result == null)
+				result = caseRoboticSystem(sensorSystem);
+			if(result == null)
+				result = caseSystem(sensorSystem);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.HARDWARE:
+		{
+			Hardware hardware = (Hardware)theEObject;
+			T result = caseHardware(hardware);
+			if(result == null)
+				result = caseSystem(hardware);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.SOFTWARE:
+		{
+			Software software = (Software)theEObject;
+			T result = caseSoftware(software);
+			if(result == null)
+				result = caseSystem(software);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.PRIMITIVE_DATA:
+		{
+			PrimitiveData primitiveData = (PrimitiveData)theEObject;
+			T result = casePrimitiveData(primitiveData);
+			if(result == null)
+				result = caseDataType(primitiveData);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.DATA_TYPE:
+		{
+			DataType dataType = (DataType)theEObject;
+			T result = caseDataType(dataType);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.ENGINE_SYSTEM:
+		{
+			EngineSystem engineSystem = (EngineSystem)theEObject;
+			T result = caseEngineSystem(engineSystem);
+			if(result == null)
+				result = caseActuatorSystem(engineSystem);
+			if(result == null)
+				result = caseRoboticSystem(engineSystem);
+			if(result == null)
+				result = caseSystem(engineSystem);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.WHEEL_SYSTEM:
+		{
+			WheelSystem wheelSystem = (WheelSystem)theEObject;
+			T result = caseWheelSystem(wheelSystem);
+			if(result == null)
+				result = caseActuatorSystem(wheelSystem);
+			if(result == null)
+				result = caseRoboticSystem(wheelSystem);
+			if(result == null)
+				result = caseSystem(wheelSystem);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.IMAGE_SENSOR_SYSTEM:
+		{
+			ImageSensorSystem imageSensorSystem = (ImageSensorSystem)theEObject;
+			T result = caseImageSensorSystem(imageSensorSystem);
+			if(result == null)
+				result = caseSensorSystem(imageSensorSystem);
+			if(result == null)
+				result = caseRoboticSystem(imageSensorSystem);
+			if(result == null)
+				result = caseSystem(imageSensorSystem);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.CAMERA_SYSTEM:
+		{
+			CameraSystem cameraSystem = (CameraSystem)theEObject;
+			T result = caseCameraSystem(cameraSystem);
+			if(result == null)
+				result = caseImageSensorSystem(cameraSystem);
+			if(result == null)
+				result = caseSensorSystem(cameraSystem);
+			if(result == null)
+				result = caseRoboticSystem(cameraSystem);
+			if(result == null)
+				result = caseSystem(cameraSystem);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.OBJECT_DETECTION_SENSOR_SYSTEM:
+		{
+			ObjectDetectionSensorSystem objectDetectionSensorSystem = (ObjectDetectionSensorSystem)theEObject;
+			T result = caseObjectDetectionSensorSystem(objectDetectionSensorSystem);
+			if(result == null)
+				result = caseSensorSystem(objectDetectionSensorSystem);
+			if(result == null)
+				result = caseRoboticSystem(objectDetectionSensorSystem);
+			if(result == null)
+				result = caseSystem(objectDetectionSensorSystem);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.OBJECT_TRACKING_SENSOR_SYSTEM:
+		{
+			ObjectTrackingSensorSystem objectTrackingSensorSystem = (ObjectTrackingSensorSystem)theEObject;
+			T result = caseObjectTrackingSensorSystem(objectTrackingSensorSystem);
+			if(result == null)
+				result = caseSensorSystem(objectTrackingSensorSystem);
+			if(result == null)
+				result = caseRoboticSystem(objectTrackingSensorSystem);
+			if(result == null)
+				result = caseSystem(objectTrackingSensorSystem);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.LIDAR_SYSTEM:
+		{
+			LidarSystem lidarSystem = (LidarSystem)theEObject;
+			T result = caseLidarSystem(lidarSystem);
+			if(result == null)
+				result = caseObjectDetectionSensorSystem(lidarSystem);
+			if(result == null)
+				result = caseObjectTrackingSensorSystem(lidarSystem);
+			if(result == null)
+				result = caseSensorSystem(lidarSystem);
+			if(result == null)
+				result = caseRoboticSystem(lidarSystem);
+			if(result == null)
+				result = caseSystem(lidarSystem);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.LOCALIZATION_SENSOR_SYSTEM:
+		{
+			LocalizationSensorSystem localizationSensorSystem = (LocalizationSensorSystem)theEObject;
+			T result = caseLocalizationSensorSystem(localizationSensorSystem);
+			if(result == null)
+				result = caseSensorSystem(localizationSensorSystem);
+			if(result == null)
+				result = caseRoboticSystem(localizationSensorSystem);
+			if(result == null)
+				result = caseSystem(localizationSensorSystem);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.GPS_SYSTEM:
+		{
+			GPSSystem gpsSystem = (GPSSystem)theEObject;
+			T result = caseGPSSystem(gpsSystem);
+			if(result == null)
+				result = caseLocalizationSensorSystem(gpsSystem);
+			if(result == null)
+				result = caseSensorSystem(gpsSystem);
+			if(result == null)
+				result = caseRoboticSystem(gpsSystem);
+			if(result == null)
+				result = caseSystem(gpsSystem);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.SIMULATED_SYSTEM:
+		{
+			SimulatedSystem simulatedSystem = (SimulatedSystem)theEObject;
+			T result = caseSimulatedSystem(simulatedSystem);
+			if(result == null)
+				result = caseSoftware(simulatedSystem);
+			if(result == null)
+				result = caseSystem(simulatedSystem);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.ALGORITHM_LIBRARY:
+		{
+			AlgorithmLibrary algorithmLibrary = (AlgorithmLibrary)theEObject;
+			T result = caseAlgorithmLibrary(algorithmLibrary);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.STATE:
+		{
+			State state = (State)theEObject;
+			T result = caseState(state);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.SENSOR_DRIVER:
+		{
+			SensorDriver sensorDriver = (SensorDriver)theEObject;
+			T result = caseSensorDriver(sensorDriver);
+			if(result == null)
+				result = caseSoftware(sensorDriver);
+			if(result == null)
+				result = caseSystem(sensorDriver);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.BUILDING:
+		{
+			Building building = (Building)theEObject;
+			T result = caseBuilding(building);
+			if(result == null)
+				result = casePhysicalObject(building);
+			if(result == null)
+				result = caseSystem(building);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.PLANET:
+		{
+			Planet planet = (Planet)theEObject;
+			T result = casePlanet(planet);
+			if(result == null)
+				result = casePhysicalObject(planet);
+			if(result == null)
+				result = caseSystem(planet);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.LAND_SURFACE:
+		{
+			LandSurface landSurface = (LandSurface)theEObject;
+			T result = caseLandSurface(landSurface);
+			if(result == null)
+				result = caseGround(landSurface);
+			if(result == null)
+				result = caseSurface(landSurface);
+			if(result == null)
+				result = casePhysicalObject(landSurface);
+			if(result == null)
+				result = caseSystem(landSurface);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.GROUND:
+		{
+			Ground ground = (Ground)theEObject;
+			T result = caseGround(ground);
+			if(result == null)
+				result = caseSurface(ground);
+			if(result == null)
+				result = casePhysicalObject(ground);
+			if(result == null)
+				result = caseSystem(ground);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.FLOOR:
+		{
+			Floor floor = (Floor)theEObject;
+			T result = caseFloor(floor);
+			if(result == null)
+				result = caseGround(floor);
+			if(result == null)
+				result = caseSurface(floor);
+			if(result == null)
+				result = casePhysicalObject(floor);
+			if(result == null)
+				result = caseSystem(floor);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.WATER_SURFACE:
+		{
+			WaterSurface waterSurface = (WaterSurface)theEObject;
+			T result = caseWaterSurface(waterSurface);
+			if(result == null)
+				result = caseSurface(waterSurface);
+			if(result == null)
+				result = casePhysicalObject(waterSurface);
+			if(result == null)
+				result = caseSystem(waterSurface);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.HUMAN:
+		{
+			Human human = (Human)theEObject;
+			T result = caseHuman(human);
+			if(result == null)
+				result = caseAgent(human);
+			if(result == null)
+				result = casePhysicalObject(human);
+			if(result == null)
+				result = caseSystem(human);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.PEDESTRIAN:
+		{
+			Pedestrian pedestrian = (Pedestrian)theEObject;
+			T result = casePedestrian(pedestrian);
+			if(result == null)
+				result = caseHuman(pedestrian);
+			if(result == null)
+				result = caseAgent(pedestrian);
+			if(result == null)
+				result = casePhysicalObject(pedestrian);
+			if(result == null)
+				result = caseSystem(pedestrian);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.STAIRS:
+		{
+			Stairs stairs = (Stairs)theEObject;
+			T result = caseStairs(stairs);
+			if(result == null)
+				result = caseGround(stairs);
+			if(result == null)
+				result = caseSurface(stairs);
+			if(result == null)
+				result = casePhysicalObject(stairs);
+			if(result == null)
+				result = caseSystem(stairs);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.PLATFORM:
+		{
+			Platform platform = (Platform)theEObject;
+			T result = casePlatform(platform);
+			if(result == null)
+				result = caseSystem(platform);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.ROBOTIC_MIDDLEWARE:
+		{
+			RoboticMiddleware roboticMiddleware = (RoboticMiddleware)theEObject;
+			T result = caseRoboticMiddleware(roboticMiddleware);
+			if(result == null)
+				result = casePlatform(roboticMiddleware);
+			if(result == null)
+				result = caseSystem(roboticMiddleware);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.ROBOTIC_SIMULATOR:
+		{
+			RoboticSimulator roboticSimulator = (RoboticSimulator)theEObject;
+			T result = caseRoboticSimulator(roboticSimulator);
+			if(result == null)
+				result = casePlatform(roboticSimulator);
+			if(result == null)
+				result = caseSystem(roboticSimulator);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.CYCAB_TK:
+		{
+			CycabTK cycabTK = (CycabTK)theEObject;
+			T result = caseCycabTK(cycabTK);
+			if(result == null)
+				result = caseRoboticSimulator(cycabTK);
+			if(result == null)
+				result = casePlatform(cycabTK);
+			if(result == null)
+				result = caseSystem(cycabTK);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.BLENDER_MORSE:
+		{
+			BlenderMorse blenderMorse = (BlenderMorse)theEObject;
+			T result = caseBlenderMorse(blenderMorse);
+			if(result == null)
+				result = caseRoboticSimulator(blenderMorse);
+			if(result == null)
+				result = casePlatform(blenderMorse);
+			if(result == null)
+				result = caseSystem(blenderMorse);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.ON_PORT:
+		{
+			OnPort onPort = (OnPort)theEObject;
+			T result = caseOnPort(onPort);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.ALLOCATE:
+		{
+			Allocate allocate = (Allocate)theEObject;
+			T result = caseAllocate(allocate);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.INERTIAL_MEASUREMENT_UNIT_SYSTEM:
+		{
+			InertialMeasurementUnitSystem inertialMeasurementUnitSystem = (InertialMeasurementUnitSystem)theEObject;
+			T result = caseInertialMeasurementUnitSystem(inertialMeasurementUnitSystem);
+			if(result == null)
+				result = caseSensorSystem(inertialMeasurementUnitSystem);
+			if(result == null)
+				result = caseRoboticSystem(inertialMeasurementUnitSystem);
+			if(result == null)
+				result = caseSystem(inertialMeasurementUnitSystem);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.INERTIAL_NAVIGATION_SYSTEM:
+		{
+			InertialNavigationSystem inertialNavigationSystem = (InertialNavigationSystem)theEObject;
+			T result = caseInertialNavigationSystem(inertialNavigationSystem);
+			if(result == null)
+				result = caseGPSSystem(inertialNavigationSystem);
+			if(result == null)
+				result = caseLocalizationSensorSystem(inertialNavigationSystem);
+			if(result == null)
+				result = caseSensorSystem(inertialNavigationSystem);
+			if(result == null)
+				result = caseRoboticSystem(inertialNavigationSystem);
+			if(result == null)
+				result = caseSystem(inertialNavigationSystem);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.ODOMETRY_SYSTEM:
+		{
+			OdometrySystem odometrySystem = (OdometrySystem)theEObject;
+			T result = caseOdometrySystem(odometrySystem);
+			if(result == null)
+				result = caseLocalizationSensorSystem(odometrySystem);
+			if(result == null)
+				result = caseSensorSystem(odometrySystem);
+			if(result == null)
+				result = caseRoboticSystem(odometrySystem);
+			if(result == null)
+				result = caseSystem(odometrySystem);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.INFRA_RED_PROXIMETRY_SYSTEM:
+		{
+			InfraRedProximetrySystem infraRedProximetrySystem = (InfraRedProximetrySystem)theEObject;
+			T result = caseInfraRedProximetrySystem(infraRedProximetrySystem);
+			if(result == null)
+				result = caseObjectDetectionSensorSystem(infraRedProximetrySystem);
+			if(result == null)
+				result = caseSensorSystem(infraRedProximetrySystem);
+			if(result == null)
+				result = caseRoboticSystem(infraRedProximetrySystem);
+			if(result == null)
+				result = caseSystem(infraRedProximetrySystem);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.DEPLOYMENT_PLAN:
+		{
+			DeploymentPlan deploymentPlan = (DeploymentPlan)theEObject;
+			T result = caseDeploymentPlan(deploymentPlan);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case RobotMLPackage.GYROSCOPE:
+		{
+			Gyroscope gyroscope = (Gyroscope)theEObject;
+			T result = caseGyroscope(gyroscope);
+			if(result == null)
+				result = caseSensorSystem(gyroscope);
+			if(result == null)
+				result = caseRoboticSystem(gyroscope);
+			if(result == null)
+				result = caseSystem(gyroscope);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		default:
+			return defaultCase(theEObject);
+		}
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Transition</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Transition</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseTransition(Transition object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Algorithm</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Algorithm</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseAlgorithm(Algorithm object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Robot</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Robot</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseRobot(Robot object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>System</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>System</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseSystem(org.eclipse.papyrus.RobotML.System object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Agent</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Agent</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseAgent(Agent object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Physical Object</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Physical Object</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T casePhysicalObject(PhysicalObject object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Environment</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Environment</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseEnvironment(Environment object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Surface</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Surface</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseSurface(Surface object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Data Flow Port</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Data Flow Port</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseDataFlowPort(DataFlowPort object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Port</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Port</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T casePort(Port object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Service Port</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Service Port</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseServicePort(ServicePort object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Actuator System</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Actuator System</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseActuatorSystem(ActuatorSystem object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Robotic System</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Robotic System</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseRoboticSystem(RoboticSystem object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Sensor System</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Sensor System</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseSensorSystem(SensorSystem object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Hardware</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Hardware</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseHardware(Hardware object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Software</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Software</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseSoftware(Software object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Primitive Data</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Primitive Data</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T casePrimitiveData(PrimitiveData object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Data Type</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Data Type</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseDataType(DataType object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Engine System</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Engine System</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseEngineSystem(EngineSystem object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Wheel System</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Wheel System</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseWheelSystem(WheelSystem object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Image Sensor System</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Image Sensor System</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseImageSensorSystem(ImageSensorSystem object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Camera System</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Camera System</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseCameraSystem(CameraSystem object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Object Detection Sensor System</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Object Detection Sensor System</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseObjectDetectionSensorSystem(ObjectDetectionSensorSystem object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Object Tracking Sensor System</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Object Tracking Sensor System</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseObjectTrackingSensorSystem(ObjectTrackingSensorSystem object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Lidar System</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Lidar System</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseLidarSystem(LidarSystem object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Localization Sensor System</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Localization Sensor System</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseLocalizationSensorSystem(LocalizationSensorSystem object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>GPS System</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>GPS System</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseGPSSystem(GPSSystem object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Simulated System</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Simulated System</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseSimulatedSystem(SimulatedSystem object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Algorithm Library</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Algorithm Library</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseAlgorithmLibrary(AlgorithmLibrary object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>State</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>State</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseState(State object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Sensor Driver</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Sensor Driver</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseSensorDriver(SensorDriver object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Building</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Building</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseBuilding(Building object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Planet</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Planet</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T casePlanet(Planet object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Land Surface</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Land Surface</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseLandSurface(LandSurface object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Ground</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Ground</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseGround(Ground object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Floor</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Floor</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseFloor(Floor object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Water Surface</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Water Surface</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseWaterSurface(WaterSurface object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Human</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Human</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseHuman(Human object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Pedestrian</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Pedestrian</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T casePedestrian(Pedestrian object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Stairs</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Stairs</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseStairs(Stairs object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Platform</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Platform</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T casePlatform(Platform object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Robotic Middleware</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Robotic Middleware</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseRoboticMiddleware(RoboticMiddleware object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Robotic Simulator</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Robotic Simulator</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseRoboticSimulator(RoboticSimulator object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Cycab TK</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Cycab TK</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseCycabTK(CycabTK object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Blender Morse</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Blender Morse</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseBlenderMorse(BlenderMorse object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>On Port</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>On Port</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseOnPort(OnPort object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Allocate</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Allocate</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseAllocate(Allocate object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Inertial Measurement Unit System</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Inertial Measurement Unit System</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseInertialMeasurementUnitSystem(InertialMeasurementUnitSystem object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Inertial Navigation System</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Inertial Navigation System</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseInertialNavigationSystem(InertialNavigationSystem object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Odometry System</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Odometry System</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseOdometrySystem(OdometrySystem object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Infra Red Proximetry System</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Infra Red Proximetry System</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseInfraRedProximetrySystem(InfraRedProximetrySystem object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Deployment Plan</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Deployment Plan</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseDeploymentPlan(DeploymentPlan object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Gyroscope</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Gyroscope</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseGyroscope(Gyroscope object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>EObject</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch, but this is the last case anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>EObject</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject)
+	 * @generated
+	 */
+	@Override
+	public T defaultCase(EObject object) {
+		return null;
+	}
+
+} //RobotMLSwitch
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/util/RobotMLXMLProcessor.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/util/RobotMLXMLProcessor.java
new file mode 100644
index 00000000000..ee4d20d4428
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/util/RobotMLXMLProcessor.java
@@ -0,0 +1,59 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotML.util;
+
+import java.util.Map;
+
+import org.eclipse.emf.ecore.EPackage;
+import org.eclipse.emf.ecore.resource.Resource;
+import org.eclipse.emf.ecore.xmi.util.XMLProcessor;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+
+/**
+ * This class contains helper methods to serialize and deserialize XML documents
+ * <!-- begin-user-doc -->
+ * <!-- end-user-doc -->
+ * 
+ * @generated
+ */
+public class RobotMLXMLProcessor extends XMLProcessor {
+
+	/**
+	 * Public constructor to instantiate the helper.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public RobotMLXMLProcessor() {
+		super((EPackage.Registry.INSTANCE));
+		RobotMLPackage.eINSTANCE.eClass();
+	}
+
+	/**
+	 * Register for "*" and "xml" file extensions the RobotMLResourceFactoryImpl factory.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected Map<String, Resource.Factory> getRegistrations() {
+		if(registrations == null) {
+			super.getRegistrations();
+			registrations.put(XML_EXTENSION, new RobotMLResourceFactoryImpl());
+			registrations.put(STAR_EXTENSION, new RobotMLResourceFactoryImpl());
+		}
+		return registrations;
+	}
+
+} //RobotMLXMLProcessor
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/actionlib_datatypes/Actionlib_datatypesFactory.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/actionlib_datatypes/Actionlib_datatypesFactory.java
new file mode 100644
index 00000000000..10b35e395dc
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/actionlib_datatypes/Actionlib_datatypesFactory.java
@@ -0,0 +1,76 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes;
+
+import org.eclipse.emf.ecore.EFactory;
+
+/**
+ * <!-- begin-user-doc -->
+ * The <b>Factory</b> for the model.
+ * It provides a create method for each non-abstract class of the model.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage
+ * @generated
+ */
+public interface Actionlib_datatypesFactory extends EFactory {
+
+	/**
+	 * The singleton instance of the factory.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	Actionlib_datatypesFactory eINSTANCE = org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.Actionlib_datatypesFactoryImpl.init();
+
+	/**
+	 * Returns a new object of class '<em>Goal ID</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Goal ID</em>'.
+	 * @generated
+	 */
+	GoalID createGoalID();
+
+	/**
+	 * Returns a new object of class '<em>Goal Status</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Goal Status</em>'.
+	 * @generated
+	 */
+	GoalStatus createGoalStatus();
+
+	/**
+	 * Returns a new object of class '<em>Goal Status Array</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Goal Status Array</em>'.
+	 * @generated
+	 */
+	GoalStatusArray createGoalStatusArray();
+
+	/**
+	 * Returns the package supported by this factory.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the package supported by this factory.
+	 * @generated
+	 */
+	Actionlib_datatypesPackage getActionlib_datatypesPackage();
+
+} //Actionlib_datatypesFactory
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/actionlib_datatypes/Actionlib_datatypesPackage.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/actionlib_datatypes/Actionlib_datatypesPackage.java
new file mode 100644
index 00000000000..1a189584ef6
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/actionlib_datatypes/Actionlib_datatypesPackage.java
@@ -0,0 +1,768 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes;
+
+import org.eclipse.emf.ecore.EAttribute;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.EPackage;
+import org.eclipse.emf.ecore.EReference;
+
+/**
+ * <!-- begin-user-doc -->
+ * The <b>Package</b> for the model.
+ * It contains accessors for the meta objects to represent
+ * <ul>
+ * <li>each class,</li>
+ * <li>each feature of each class,</li>
+ * <li>each enum,</li>
+ * <li>and each data type</li>
+ * </ul>
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesFactory
+ * @model kind="package"
+ * @generated
+ */
+public interface Actionlib_datatypesPackage extends EPackage {
+
+	/**
+	 * The package name.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	String eNAME = "actionlib_datatypes";
+
+	/**
+	 * The package namespace URI.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	String eNS_URI = "http:///RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/actionlib_datatypes.ecore";
+
+	/**
+	 * The package namespace name.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	String eNS_PREFIX = "RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes";
+
+	/**
+	 * The singleton instance of the package.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	Actionlib_datatypesPackage eINSTANCE = org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.Actionlib_datatypesPackageImpl.init();
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.GoalIDImpl <em>Goal ID</em>}'
+	 * class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.GoalIDImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.Actionlib_datatypesPackageImpl#getGoalID()
+	 * @generated
+	 */
+	int GOAL_ID = 0;
+
+	/**
+	 * The feature id for the '<em><b>Stamp</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GOAL_ID__STAMP = 0;
+
+	/**
+	 * The feature id for the '<em><b>Id</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GOAL_ID__ID = 1;
+
+	/**
+	 * The number of structural features of the '<em>Goal ID</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GOAL_ID_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.GoalStatusImpl
+	 * <em>Goal Status</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.GoalStatusImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.Actionlib_datatypesPackageImpl#getGoalStatus()
+	 * @generated
+	 */
+	int GOAL_STATUS = 1;
+
+	/**
+	 * The feature id for the '<em><b>PENDING</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GOAL_STATUS__PENDING = 0;
+
+	/**
+	 * The feature id for the '<em><b>ACTIVE</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GOAL_STATUS__ACTIVE = 1;
+
+	/**
+	 * The feature id for the '<em><b>PREEMPTED</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GOAL_STATUS__PREEMPTED = 2;
+
+	/**
+	 * The feature id for the '<em><b>SUCCEEDED</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GOAL_STATUS__SUCCEEDED = 3;
+
+	/**
+	 * The feature id for the '<em><b>ABORTED</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GOAL_STATUS__ABORTED = 4;
+
+	/**
+	 * The feature id for the '<em><b>REJECTED</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GOAL_STATUS__REJECTED = 5;
+
+	/**
+	 * The feature id for the '<em><b>PREEMPTING</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GOAL_STATUS__PREEMPTING = 6;
+
+	/**
+	 * The feature id for the '<em><b>RECALLING</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GOAL_STATUS__RECALLING = 7;
+
+	/**
+	 * The feature id for the '<em><b>RECALLED</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GOAL_STATUS__RECALLED = 8;
+
+	/**
+	 * The feature id for the '<em><b>LOST</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GOAL_STATUS__LOST = 9;
+
+	/**
+	 * The feature id for the '<em><b>Text</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GOAL_STATUS__TEXT = 10;
+
+	/**
+	 * The feature id for the '<em><b>Status</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GOAL_STATUS__STATUS = 11;
+
+	/**
+	 * The number of structural features of the '<em>Goal Status</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GOAL_STATUS_FEATURE_COUNT = 12;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.GoalStatusArrayImpl
+	 * <em>Goal Status Array</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.GoalStatusArrayImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.Actionlib_datatypesPackageImpl#getGoalStatusArray()
+	 * @generated
+	 */
+	int GOAL_STATUS_ARRAY = 2;
+
+	/**
+	 * The feature id for the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GOAL_STATUS_ARRAY__HEADER = 0;
+
+	/**
+	 * The feature id for the '<em><b>Status list</b></em>' containment reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GOAL_STATUS_ARRAY__STATUS_LIST = 1;
+
+	/**
+	 * The number of structural features of the '<em>Goal Status Array</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GOAL_STATUS_ARRAY_FEATURE_COUNT = 2;
+
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalID <em>Goal ID</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Goal ID</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalID
+	 * @generated
+	 */
+	EClass getGoalID();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalID#getStamp <em>Stamp</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Stamp</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalID#getStamp()
+	 * @see #getGoalID()
+	 * @generated
+	 */
+	EAttribute getGoalID_Stamp();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalID#getId <em>Id</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Id</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalID#getId()
+	 * @see #getGoalID()
+	 * @generated
+	 */
+	EAttribute getGoalID_Id();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus <em>Goal Status</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Goal Status</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus
+	 * @generated
+	 */
+	EClass getGoalStatus();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getPENDING <em>PENDING</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>PENDING</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getPENDING()
+	 * @see #getGoalStatus()
+	 * @generated
+	 */
+	EAttribute getGoalStatus_PENDING();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getACTIVE <em>ACTIVE</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>ACTIVE</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getACTIVE()
+	 * @see #getGoalStatus()
+	 * @generated
+	 */
+	EAttribute getGoalStatus_ACTIVE();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getPREEMPTED
+	 * <em>PREEMPTED</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>PREEMPTED</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getPREEMPTED()
+	 * @see #getGoalStatus()
+	 * @generated
+	 */
+	EAttribute getGoalStatus_PREEMPTED();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getSUCCEEDED
+	 * <em>SUCCEEDED</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>SUCCEEDED</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getSUCCEEDED()
+	 * @see #getGoalStatus()
+	 * @generated
+	 */
+	EAttribute getGoalStatus_SUCCEEDED();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getABORTED <em>ABORTED</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>ABORTED</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getABORTED()
+	 * @see #getGoalStatus()
+	 * @generated
+	 */
+	EAttribute getGoalStatus_ABORTED();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getREJECTED
+	 * <em>REJECTED</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>REJECTED</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getREJECTED()
+	 * @see #getGoalStatus()
+	 * @generated
+	 */
+	EAttribute getGoalStatus_REJECTED();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getPREEMPTING
+	 * <em>PREEMPTING</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>PREEMPTING</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getPREEMPTING()
+	 * @see #getGoalStatus()
+	 * @generated
+	 */
+	EAttribute getGoalStatus_PREEMPTING();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getRECALLING
+	 * <em>RECALLING</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>RECALLING</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getRECALLING()
+	 * @see #getGoalStatus()
+	 * @generated
+	 */
+	EAttribute getGoalStatus_RECALLING();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getRECALLED
+	 * <em>RECALLED</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>RECALLED</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getRECALLED()
+	 * @see #getGoalStatus()
+	 * @generated
+	 */
+	EAttribute getGoalStatus_RECALLED();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getLOST <em>LOST</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>LOST</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getLOST()
+	 * @see #getGoalStatus()
+	 * @generated
+	 */
+	EAttribute getGoalStatus_LOST();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getText <em>Text</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Text</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getText()
+	 * @see #getGoalStatus()
+	 * @generated
+	 */
+	EAttribute getGoalStatus_Text();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getStatus <em>Status</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Status</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getStatus()
+	 * @see #getGoalStatus()
+	 * @generated
+	 */
+	EAttribute getGoalStatus_Status();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatusArray
+	 * <em>Goal Status Array</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Goal Status Array</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatusArray
+	 * @generated
+	 */
+	EClass getGoalStatusArray();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatusArray#getHeader
+	 * <em>Header</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Header</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatusArray#getHeader()
+	 * @see #getGoalStatusArray()
+	 * @generated
+	 */
+	EReference getGoalStatusArray_Header();
+
+	/**
+	 * Returns the meta object for the containment reference list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatusArray#getStatus_list
+	 * <em>Status list</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference list '<em>Status list</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatusArray#getStatus_list()
+	 * @see #getGoalStatusArray()
+	 * @generated
+	 */
+	EReference getGoalStatusArray_Status_list();
+
+	/**
+	 * Returns the factory that creates the instances of the model.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the factory that creates the instances of the model.
+	 * @generated
+	 */
+	Actionlib_datatypesFactory getActionlib_datatypesFactory();
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * Defines literals for the meta objects that represent
+	 * <ul>
+	 * <li>each class,</li>
+	 * <li>each feature of each class,</li>
+	 * <li>each enum,</li>
+	 * <li>and each data type</li>
+	 * </ul>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	interface Literals {
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.GoalIDImpl <em>Goal ID</em>}'
+		 * class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.GoalIDImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.Actionlib_datatypesPackageImpl#getGoalID()
+		 * @generated
+		 */
+		EClass GOAL_ID = eINSTANCE.getGoalID();
+
+		/**
+		 * The meta object literal for the '<em><b>Stamp</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute GOAL_ID__STAMP = eINSTANCE.getGoalID_Stamp();
+
+		/**
+		 * The meta object literal for the '<em><b>Id</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute GOAL_ID__ID = eINSTANCE.getGoalID_Id();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.GoalStatusImpl
+		 * <em>Goal Status</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.GoalStatusImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.Actionlib_datatypesPackageImpl#getGoalStatus()
+		 * @generated
+		 */
+		EClass GOAL_STATUS = eINSTANCE.getGoalStatus();
+
+		/**
+		 * The meta object literal for the '<em><b>PENDING</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute GOAL_STATUS__PENDING = eINSTANCE.getGoalStatus_PENDING();
+
+		/**
+		 * The meta object literal for the '<em><b>ACTIVE</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute GOAL_STATUS__ACTIVE = eINSTANCE.getGoalStatus_ACTIVE();
+
+		/**
+		 * The meta object literal for the '<em><b>PREEMPTED</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute GOAL_STATUS__PREEMPTED = eINSTANCE.getGoalStatus_PREEMPTED();
+
+		/**
+		 * The meta object literal for the '<em><b>SUCCEEDED</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute GOAL_STATUS__SUCCEEDED = eINSTANCE.getGoalStatus_SUCCEEDED();
+
+		/**
+		 * The meta object literal for the '<em><b>ABORTED</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute GOAL_STATUS__ABORTED = eINSTANCE.getGoalStatus_ABORTED();
+
+		/**
+		 * The meta object literal for the '<em><b>REJECTED</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute GOAL_STATUS__REJECTED = eINSTANCE.getGoalStatus_REJECTED();
+
+		/**
+		 * The meta object literal for the '<em><b>PREEMPTING</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute GOAL_STATUS__PREEMPTING = eINSTANCE.getGoalStatus_PREEMPTING();
+
+		/**
+		 * The meta object literal for the '<em><b>RECALLING</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute GOAL_STATUS__RECALLING = eINSTANCE.getGoalStatus_RECALLING();
+
+		/**
+		 * The meta object literal for the '<em><b>RECALLED</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute GOAL_STATUS__RECALLED = eINSTANCE.getGoalStatus_RECALLED();
+
+		/**
+		 * The meta object literal for the '<em><b>LOST</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute GOAL_STATUS__LOST = eINSTANCE.getGoalStatus_LOST();
+
+		/**
+		 * The meta object literal for the '<em><b>Text</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute GOAL_STATUS__TEXT = eINSTANCE.getGoalStatus_Text();
+
+		/**
+		 * The meta object literal for the '<em><b>Status</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute GOAL_STATUS__STATUS = eINSTANCE.getGoalStatus_Status();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.GoalStatusArrayImpl
+		 * <em>Goal Status Array</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.GoalStatusArrayImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.Actionlib_datatypesPackageImpl#getGoalStatusArray()
+		 * @generated
+		 */
+		EClass GOAL_STATUS_ARRAY = eINSTANCE.getGoalStatusArray();
+
+		/**
+		 * The meta object literal for the '<em><b>Header</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference GOAL_STATUS_ARRAY__HEADER = eINSTANCE.getGoalStatusArray_Header();
+
+		/**
+		 * The meta object literal for the '<em><b>Status list</b></em>' containment reference list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference GOAL_STATUS_ARRAY__STATUS_LIST = eINSTANCE.getGoalStatusArray_Status_list();
+
+	}
+
+} //Actionlib_datatypesPackage
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/actionlib_datatypes/GoalID.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/actionlib_datatypes/GoalID.java
new file mode 100644
index 00000000000..066e0c79d7b
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/actionlib_datatypes/GoalID.java
@@ -0,0 +1,97 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes;
+
+import java.util.Date;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Goal ID</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalID#getStamp <em>Stamp</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalID#getId <em>Id</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage#getGoalID()
+ * @model
+ * @generated
+ */
+public interface GoalID extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Stamp</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Stamp</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Stamp</em>' attribute.
+	 * @see #setStamp(Date)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage#getGoalID_Stamp()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Time" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	Date getStamp();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalID#getStamp
+	 * <em>Stamp</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Stamp</em>' attribute.
+	 * @see #getStamp()
+	 * @generated
+	 */
+	void setStamp(Date value);
+
+	/**
+	 * Returns the value of the '<em><b>Id</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Id</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Id</em>' attribute.
+	 * @see #setId(String)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage#getGoalID_Id()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.String" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	String getId();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalID#getId
+	 * <em>Id</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Id</em>' attribute.
+	 * @see #getId()
+	 * @generated
+	 */
+	void setId(String value);
+
+} // GoalID
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/actionlib_datatypes/GoalStatus.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/actionlib_datatypes/GoalStatus.java
new file mode 100644
index 00000000000..a6fe0b57f23
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/actionlib_datatypes/GoalStatus.java
@@ -0,0 +1,426 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Goal Status</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getPENDING <em>PENDING</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getACTIVE <em>ACTIVE</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getPREEMPTED <em>PREEMPTED
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getSUCCEEDED <em>SUCCEEDED
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getABORTED <em>ABORTED</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getREJECTED <em>REJECTED
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getPREEMPTING <em>PREEMPTING
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getRECALLING <em>RECALLING
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getRECALLED <em>RECALLED
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getLOST <em>LOST</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getText <em>Text</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getStatus <em>Status</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage#getGoalStatus()
+ * @model
+ * @generated
+ */
+public interface GoalStatus extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>PENDING</b></em>' attribute.
+	 * The default value is <code>"0"</code>.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>PENDING</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>PENDING</em>' attribute.
+	 * @see #setPENDING(char)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage#getGoalStatus_PENDING()
+	 * @model default="0" dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	char getPENDING();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getPENDING <em>PENDING</em>}'
+	 * attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>PENDING</em>' attribute.
+	 * @see #getPENDING()
+	 * @generated
+	 */
+	void setPENDING(char value);
+
+	/**
+	 * Returns the value of the '<em><b>ACTIVE</b></em>' attribute.
+	 * The default value is <code>"1"</code>.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>ACTIVE</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>ACTIVE</em>' attribute.
+	 * @see #setACTIVE(char)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage#getGoalStatus_ACTIVE()
+	 * @model default="1" dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	char getACTIVE();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getACTIVE <em>ACTIVE</em>}'
+	 * attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>ACTIVE</em>' attribute.
+	 * @see #getACTIVE()
+	 * @generated
+	 */
+	void setACTIVE(char value);
+
+	/**
+	 * Returns the value of the '<em><b>PREEMPTED</b></em>' attribute.
+	 * The default value is <code>"2"</code>.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>PREEMPTED</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>PREEMPTED</em>' attribute.
+	 * @see #setPREEMPTED(char)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage#getGoalStatus_PREEMPTED()
+	 * @model default="2" dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	char getPREEMPTED();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getPREEMPTED
+	 * <em>PREEMPTED</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>PREEMPTED</em>' attribute.
+	 * @see #getPREEMPTED()
+	 * @generated
+	 */
+	void setPREEMPTED(char value);
+
+	/**
+	 * Returns the value of the '<em><b>SUCCEEDED</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>SUCCEEDED</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>SUCCEEDED</em>' attribute.
+	 * @see #setSUCCEEDED(char)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage#getGoalStatus_SUCCEEDED()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	char getSUCCEEDED();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getSUCCEEDED
+	 * <em>SUCCEEDED</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>SUCCEEDED</em>' attribute.
+	 * @see #getSUCCEEDED()
+	 * @generated
+	 */
+	void setSUCCEEDED(char value);
+
+	/**
+	 * Returns the value of the '<em><b>ABORTED</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>ABORTED</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>ABORTED</em>' attribute.
+	 * @see #setABORTED(char)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage#getGoalStatus_ABORTED()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	char getABORTED();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getABORTED <em>ABORTED</em>}'
+	 * attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>ABORTED</em>' attribute.
+	 * @see #getABORTED()
+	 * @generated
+	 */
+	void setABORTED(char value);
+
+	/**
+	 * Returns the value of the '<em><b>REJECTED</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>REJECTED</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>REJECTED</em>' attribute.
+	 * @see #setREJECTED(char)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage#getGoalStatus_REJECTED()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	char getREJECTED();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getREJECTED
+	 * <em>REJECTED</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>REJECTED</em>' attribute.
+	 * @see #getREJECTED()
+	 * @generated
+	 */
+	void setREJECTED(char value);
+
+	/**
+	 * Returns the value of the '<em><b>PREEMPTING</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>PREEMPTING</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>PREEMPTING</em>' attribute.
+	 * @see #setPREEMPTING(char)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage#getGoalStatus_PREEMPTING()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	char getPREEMPTING();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getPREEMPTING
+	 * <em>PREEMPTING</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>PREEMPTING</em>' attribute.
+	 * @see #getPREEMPTING()
+	 * @generated
+	 */
+	void setPREEMPTING(char value);
+
+	/**
+	 * Returns the value of the '<em><b>RECALLING</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>RECALLING</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>RECALLING</em>' attribute.
+	 * @see #setRECALLING(char)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage#getGoalStatus_RECALLING()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	char getRECALLING();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getRECALLING
+	 * <em>RECALLING</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>RECALLING</em>' attribute.
+	 * @see #getRECALLING()
+	 * @generated
+	 */
+	void setRECALLING(char value);
+
+	/**
+	 * Returns the value of the '<em><b>RECALLED</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>RECALLED</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>RECALLED</em>' attribute.
+	 * @see #setRECALLED(char)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage#getGoalStatus_RECALLED()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	char getRECALLED();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getRECALLED
+	 * <em>RECALLED</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>RECALLED</em>' attribute.
+	 * @see #getRECALLED()
+	 * @generated
+	 */
+	void setRECALLED(char value);
+
+	/**
+	 * Returns the value of the '<em><b>LOST</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>LOST</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>LOST</em>' attribute.
+	 * @see #setLOST(char)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage#getGoalStatus_LOST()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	char getLOST();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getLOST <em>LOST</em>}'
+	 * attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>LOST</em>' attribute.
+	 * @see #getLOST()
+	 * @generated
+	 */
+	void setLOST(char value);
+
+	/**
+	 * Returns the value of the '<em><b>Text</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Text</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Text</em>' attribute.
+	 * @see #setText(String)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage#getGoalStatus_Text()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.String" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	String getText();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getText <em>Text</em>}'
+	 * attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Text</em>' attribute.
+	 * @see #getText()
+	 * @generated
+	 */
+	void setText(String value);
+
+	/**
+	 * Returns the value of the '<em><b>Status</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Status</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Status</em>' attribute.
+	 * @see #setStatus(char)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage#getGoalStatus_Status()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	char getStatus();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus#getStatus <em>Status</em>}'
+	 * attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Status</em>' attribute.
+	 * @see #getStatus()
+	 * @generated
+	 */
+	void setStatus(char value);
+
+} // GoalStatus
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/actionlib_datatypes/GoalStatusArray.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/actionlib_datatypes/GoalStatusArray.java
new file mode 100644
index 00000000000..87a45fc941a
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/actionlib_datatypes/GoalStatusArray.java
@@ -0,0 +1,86 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes;
+
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Goal Status Array</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatusArray#getHeader <em>Header
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatusArray#getStatus_list <em>
+ * Status list</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage#getGoalStatusArray()
+ * @model
+ * @generated
+ */
+public interface GoalStatusArray extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Header</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Header</em>' containment reference.
+	 * @see #setHeader(Header)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage#getGoalStatusArray_Header()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Header getHeader();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatusArray#getHeader
+	 * <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Header</em>' containment reference.
+	 * @see #getHeader()
+	 * @generated
+	 */
+	void setHeader(Header value);
+
+	/**
+	 * Returns the value of the '<em><b>Status list</b></em>' containment reference list.
+	 * The list contents are of type
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Status list</em>' containment reference list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Status list</em>' containment reference list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage#getGoalStatusArray_Status_list()
+	 * @model containment="true" ordered="false"
+	 * @generated
+	 */
+	EList<GoalStatus> getStatus_list();
+
+} // GoalStatusArray
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/actionlib_datatypes/impl/Actionlib_datatypesFactoryImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/actionlib_datatypes/impl/Actionlib_datatypesFactoryImpl.java
new file mode 100644
index 00000000000..cef9a9af6c4
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/actionlib_datatypes/impl/Actionlib_datatypesFactoryImpl.java
@@ -0,0 +1,139 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl;
+
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.emf.ecore.EPackage;
+import org.eclipse.emf.ecore.impl.EFactoryImpl;
+import org.eclipse.emf.ecore.plugin.EcorePlugin;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesFactory;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalID;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatusArray;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model <b>Factory</b>.
+ * <!-- end-user-doc -->
+ * 
+ * @generated
+ */
+public class Actionlib_datatypesFactoryImpl extends EFactoryImpl implements Actionlib_datatypesFactory {
+
+	/**
+	 * Creates the default factory implementation.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static Actionlib_datatypesFactory init() {
+		try {
+			Actionlib_datatypesFactory theActionlib_datatypesFactory = (Actionlib_datatypesFactory)EPackage.Registry.INSTANCE.getEFactory("http:///RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/actionlib_datatypes.ecore");
+			if(theActionlib_datatypesFactory != null) {
+				return theActionlib_datatypesFactory;
+			}
+		} catch (Exception exception) {
+			EcorePlugin.INSTANCE.log(exception);
+		}
+		return new Actionlib_datatypesFactoryImpl();
+	}
+
+	/**
+	 * Creates an instance of the factory.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Actionlib_datatypesFactoryImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public EObject create(EClass eClass) {
+		switch(eClass.getClassifierID()) {
+		case Actionlib_datatypesPackage.GOAL_ID:
+			return createGoalID();
+		case Actionlib_datatypesPackage.GOAL_STATUS:
+			return createGoalStatus();
+		case Actionlib_datatypesPackage.GOAL_STATUS_ARRAY:
+			return createGoalStatusArray();
+		default:
+			throw new IllegalArgumentException("The class '" + eClass.getName() + "' is not a valid classifier");
+		}
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public GoalID createGoalID() {
+		GoalIDImpl goalID = new GoalIDImpl();
+		return goalID;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public GoalStatus createGoalStatus() {
+		GoalStatusImpl goalStatus = new GoalStatusImpl();
+		return goalStatus;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public GoalStatusArray createGoalStatusArray() {
+		GoalStatusArrayImpl goalStatusArray = new GoalStatusArrayImpl();
+		return goalStatusArray;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Actionlib_datatypesPackage getActionlib_datatypesPackage() {
+		return (Actionlib_datatypesPackage)getEPackage();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @deprecated
+	 * @generated
+	 */
+	@Deprecated
+	public static Actionlib_datatypesPackage getPackage() {
+		return Actionlib_datatypesPackage.eINSTANCE;
+	}
+
+} //Actionlib_datatypesFactoryImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/actionlib_datatypes/impl/Actionlib_datatypesPackageImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/actionlib_datatypes/impl/Actionlib_datatypesPackageImpl.java
new file mode 100644
index 00000000000..d371609338c
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/actionlib_datatypes/impl/Actionlib_datatypesPackageImpl.java
@@ -0,0 +1,472 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl;
+
+import org.eclipse.emf.ecore.EAttribute;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.EPackage;
+import org.eclipse.emf.ecore.EReference;
+import org.eclipse.emf.ecore.impl.EPackageImpl;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesFactory;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalID;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatusArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.Diagnostic_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.Nav_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.Oarp1_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl.Oarp1_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl;
+import org.eclipse.uml2.uml.UMLPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model <b>Package</b>.
+ * <!-- end-user-doc -->
+ * 
+ * @generated
+ */
+public class Actionlib_datatypesPackageImpl extends EPackageImpl implements Actionlib_datatypesPackage {
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass goalIDEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass goalStatusEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass goalStatusArrayEClass = null;
+
+	/**
+	 * Creates an instance of the model <b>Package</b>, registered with {@link org.eclipse.emf.ecore.EPackage.Registry EPackage.Registry} by the
+	 * package
+	 * package URI value.
+	 * <p>
+	 * Note: the correct way to create the package is via the static factory method {@link #init init()}, which also performs initialization of the
+	 * package, or returns the registered package, if one already exists. <!-- begin-user-doc --> <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.emf.ecore.EPackage.Registry
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage#eNS_URI
+	 * @see #init()
+	 * @generated
+	 */
+	private Actionlib_datatypesPackageImpl() {
+		super(eNS_URI, Actionlib_datatypesFactory.eINSTANCE);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private static boolean isInited = false;
+
+	/**
+	 * Creates, registers, and initializes the <b>Package</b> for this model, and for any others upon which it depends.
+	 * 
+	 * <p>
+	 * This method is used to initialize {@link Actionlib_datatypesPackage#eINSTANCE} when that field is accessed. Clients should not invoke it
+	 * directly. Instead, they should simply access that field to obtain the package. <!-- begin-user-doc --> <!-- end-user-doc -->
+	 * 
+	 * @see #eNS_URI
+	 * @see #createPackageContents()
+	 * @see #initializePackageContents()
+	 * @generated
+	 */
+	public static Actionlib_datatypesPackage init() {
+		if(isInited)
+			return (Actionlib_datatypesPackage)EPackage.Registry.INSTANCE.getEPackage(Actionlib_datatypesPackage.eNS_URI);
+
+		// Obtain or create and register package
+		Actionlib_datatypesPackageImpl theActionlib_datatypesPackage = (Actionlib_datatypesPackageImpl)(EPackage.Registry.INSTANCE.get(eNS_URI) instanceof Actionlib_datatypesPackageImpl ? EPackage.Registry.INSTANCE.get(eNS_URI) : new Actionlib_datatypesPackageImpl());
+
+		isInited = true;
+
+		// Initialize simple dependencies
+		UMLPackage.eINSTANCE.eClass();
+
+		// Obtain or create and register interdependencies
+		RobotMLPackageImpl theRobotMLPackage = (RobotMLPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(RobotMLPackage.eNS_URI) instanceof RobotMLPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(RobotMLPackage.eNS_URI) : RobotMLPackage.eINSTANCE);
+		Diagnostic_datatypesPackageImpl theDiagnostic_datatypesPackage = (Diagnostic_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Diagnostic_datatypesPackage.eNS_URI) instanceof Diagnostic_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Diagnostic_datatypesPackage.eNS_URI) : Diagnostic_datatypesPackage.eINSTANCE);
+		Geometry_datatypesPackageImpl theGeometry_datatypesPackage = (Geometry_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Geometry_datatypesPackage.eNS_URI) instanceof Geometry_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Geometry_datatypesPackage.eNS_URI) : Geometry_datatypesPackage.eINSTANCE);
+		Nav_datatypesPackageImpl theNav_datatypesPackage = (Nav_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Nav_datatypesPackage.eNS_URI) instanceof Nav_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Nav_datatypesPackage.eNS_URI) : Nav_datatypesPackage.eINSTANCE);
+		Sensor_datatypesPackageImpl theSensor_datatypesPackage = (Sensor_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Sensor_datatypesPackage.eNS_URI) instanceof Sensor_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Sensor_datatypesPackage.eNS_URI) : Sensor_datatypesPackage.eINSTANCE);
+		Oarp1_datatypesPackageImpl theOarp1_datatypesPackage = (Oarp1_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Oarp1_datatypesPackage.eNS_URI) instanceof Oarp1_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Oarp1_datatypesPackage.eNS_URI) : Oarp1_datatypesPackage.eINSTANCE);
+		Oarp4_datatypesPackageImpl theOarp4_datatypesPackage = (Oarp4_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Oarp4_datatypesPackage.eNS_URI) instanceof Oarp4_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Oarp4_datatypesPackage.eNS_URI) : Oarp4_datatypesPackage.eINSTANCE);
+		Std_datatypesPackageImpl theStd_datatypesPackage = (Std_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Std_datatypesPackage.eNS_URI) instanceof Std_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Std_datatypesPackage.eNS_URI) : Std_datatypesPackage.eINSTANCE);
+
+		// Create package meta-data objects
+		theActionlib_datatypesPackage.createPackageContents();
+		theRobotMLPackage.createPackageContents();
+		theDiagnostic_datatypesPackage.createPackageContents();
+		theGeometry_datatypesPackage.createPackageContents();
+		theNav_datatypesPackage.createPackageContents();
+		theSensor_datatypesPackage.createPackageContents();
+		theOarp1_datatypesPackage.createPackageContents();
+		theOarp4_datatypesPackage.createPackageContents();
+		theStd_datatypesPackage.createPackageContents();
+
+		// Initialize created meta-data
+		theActionlib_datatypesPackage.initializePackageContents();
+		theRobotMLPackage.initializePackageContents();
+		theDiagnostic_datatypesPackage.initializePackageContents();
+		theGeometry_datatypesPackage.initializePackageContents();
+		theNav_datatypesPackage.initializePackageContents();
+		theSensor_datatypesPackage.initializePackageContents();
+		theOarp1_datatypesPackage.initializePackageContents();
+		theOarp4_datatypesPackage.initializePackageContents();
+		theStd_datatypesPackage.initializePackageContents();
+
+		// Mark meta-data to indicate it can't be changed
+		theActionlib_datatypesPackage.freeze();
+
+
+		// Update the registry and return the package
+		EPackage.Registry.INSTANCE.put(Actionlib_datatypesPackage.eNS_URI, theActionlib_datatypesPackage);
+		return theActionlib_datatypesPackage;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getGoalID() {
+		return goalIDEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getGoalID_Stamp() {
+		return (EAttribute)goalIDEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getGoalID_Id() {
+		return (EAttribute)goalIDEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getGoalStatus() {
+		return goalStatusEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getGoalStatus_PENDING() {
+		return (EAttribute)goalStatusEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getGoalStatus_ACTIVE() {
+		return (EAttribute)goalStatusEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getGoalStatus_PREEMPTED() {
+		return (EAttribute)goalStatusEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getGoalStatus_SUCCEEDED() {
+		return (EAttribute)goalStatusEClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getGoalStatus_ABORTED() {
+		return (EAttribute)goalStatusEClass.getEStructuralFeatures().get(4);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getGoalStatus_REJECTED() {
+		return (EAttribute)goalStatusEClass.getEStructuralFeatures().get(5);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getGoalStatus_PREEMPTING() {
+		return (EAttribute)goalStatusEClass.getEStructuralFeatures().get(6);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getGoalStatus_RECALLING() {
+		return (EAttribute)goalStatusEClass.getEStructuralFeatures().get(7);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getGoalStatus_RECALLED() {
+		return (EAttribute)goalStatusEClass.getEStructuralFeatures().get(8);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getGoalStatus_LOST() {
+		return (EAttribute)goalStatusEClass.getEStructuralFeatures().get(9);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getGoalStatus_Text() {
+		return (EAttribute)goalStatusEClass.getEStructuralFeatures().get(10);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getGoalStatus_Status() {
+		return (EAttribute)goalStatusEClass.getEStructuralFeatures().get(11);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getGoalStatusArray() {
+		return goalStatusArrayEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getGoalStatusArray_Header() {
+		return (EReference)goalStatusArrayEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getGoalStatusArray_Status_list() {
+		return (EReference)goalStatusArrayEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Actionlib_datatypesFactory getActionlib_datatypesFactory() {
+		return (Actionlib_datatypesFactory)getEFactoryInstance();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private boolean isCreated = false;
+
+	/**
+	 * Creates the meta-model objects for the package. This method is
+	 * guarded to have no affect on any invocation but its first.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void createPackageContents() {
+		if(isCreated)
+			return;
+		isCreated = true;
+
+		// Create classes and their features
+		goalIDEClass = createEClass(GOAL_ID);
+		createEAttribute(goalIDEClass, GOAL_ID__STAMP);
+		createEAttribute(goalIDEClass, GOAL_ID__ID);
+
+		goalStatusEClass = createEClass(GOAL_STATUS);
+		createEAttribute(goalStatusEClass, GOAL_STATUS__PENDING);
+		createEAttribute(goalStatusEClass, GOAL_STATUS__ACTIVE);
+		createEAttribute(goalStatusEClass, GOAL_STATUS__PREEMPTED);
+		createEAttribute(goalStatusEClass, GOAL_STATUS__SUCCEEDED);
+		createEAttribute(goalStatusEClass, GOAL_STATUS__ABORTED);
+		createEAttribute(goalStatusEClass, GOAL_STATUS__REJECTED);
+		createEAttribute(goalStatusEClass, GOAL_STATUS__PREEMPTING);
+		createEAttribute(goalStatusEClass, GOAL_STATUS__RECALLING);
+		createEAttribute(goalStatusEClass, GOAL_STATUS__RECALLED);
+		createEAttribute(goalStatusEClass, GOAL_STATUS__LOST);
+		createEAttribute(goalStatusEClass, GOAL_STATUS__TEXT);
+		createEAttribute(goalStatusEClass, GOAL_STATUS__STATUS);
+
+		goalStatusArrayEClass = createEClass(GOAL_STATUS_ARRAY);
+		createEReference(goalStatusArrayEClass, GOAL_STATUS_ARRAY__HEADER);
+		createEReference(goalStatusArrayEClass, GOAL_STATUS_ARRAY__STATUS_LIST);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private boolean isInitialized = false;
+
+	/**
+	 * Complete the initialization of the package and its meta-model. This
+	 * method is guarded to have no affect on any invocation but its first.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void initializePackageContents() {
+		if(isInitialized)
+			return;
+		isInitialized = true;
+
+		// Initialize package
+		setName(eNAME);
+		setNsPrefix(eNS_PREFIX);
+		setNsURI(eNS_URI);
+
+		// Obtain other dependent packages
+		Std_datatypesPackage theStd_datatypesPackage = (Std_datatypesPackage)EPackage.Registry.INSTANCE.getEPackage(Std_datatypesPackage.eNS_URI);
+
+		// Create type parameters
+
+		// Set bounds for type parameters
+
+		// Add supertypes to classes
+
+		// Initialize classes and features; add operations and parameters
+		initEClass(goalIDEClass, GoalID.class, "GoalID", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getGoalID_Stamp(), theStd_datatypesPackage.getTime(), "stamp", null, 1, 1, GoalID.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getGoalID_Id(), theStd_datatypesPackage.getString(), "id", null, 1, 1, GoalID.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(goalStatusEClass, GoalStatus.class, "GoalStatus", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getGoalStatus_PENDING(), theStd_datatypesPackage.getUInt8(), "PENDING", "0", 1, 1, GoalStatus.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getGoalStatus_ACTIVE(), theStd_datatypesPackage.getUInt8(), "ACTIVE", "1", 1, 1, GoalStatus.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getGoalStatus_PREEMPTED(), theStd_datatypesPackage.getUInt8(), "PREEMPTED", "2", 1, 1, GoalStatus.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getGoalStatus_SUCCEEDED(), theStd_datatypesPackage.getUInt8(), "SUCCEEDED", null, 1, 1, GoalStatus.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getGoalStatus_ABORTED(), theStd_datatypesPackage.getUInt8(), "ABORTED", null, 1, 1, GoalStatus.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getGoalStatus_REJECTED(), theStd_datatypesPackage.getUInt8(), "REJECTED", null, 1, 1, GoalStatus.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getGoalStatus_PREEMPTING(), theStd_datatypesPackage.getUInt8(), "PREEMPTING", null, 1, 1, GoalStatus.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getGoalStatus_RECALLING(), theStd_datatypesPackage.getUInt8(), "RECALLING", null, 1, 1, GoalStatus.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getGoalStatus_RECALLED(), theStd_datatypesPackage.getUInt8(), "RECALLED", null, 1, 1, GoalStatus.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getGoalStatus_LOST(), theStd_datatypesPackage.getUInt8(), "LOST", null, 1, 1, GoalStatus.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getGoalStatus_Text(), theStd_datatypesPackage.getString(), "text", null, 1, 1, GoalStatus.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getGoalStatus_Status(), theStd_datatypesPackage.getUInt8(), "status", null, 1, 1, GoalStatus.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(goalStatusArrayEClass, GoalStatusArray.class, "GoalStatusArray", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getGoalStatusArray_Header(), theStd_datatypesPackage.getHeader(), null, "header", null, 1, 1, GoalStatusArray.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getGoalStatusArray_Status_list(), this.getGoalStatus(), null, "status_list", null, 0, -1, GoalStatusArray.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		// Create resource
+		createResource(eNS_URI);
+	}
+
+} //Actionlib_datatypesPackageImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/actionlib_datatypes/impl/GoalIDImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/actionlib_datatypes/impl/GoalIDImpl.java
new file mode 100644
index 00000000000..de2fb662ebf
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/actionlib_datatypes/impl/GoalIDImpl.java
@@ -0,0 +1,243 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl;
+
+import java.util.Date;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalID;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Goal ID</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.GoalIDImpl#getStamp <em>Stamp</em>}
+ * </li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.GoalIDImpl#getId <em>Id</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class GoalIDImpl extends EObjectImpl implements GoalID {
+
+	/**
+	 * The default value of the '{@link #getStamp() <em>Stamp</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getStamp()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final Date STAMP_EDEFAULT = null;
+
+	/**
+	 * The cached value of the '{@link #getStamp() <em>Stamp</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getStamp()
+	 * @generated
+	 * @ordered
+	 */
+	protected Date stamp = STAMP_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getId() <em>Id</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getId()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final String ID_EDEFAULT = null;
+
+	/**
+	 * The cached value of the '{@link #getId() <em>Id</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getId()
+	 * @generated
+	 * @ordered
+	 */
+	protected String id = ID_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected GoalIDImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Actionlib_datatypesPackage.Literals.GOAL_ID;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Date getStamp() {
+		return stamp;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setStamp(Date newStamp) {
+		Date oldStamp = stamp;
+		stamp = newStamp;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Actionlib_datatypesPackage.GOAL_ID__STAMP, oldStamp, stamp));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getId() {
+		return id;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setId(String newId) {
+		String oldId = id;
+		id = newId;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Actionlib_datatypesPackage.GOAL_ID__ID, oldId, id));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Actionlib_datatypesPackage.GOAL_ID__STAMP:
+			return getStamp();
+		case Actionlib_datatypesPackage.GOAL_ID__ID:
+			return getId();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Actionlib_datatypesPackage.GOAL_ID__STAMP:
+			setStamp((Date)newValue);
+			return;
+		case Actionlib_datatypesPackage.GOAL_ID__ID:
+			setId((String)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Actionlib_datatypesPackage.GOAL_ID__STAMP:
+			setStamp(STAMP_EDEFAULT);
+			return;
+		case Actionlib_datatypesPackage.GOAL_ID__ID:
+			setId(ID_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Actionlib_datatypesPackage.GOAL_ID__STAMP:
+			return STAMP_EDEFAULT == null ? stamp != null : !STAMP_EDEFAULT.equals(stamp);
+		case Actionlib_datatypesPackage.GOAL_ID__ID:
+			return ID_EDEFAULT == null ? id != null : !ID_EDEFAULT.equals(id);
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (stamp: ");
+		result.append(stamp);
+		result.append(", id: ");
+		result.append(id);
+		result.append(')');
+		return result.toString();
+	}
+
+} //GoalIDImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/actionlib_datatypes/impl/GoalStatusArrayImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/actionlib_datatypes/impl/GoalStatusArrayImpl.java
new file mode 100644
index 00000000000..c9db9915c55
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/actionlib_datatypes/impl/GoalStatusArrayImpl.java
@@ -0,0 +1,244 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl;
+
+import java.util.Collection;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.emf.ecore.util.EObjectContainmentEList;
+import org.eclipse.emf.ecore.util.InternalEList;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatusArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Goal Status Array</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.GoalStatusArrayImpl#getHeader <em>
+ * Header</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.GoalStatusArrayImpl#getStatus_list
+ * <em>Status list</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class GoalStatusArrayImpl extends EObjectImpl implements GoalStatusArray {
+
+	/**
+	 * The cached value of the '{@link #getHeader() <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHeader()
+	 * @generated
+	 * @ordered
+	 */
+	protected Header header;
+
+	/**
+	 * The cached value of the '{@link #getStatus_list() <em>Status list</em>}' containment reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getStatus_list()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<GoalStatus> status_list;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected GoalStatusArrayImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Actionlib_datatypesPackage.Literals.GOAL_STATUS_ARRAY;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Header getHeader() {
+		return header;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetHeader(Header newHeader, NotificationChain msgs) {
+		Header oldHeader = header;
+		header = newHeader;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Actionlib_datatypesPackage.GOAL_STATUS_ARRAY__HEADER, oldHeader, newHeader);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setHeader(Header newHeader) {
+		if(newHeader != header) {
+			NotificationChain msgs = null;
+			if(header != null)
+				msgs = ((InternalEObject)header).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Actionlib_datatypesPackage.GOAL_STATUS_ARRAY__HEADER, null, msgs);
+			if(newHeader != null)
+				msgs = ((InternalEObject)newHeader).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Actionlib_datatypesPackage.GOAL_STATUS_ARRAY__HEADER, null, msgs);
+			msgs = basicSetHeader(newHeader, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Actionlib_datatypesPackage.GOAL_STATUS_ARRAY__HEADER, newHeader, newHeader));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<GoalStatus> getStatus_list() {
+		if(status_list == null) {
+			status_list = new EObjectContainmentEList<GoalStatus>(GoalStatus.class, this, Actionlib_datatypesPackage.GOAL_STATUS_ARRAY__STATUS_LIST);
+		}
+		return status_list;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Actionlib_datatypesPackage.GOAL_STATUS_ARRAY__HEADER:
+			return basicSetHeader(null, msgs);
+		case Actionlib_datatypesPackage.GOAL_STATUS_ARRAY__STATUS_LIST:
+			return ((InternalEList<?>)getStatus_list()).basicRemove(otherEnd, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Actionlib_datatypesPackage.GOAL_STATUS_ARRAY__HEADER:
+			return getHeader();
+		case Actionlib_datatypesPackage.GOAL_STATUS_ARRAY__STATUS_LIST:
+			return getStatus_list();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@SuppressWarnings("unchecked")
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Actionlib_datatypesPackage.GOAL_STATUS_ARRAY__HEADER:
+			setHeader((Header)newValue);
+			return;
+		case Actionlib_datatypesPackage.GOAL_STATUS_ARRAY__STATUS_LIST:
+			getStatus_list().clear();
+			getStatus_list().addAll((Collection<? extends GoalStatus>)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Actionlib_datatypesPackage.GOAL_STATUS_ARRAY__HEADER:
+			setHeader((Header)null);
+			return;
+		case Actionlib_datatypesPackage.GOAL_STATUS_ARRAY__STATUS_LIST:
+			getStatus_list().clear();
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Actionlib_datatypesPackage.GOAL_STATUS_ARRAY__HEADER:
+			return header != null;
+		case Actionlib_datatypesPackage.GOAL_STATUS_ARRAY__STATUS_LIST:
+			return status_list != null && !status_list.isEmpty();
+		}
+		return super.eIsSet(featureID);
+	}
+
+} //GoalStatusArrayImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/actionlib_datatypes/impl/GoalStatusImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/actionlib_datatypes/impl/GoalStatusImpl.java
new file mode 100644
index 00000000000..cf95cf9424a
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/actionlib_datatypes/impl/GoalStatusImpl.java
@@ -0,0 +1,832 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Goal Status</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.GoalStatusImpl#getPENDING <em>
+ * PENDING</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.GoalStatusImpl#getACTIVE <em>ACTIVE
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.GoalStatusImpl#getPREEMPTED <em>
+ * PREEMPTED</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.GoalStatusImpl#getSUCCEEDED <em>
+ * SUCCEEDED</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.GoalStatusImpl#getABORTED <em>
+ * ABORTED</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.GoalStatusImpl#getREJECTED <em>
+ * REJECTED</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.GoalStatusImpl#getPREEMPTING <em>
+ * PREEMPTING</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.GoalStatusImpl#getRECALLING <em>
+ * RECALLING</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.GoalStatusImpl#getRECALLED <em>
+ * RECALLED</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.GoalStatusImpl#getLOST <em>LOST
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.GoalStatusImpl#getText <em>Text
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.GoalStatusImpl#getStatus <em>Status
+ * </em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class GoalStatusImpl extends EObjectImpl implements GoalStatus {
+
+	/**
+	 * The default value of the '{@link #getPENDING() <em>PENDING</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getPENDING()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final char PENDING_EDEFAULT = '\u0000';
+
+	/**
+	 * The cached value of the '{@link #getPENDING() <em>PENDING</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getPENDING()
+	 * @generated
+	 * @ordered
+	 */
+	protected char pending = PENDING_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getACTIVE() <em>ACTIVE</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getACTIVE()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final char ACTIVE_EDEFAULT = '\u0001';
+
+	/**
+	 * The cached value of the '{@link #getACTIVE() <em>ACTIVE</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getACTIVE()
+	 * @generated
+	 * @ordered
+	 */
+	protected char active = ACTIVE_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getPREEMPTED() <em>PREEMPTED</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getPREEMPTED()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final char PREEMPTED_EDEFAULT = '\u0002';
+
+	/**
+	 * The cached value of the '{@link #getPREEMPTED() <em>PREEMPTED</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getPREEMPTED()
+	 * @generated
+	 * @ordered
+	 */
+	protected char preempted = PREEMPTED_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getSUCCEEDED() <em>SUCCEEDED</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSUCCEEDED()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final char SUCCEEDED_EDEFAULT = '\u0000';
+
+	/**
+	 * The cached value of the '{@link #getSUCCEEDED() <em>SUCCEEDED</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSUCCEEDED()
+	 * @generated
+	 * @ordered
+	 */
+	protected char succeeded = SUCCEEDED_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getABORTED() <em>ABORTED</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getABORTED()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final char ABORTED_EDEFAULT = '\u0000';
+
+	/**
+	 * The cached value of the '{@link #getABORTED() <em>ABORTED</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getABORTED()
+	 * @generated
+	 * @ordered
+	 */
+	protected char aborted = ABORTED_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getREJECTED() <em>REJECTED</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getREJECTED()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final char REJECTED_EDEFAULT = '\u0000';
+
+	/**
+	 * The cached value of the '{@link #getREJECTED() <em>REJECTED</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getREJECTED()
+	 * @generated
+	 * @ordered
+	 */
+	protected char rejected = REJECTED_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getPREEMPTING() <em>PREEMPTING</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getPREEMPTING()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final char PREEMPTING_EDEFAULT = '\u0000';
+
+	/**
+	 * The cached value of the '{@link #getPREEMPTING() <em>PREEMPTING</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getPREEMPTING()
+	 * @generated
+	 * @ordered
+	 */
+	protected char preempting = PREEMPTING_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getRECALLING() <em>RECALLING</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getRECALLING()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final char RECALLING_EDEFAULT = '\u0000';
+
+	/**
+	 * The cached value of the '{@link #getRECALLING() <em>RECALLING</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getRECALLING()
+	 * @generated
+	 * @ordered
+	 */
+	protected char recalling = RECALLING_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getRECALLED() <em>RECALLED</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getRECALLED()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final char RECALLED_EDEFAULT = '\u0000';
+
+	/**
+	 * The cached value of the '{@link #getRECALLED() <em>RECALLED</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getRECALLED()
+	 * @generated
+	 * @ordered
+	 */
+	protected char recalled = RECALLED_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getLOST() <em>LOST</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLOST()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final char LOST_EDEFAULT = '\u0000';
+
+	/**
+	 * The cached value of the '{@link #getLOST() <em>LOST</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLOST()
+	 * @generated
+	 * @ordered
+	 */
+	protected char lost = LOST_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getText() <em>Text</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getText()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final String TEXT_EDEFAULT = null;
+
+	/**
+	 * The cached value of the '{@link #getText() <em>Text</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getText()
+	 * @generated
+	 * @ordered
+	 */
+	protected String text = TEXT_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getStatus() <em>Status</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getStatus()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final char STATUS_EDEFAULT = '\u0000';
+
+	/**
+	 * The cached value of the '{@link #getStatus() <em>Status</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getStatus()
+	 * @generated
+	 * @ordered
+	 */
+	protected char status = STATUS_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected GoalStatusImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Actionlib_datatypesPackage.Literals.GOAL_STATUS;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public char getPENDING() {
+		return pending;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setPENDING(char newPENDING) {
+		char oldPENDING = pending;
+		pending = newPENDING;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Actionlib_datatypesPackage.GOAL_STATUS__PENDING, oldPENDING, pending));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public char getACTIVE() {
+		return active;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setACTIVE(char newACTIVE) {
+		char oldACTIVE = active;
+		active = newACTIVE;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Actionlib_datatypesPackage.GOAL_STATUS__ACTIVE, oldACTIVE, active));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public char getPREEMPTED() {
+		return preempted;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setPREEMPTED(char newPREEMPTED) {
+		char oldPREEMPTED = preempted;
+		preempted = newPREEMPTED;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Actionlib_datatypesPackage.GOAL_STATUS__PREEMPTED, oldPREEMPTED, preempted));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public char getSUCCEEDED() {
+		return succeeded;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setSUCCEEDED(char newSUCCEEDED) {
+		char oldSUCCEEDED = succeeded;
+		succeeded = newSUCCEEDED;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Actionlib_datatypesPackage.GOAL_STATUS__SUCCEEDED, oldSUCCEEDED, succeeded));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public char getABORTED() {
+		return aborted;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setABORTED(char newABORTED) {
+		char oldABORTED = aborted;
+		aborted = newABORTED;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Actionlib_datatypesPackage.GOAL_STATUS__ABORTED, oldABORTED, aborted));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public char getREJECTED() {
+		return rejected;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setREJECTED(char newREJECTED) {
+		char oldREJECTED = rejected;
+		rejected = newREJECTED;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Actionlib_datatypesPackage.GOAL_STATUS__REJECTED, oldREJECTED, rejected));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public char getPREEMPTING() {
+		return preempting;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setPREEMPTING(char newPREEMPTING) {
+		char oldPREEMPTING = preempting;
+		preempting = newPREEMPTING;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Actionlib_datatypesPackage.GOAL_STATUS__PREEMPTING, oldPREEMPTING, preempting));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public char getRECALLING() {
+		return recalling;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setRECALLING(char newRECALLING) {
+		char oldRECALLING = recalling;
+		recalling = newRECALLING;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Actionlib_datatypesPackage.GOAL_STATUS__RECALLING, oldRECALLING, recalling));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public char getRECALLED() {
+		return recalled;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setRECALLED(char newRECALLED) {
+		char oldRECALLED = recalled;
+		recalled = newRECALLED;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Actionlib_datatypesPackage.GOAL_STATUS__RECALLED, oldRECALLED, recalled));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public char getLOST() {
+		return lost;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setLOST(char newLOST) {
+		char oldLOST = lost;
+		lost = newLOST;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Actionlib_datatypesPackage.GOAL_STATUS__LOST, oldLOST, lost));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getText() {
+		return text;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setText(String newText) {
+		String oldText = text;
+		text = newText;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Actionlib_datatypesPackage.GOAL_STATUS__TEXT, oldText, text));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public char getStatus() {
+		return status;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setStatus(char newStatus) {
+		char oldStatus = status;
+		status = newStatus;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Actionlib_datatypesPackage.GOAL_STATUS__STATUS, oldStatus, status));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Actionlib_datatypesPackage.GOAL_STATUS__PENDING:
+			return getPENDING();
+		case Actionlib_datatypesPackage.GOAL_STATUS__ACTIVE:
+			return getACTIVE();
+		case Actionlib_datatypesPackage.GOAL_STATUS__PREEMPTED:
+			return getPREEMPTED();
+		case Actionlib_datatypesPackage.GOAL_STATUS__SUCCEEDED:
+			return getSUCCEEDED();
+		case Actionlib_datatypesPackage.GOAL_STATUS__ABORTED:
+			return getABORTED();
+		case Actionlib_datatypesPackage.GOAL_STATUS__REJECTED:
+			return getREJECTED();
+		case Actionlib_datatypesPackage.GOAL_STATUS__PREEMPTING:
+			return getPREEMPTING();
+		case Actionlib_datatypesPackage.GOAL_STATUS__RECALLING:
+			return getRECALLING();
+		case Actionlib_datatypesPackage.GOAL_STATUS__RECALLED:
+			return getRECALLED();
+		case Actionlib_datatypesPackage.GOAL_STATUS__LOST:
+			return getLOST();
+		case Actionlib_datatypesPackage.GOAL_STATUS__TEXT:
+			return getText();
+		case Actionlib_datatypesPackage.GOAL_STATUS__STATUS:
+			return getStatus();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Actionlib_datatypesPackage.GOAL_STATUS__PENDING:
+			setPENDING((Character)newValue);
+			return;
+		case Actionlib_datatypesPackage.GOAL_STATUS__ACTIVE:
+			setACTIVE((Character)newValue);
+			return;
+		case Actionlib_datatypesPackage.GOAL_STATUS__PREEMPTED:
+			setPREEMPTED((Character)newValue);
+			return;
+		case Actionlib_datatypesPackage.GOAL_STATUS__SUCCEEDED:
+			setSUCCEEDED((Character)newValue);
+			return;
+		case Actionlib_datatypesPackage.GOAL_STATUS__ABORTED:
+			setABORTED((Character)newValue);
+			return;
+		case Actionlib_datatypesPackage.GOAL_STATUS__REJECTED:
+			setREJECTED((Character)newValue);
+			return;
+		case Actionlib_datatypesPackage.GOAL_STATUS__PREEMPTING:
+			setPREEMPTING((Character)newValue);
+			return;
+		case Actionlib_datatypesPackage.GOAL_STATUS__RECALLING:
+			setRECALLING((Character)newValue);
+			return;
+		case Actionlib_datatypesPackage.GOAL_STATUS__RECALLED:
+			setRECALLED((Character)newValue);
+			return;
+		case Actionlib_datatypesPackage.GOAL_STATUS__LOST:
+			setLOST((Character)newValue);
+			return;
+		case Actionlib_datatypesPackage.GOAL_STATUS__TEXT:
+			setText((String)newValue);
+			return;
+		case Actionlib_datatypesPackage.GOAL_STATUS__STATUS:
+			setStatus((Character)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Actionlib_datatypesPackage.GOAL_STATUS__PENDING:
+			setPENDING(PENDING_EDEFAULT);
+			return;
+		case Actionlib_datatypesPackage.GOAL_STATUS__ACTIVE:
+			setACTIVE(ACTIVE_EDEFAULT);
+			return;
+		case Actionlib_datatypesPackage.GOAL_STATUS__PREEMPTED:
+			setPREEMPTED(PREEMPTED_EDEFAULT);
+			return;
+		case Actionlib_datatypesPackage.GOAL_STATUS__SUCCEEDED:
+			setSUCCEEDED(SUCCEEDED_EDEFAULT);
+			return;
+		case Actionlib_datatypesPackage.GOAL_STATUS__ABORTED:
+			setABORTED(ABORTED_EDEFAULT);
+			return;
+		case Actionlib_datatypesPackage.GOAL_STATUS__REJECTED:
+			setREJECTED(REJECTED_EDEFAULT);
+			return;
+		case Actionlib_datatypesPackage.GOAL_STATUS__PREEMPTING:
+			setPREEMPTING(PREEMPTING_EDEFAULT);
+			return;
+		case Actionlib_datatypesPackage.GOAL_STATUS__RECALLING:
+			setRECALLING(RECALLING_EDEFAULT);
+			return;
+		case Actionlib_datatypesPackage.GOAL_STATUS__RECALLED:
+			setRECALLED(RECALLED_EDEFAULT);
+			return;
+		case Actionlib_datatypesPackage.GOAL_STATUS__LOST:
+			setLOST(LOST_EDEFAULT);
+			return;
+		case Actionlib_datatypesPackage.GOAL_STATUS__TEXT:
+			setText(TEXT_EDEFAULT);
+			return;
+		case Actionlib_datatypesPackage.GOAL_STATUS__STATUS:
+			setStatus(STATUS_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Actionlib_datatypesPackage.GOAL_STATUS__PENDING:
+			return pending != PENDING_EDEFAULT;
+		case Actionlib_datatypesPackage.GOAL_STATUS__ACTIVE:
+			return active != ACTIVE_EDEFAULT;
+		case Actionlib_datatypesPackage.GOAL_STATUS__PREEMPTED:
+			return preempted != PREEMPTED_EDEFAULT;
+		case Actionlib_datatypesPackage.GOAL_STATUS__SUCCEEDED:
+			return succeeded != SUCCEEDED_EDEFAULT;
+		case Actionlib_datatypesPackage.GOAL_STATUS__ABORTED:
+			return aborted != ABORTED_EDEFAULT;
+		case Actionlib_datatypesPackage.GOAL_STATUS__REJECTED:
+			return rejected != REJECTED_EDEFAULT;
+		case Actionlib_datatypesPackage.GOAL_STATUS__PREEMPTING:
+			return preempting != PREEMPTING_EDEFAULT;
+		case Actionlib_datatypesPackage.GOAL_STATUS__RECALLING:
+			return recalling != RECALLING_EDEFAULT;
+		case Actionlib_datatypesPackage.GOAL_STATUS__RECALLED:
+			return recalled != RECALLED_EDEFAULT;
+		case Actionlib_datatypesPackage.GOAL_STATUS__LOST:
+			return lost != LOST_EDEFAULT;
+		case Actionlib_datatypesPackage.GOAL_STATUS__TEXT:
+			return TEXT_EDEFAULT == null ? text != null : !TEXT_EDEFAULT.equals(text);
+		case Actionlib_datatypesPackage.GOAL_STATUS__STATUS:
+			return status != STATUS_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (PENDING: ");
+		result.append(pending);
+		result.append(", ACTIVE: ");
+		result.append(active);
+		result.append(", PREEMPTED: ");
+		result.append(preempted);
+		result.append(", SUCCEEDED: ");
+		result.append(succeeded);
+		result.append(", ABORTED: ");
+		result.append(aborted);
+		result.append(", REJECTED: ");
+		result.append(rejected);
+		result.append(", PREEMPTING: ");
+		result.append(preempting);
+		result.append(", RECALLING: ");
+		result.append(recalling);
+		result.append(", RECALLED: ");
+		result.append(recalled);
+		result.append(", LOST: ");
+		result.append(lost);
+		result.append(", text: ");
+		result.append(text);
+		result.append(", status: ");
+		result.append(status);
+		result.append(')');
+		return result.toString();
+	}
+
+} //GoalStatusImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/actionlib_datatypes/util/Actionlib_datatypesAdapterFactory.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/actionlib_datatypes/util/Actionlib_datatypesAdapterFactory.java
new file mode 100644
index 00000000000..d1169e37609
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/actionlib_datatypes/util/Actionlib_datatypesAdapterFactory.java
@@ -0,0 +1,184 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.util;
+
+import org.eclipse.emf.common.notify.Adapter;
+import org.eclipse.emf.common.notify.Notifier;
+import org.eclipse.emf.common.notify.impl.AdapterFactoryImpl;
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalID;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatusArray;
+
+/**
+ * <!-- begin-user-doc -->
+ * The <b>Adapter Factory</b> for the model.
+ * It provides an adapter <code>createXXX</code> method for each class of the model.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage
+ * @generated
+ */
+public class Actionlib_datatypesAdapterFactory extends AdapterFactoryImpl {
+
+	/**
+	 * The cached model package.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected static Actionlib_datatypesPackage modelPackage;
+
+	/**
+	 * Creates an instance of the adapter factory.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Actionlib_datatypesAdapterFactory() {
+		if(modelPackage == null) {
+			modelPackage = Actionlib_datatypesPackage.eINSTANCE;
+		}
+	}
+
+	/**
+	 * Returns whether this factory is applicable for the type of the object.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns <code>true</code> if the object is either the model's package or is an instance object of the model.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return whether this factory is applicable for the type of the object.
+	 * @generated
+	 */
+	@Override
+	public boolean isFactoryForType(Object object) {
+		if(object == modelPackage) {
+			return true;
+		}
+		if(object instanceof EObject) {
+			return ((EObject)object).eClass().getEPackage() == modelPackage;
+		}
+		return false;
+	}
+
+	/**
+	 * The switch that delegates to the <code>createXXX</code> methods.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected Actionlib_datatypesSwitch<Adapter> modelSwitch = new Actionlib_datatypesSwitch<Adapter>() {
+
+		@Override
+		public Adapter caseGoalID(GoalID object) {
+			return createGoalIDAdapter();
+		}
+
+		@Override
+		public Adapter caseGoalStatus(GoalStatus object) {
+			return createGoalStatusAdapter();
+		}
+
+		@Override
+		public Adapter caseGoalStatusArray(GoalStatusArray object) {
+			return createGoalStatusArrayAdapter();
+		}
+
+		@Override
+		public Adapter defaultCase(EObject object) {
+			return createEObjectAdapter();
+		}
+	};
+
+	/**
+	 * Creates an adapter for the <code>target</code>.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param target
+	 *        the object to adapt.
+	 * @return the adapter for the <code>target</code>.
+	 * @generated
+	 */
+	@Override
+	public Adapter createAdapter(Notifier target) {
+		return modelSwitch.doSwitch((EObject)target);
+	}
+
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalID <em>Goal ID</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalID
+	 * @generated
+	 */
+	public Adapter createGoalIDAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus <em>Goal Status</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus
+	 * @generated
+	 */
+	public Adapter createGoalStatusAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatusArray
+	 * <em>Goal Status Array</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatusArray
+	 * @generated
+	 */
+	public Adapter createGoalStatusArrayAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for the default case.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @generated
+	 */
+	public Adapter createEObjectAdapter() {
+		return null;
+	}
+
+} //Actionlib_datatypesAdapterFactory
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/actionlib_datatypes/util/Actionlib_datatypesSwitch.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/actionlib_datatypes/util/Actionlib_datatypesSwitch.java
new file mode 100644
index 00000000000..dacfcf187e0
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/actionlib_datatypes/util/Actionlib_datatypesSwitch.java
@@ -0,0 +1,182 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.util;
+
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.emf.ecore.EPackage;
+import org.eclipse.emf.ecore.util.Switch;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalID;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatus;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.GoalStatusArray;
+
+/**
+ * <!-- begin-user-doc -->
+ * The <b>Switch</b> for the model's inheritance hierarchy.
+ * It supports the call {@link #doSwitch(EObject) doSwitch(object)} to invoke the <code>caseXXX</code> method for each class of the model,
+ * starting with the actual class of the object
+ * and proceeding up the inheritance hierarchy
+ * until a non-null result is returned,
+ * which is the result of the switch.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage
+ * @generated
+ */
+public class Actionlib_datatypesSwitch<T> extends Switch<T> {
+
+	/**
+	 * The cached model package
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected static Actionlib_datatypesPackage modelPackage;
+
+	/**
+	 * Creates an instance of the switch.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Actionlib_datatypesSwitch() {
+		if(modelPackage == null) {
+			modelPackage = Actionlib_datatypesPackage.eINSTANCE;
+		}
+	}
+
+	/**
+	 * Checks whether this is a switch for the given package.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @parameter ePackage the package in question.
+	 * @return whether this is a switch for the given package.
+	 * @generated
+	 */
+	@Override
+	protected boolean isSwitchFor(EPackage ePackage) {
+		return ePackage == modelPackage;
+	}
+
+	/**
+	 * Calls <code>caseXXX</code> for each class of the model until one returns a non null result; it yields that result.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the first non-null result returned by a <code>caseXXX</code> call.
+	 * @generated
+	 */
+	@Override
+	protected T doSwitch(int classifierID, EObject theEObject) {
+		switch(classifierID) {
+		case Actionlib_datatypesPackage.GOAL_ID:
+		{
+			GoalID goalID = (GoalID)theEObject;
+			T result = caseGoalID(goalID);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Actionlib_datatypesPackage.GOAL_STATUS:
+		{
+			GoalStatus goalStatus = (GoalStatus)theEObject;
+			T result = caseGoalStatus(goalStatus);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Actionlib_datatypesPackage.GOAL_STATUS_ARRAY:
+		{
+			GoalStatusArray goalStatusArray = (GoalStatusArray)theEObject;
+			T result = caseGoalStatusArray(goalStatusArray);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		default:
+			return defaultCase(theEObject);
+		}
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Goal ID</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Goal ID</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseGoalID(GoalID object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Goal Status</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Goal Status</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseGoalStatus(GoalStatus object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Goal Status Array</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Goal Status Array</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseGoalStatusArray(GoalStatusArray object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>EObject</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch, but this is the last case anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>EObject</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject)
+	 * @generated
+	 */
+	@Override
+	public T defaultCase(EObject object) {
+		return null;
+	}
+
+} //Actionlib_datatypesSwitch
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/diagnostic_datatypes/DiagnosticArray.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/diagnostic_datatypes/DiagnosticArray.java
new file mode 100644
index 00000000000..32269f9ca11
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/diagnostic_datatypes/DiagnosticArray.java
@@ -0,0 +1,105 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes;
+
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Diagnostic Array</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticArray#getHeader <em>Header
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticArray#getStatus <em>Status
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticArray#getValues <em>Values
+ * </em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesPackage#getDiagnosticArray()
+ * @model
+ * @generated
+ */
+public interface DiagnosticArray extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Header</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Header</em>' containment reference.
+	 * @see #setHeader(Header)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesPackage#getDiagnosticArray_Header()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Header getHeader();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticArray#getHeader
+	 * <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Header</em>' containment reference.
+	 * @see #getHeader()
+	 * @generated
+	 */
+	void setHeader(Header value);
+
+	/**
+	 * Returns the value of the '<em><b>Status</b></em>' containment reference list.
+	 * The list contents are of type
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Status</em>' containment reference list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Status</em>' containment reference list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesPackage#getDiagnosticArray_Status()
+	 * @model containment="true" ordered="false"
+	 * @generated
+	 */
+	EList<DiagnosticStatus> getStatus();
+
+	/**
+	 * Returns the value of the '<em><b>Values</b></em>' containment reference list.
+	 * The list contents are of type {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.KeyValue}
+	 * .
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Values</em>' containment reference list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Values</em>' containment reference list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesPackage#getDiagnosticArray_Values()
+	 * @model containment="true" ordered="false"
+	 * @generated
+	 */
+	EList<KeyValue> getValues();
+
+} // DiagnosticArray
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/diagnostic_datatypes/DiagnosticStatus.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/diagnostic_datatypes/DiagnosticStatus.java
new file mode 100644
index 00000000000..69e7481e5e1
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/diagnostic_datatypes/DiagnosticStatus.java
@@ -0,0 +1,283 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes;
+
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Diagnostic Status</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus#getOK <em>OK</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus#getWARN <em>WARN</em>}
+ * </li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus#getERROR <em>ERROR
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus#getLevel <em>Level
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus#getName <em>Name</em>}
+ * </li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus#getMessage <em>Message
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus#getHardware_id <em>
+ * Hardware id</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus#getValues <em>Values
+ * </em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesPackage#getDiagnosticStatus()
+ * @model
+ * @generated
+ */
+public interface DiagnosticStatus extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>OK</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>OK</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>OK</em>' attribute.
+	 * @see #setOK(byte)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesPackage#getDiagnosticStatus_OK()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Byte" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	byte getOK();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus#getOK <em>OK</em>}'
+	 * attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>OK</em>' attribute.
+	 * @see #getOK()
+	 * @generated
+	 */
+	void setOK(byte value);
+
+	/**
+	 * Returns the value of the '<em><b>WARN</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>WARN</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>WARN</em>' attribute.
+	 * @see #setWARN(byte)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesPackage#getDiagnosticStatus_WARN()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Byte" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	byte getWARN();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus#getWARN <em>WARN</em>}
+	 * ' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>WARN</em>' attribute.
+	 * @see #getWARN()
+	 * @generated
+	 */
+	void setWARN(byte value);
+
+	/**
+	 * Returns the value of the '<em><b>ERROR</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>ERROR</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>ERROR</em>' attribute.
+	 * @see #setERROR(byte)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesPackage#getDiagnosticStatus_ERROR()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Byte" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	byte getERROR();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus#getERROR
+	 * <em>ERROR</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>ERROR</em>' attribute.
+	 * @see #getERROR()
+	 * @generated
+	 */
+	void setERROR(byte value);
+
+	/**
+	 * Returns the value of the '<em><b>Level</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Level</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Level</em>' attribute.
+	 * @see #setLevel(byte)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesPackage#getDiagnosticStatus_Level()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Byte" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	byte getLevel();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus#getLevel
+	 * <em>Level</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Level</em>' attribute.
+	 * @see #getLevel()
+	 * @generated
+	 */
+	void setLevel(byte value);
+
+	/**
+	 * Returns the value of the '<em><b>Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Name</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Name</em>' attribute.
+	 * @see #setName(String)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesPackage#getDiagnosticStatus_Name()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.String" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	String getName();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus#getName <em>Name</em>}
+	 * ' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Name</em>' attribute.
+	 * @see #getName()
+	 * @generated
+	 */
+	void setName(String value);
+
+	/**
+	 * Returns the value of the '<em><b>Message</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Message</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Message</em>' attribute.
+	 * @see #setMessage(String)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesPackage#getDiagnosticStatus_Message()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.String" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	String getMessage();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus#getMessage
+	 * <em>Message</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Message</em>' attribute.
+	 * @see #getMessage()
+	 * @generated
+	 */
+	void setMessage(String value);
+
+	/**
+	 * Returns the value of the '<em><b>Hardware id</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Hardware id</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Hardware id</em>' attribute.
+	 * @see #setHardware_id(String)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesPackage#getDiagnosticStatus_Hardware_id()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.String" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	String getHardware_id();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus#getHardware_id
+	 * <em>Hardware id</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Hardware id</em>' attribute.
+	 * @see #getHardware_id()
+	 * @generated
+	 */
+	void setHardware_id(String value);
+
+	/**
+	 * Returns the value of the '<em><b>Values</b></em>' containment reference list.
+	 * The list contents are of type {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.KeyValue}
+	 * .
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Values</em>' containment reference list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Values</em>' containment reference list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesPackage#getDiagnosticStatus_Values()
+	 * @model containment="true" ordered="false"
+	 * @generated
+	 */
+	EList<KeyValue> getValues();
+
+} // DiagnosticStatus
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/diagnostic_datatypes/Diagnostic_datatypesFactory.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/diagnostic_datatypes/Diagnostic_datatypesFactory.java
new file mode 100644
index 00000000000..f6ba6cbee3d
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/diagnostic_datatypes/Diagnostic_datatypesFactory.java
@@ -0,0 +1,76 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes;
+
+import org.eclipse.emf.ecore.EFactory;
+
+/**
+ * <!-- begin-user-doc -->
+ * The <b>Factory</b> for the model.
+ * It provides a create method for each non-abstract class of the model.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesPackage
+ * @generated
+ */
+public interface Diagnostic_datatypesFactory extends EFactory {
+
+	/**
+	 * The singleton instance of the factory.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	Diagnostic_datatypesFactory eINSTANCE = org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.Diagnostic_datatypesFactoryImpl.init();
+
+	/**
+	 * Returns a new object of class '<em>Diagnostic Array</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Diagnostic Array</em>'.
+	 * @generated
+	 */
+	DiagnosticArray createDiagnosticArray();
+
+	/**
+	 * Returns a new object of class '<em>Diagnostic Status</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Diagnostic Status</em>'.
+	 * @generated
+	 */
+	DiagnosticStatus createDiagnosticStatus();
+
+	/**
+	 * Returns a new object of class '<em>Key Value</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Key Value</em>'.
+	 * @generated
+	 */
+	KeyValue createKeyValue();
+
+	/**
+	 * Returns the package supported by this factory.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the package supported by this factory.
+	 * @generated
+	 */
+	Diagnostic_datatypesPackage getDiagnostic_datatypesPackage();
+
+} //Diagnostic_datatypesFactory
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/diagnostic_datatypes/Diagnostic_datatypesPackage.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/diagnostic_datatypes/Diagnostic_datatypesPackage.java
new file mode 100644
index 00000000000..f90aacd6ae8
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/diagnostic_datatypes/Diagnostic_datatypesPackage.java
@@ -0,0 +1,673 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes;
+
+import org.eclipse.emf.ecore.EAttribute;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.EPackage;
+import org.eclipse.emf.ecore.EReference;
+
+/**
+ * <!-- begin-user-doc -->
+ * The <b>Package</b> for the model.
+ * It contains accessors for the meta objects to represent
+ * <ul>
+ * <li>each class,</li>
+ * <li>each feature of each class,</li>
+ * <li>each enum,</li>
+ * <li>and each data type</li>
+ * </ul>
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesFactory
+ * @model kind="package"
+ * @generated
+ */
+public interface Diagnostic_datatypesPackage extends EPackage {
+
+	/**
+	 * The package name.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	String eNAME = "diagnostic_datatypes";
+
+	/**
+	 * The package namespace URI.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	String eNS_URI = "http:///RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/diagnostic_datatypes.ecore";
+
+	/**
+	 * The package namespace name.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	String eNS_PREFIX = "RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes";
+
+	/**
+	 * The singleton instance of the package.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	Diagnostic_datatypesPackage eINSTANCE = org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.Diagnostic_datatypesPackageImpl.init();
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.DiagnosticArrayImpl
+	 * <em>Diagnostic Array</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.DiagnosticArrayImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.Diagnostic_datatypesPackageImpl#getDiagnosticArray()
+	 * @generated
+	 */
+	int DIAGNOSTIC_ARRAY = 0;
+
+	/**
+	 * The feature id for the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int DIAGNOSTIC_ARRAY__HEADER = 0;
+
+	/**
+	 * The feature id for the '<em><b>Status</b></em>' containment reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int DIAGNOSTIC_ARRAY__STATUS = 1;
+
+	/**
+	 * The feature id for the '<em><b>Values</b></em>' containment reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int DIAGNOSTIC_ARRAY__VALUES = 2;
+
+	/**
+	 * The number of structural features of the '<em>Diagnostic Array</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int DIAGNOSTIC_ARRAY_FEATURE_COUNT = 3;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.DiagnosticStatusImpl
+	 * <em>Diagnostic Status</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.DiagnosticStatusImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.Diagnostic_datatypesPackageImpl#getDiagnosticStatus()
+	 * @generated
+	 */
+	int DIAGNOSTIC_STATUS = 1;
+
+	/**
+	 * The feature id for the '<em><b>OK</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int DIAGNOSTIC_STATUS__OK = 0;
+
+	/**
+	 * The feature id for the '<em><b>WARN</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int DIAGNOSTIC_STATUS__WARN = 1;
+
+	/**
+	 * The feature id for the '<em><b>ERROR</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int DIAGNOSTIC_STATUS__ERROR = 2;
+
+	/**
+	 * The feature id for the '<em><b>Level</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int DIAGNOSTIC_STATUS__LEVEL = 3;
+
+	/**
+	 * The feature id for the '<em><b>Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int DIAGNOSTIC_STATUS__NAME = 4;
+
+	/**
+	 * The feature id for the '<em><b>Message</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int DIAGNOSTIC_STATUS__MESSAGE = 5;
+
+	/**
+	 * The feature id for the '<em><b>Hardware id</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int DIAGNOSTIC_STATUS__HARDWARE_ID = 6;
+
+	/**
+	 * The feature id for the '<em><b>Values</b></em>' containment reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int DIAGNOSTIC_STATUS__VALUES = 7;
+
+	/**
+	 * The number of structural features of the '<em>Diagnostic Status</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int DIAGNOSTIC_STATUS_FEATURE_COUNT = 8;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.KeyValueImpl <em>Key Value</em>}'
+	 * class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.KeyValueImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.Diagnostic_datatypesPackageImpl#getKeyValue()
+	 * @generated
+	 */
+	int KEY_VALUE = 2;
+
+	/**
+	 * The feature id for the '<em><b>Key</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int KEY_VALUE__KEY = 0;
+
+	/**
+	 * The feature id for the '<em><b>Value</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int KEY_VALUE__VALUE = 1;
+
+	/**
+	 * The number of structural features of the '<em>Key Value</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int KEY_VALUE_FEATURE_COUNT = 2;
+
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticArray
+	 * <em>Diagnostic Array</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Diagnostic Array</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticArray
+	 * @generated
+	 */
+	EClass getDiagnosticArray();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticArray#getHeader
+	 * <em>Header</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Header</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticArray#getHeader()
+	 * @see #getDiagnosticArray()
+	 * @generated
+	 */
+	EReference getDiagnosticArray_Header();
+
+	/**
+	 * Returns the meta object for the containment reference list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticArray#getStatus
+	 * <em>Status</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference list '<em>Status</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticArray#getStatus()
+	 * @see #getDiagnosticArray()
+	 * @generated
+	 */
+	EReference getDiagnosticArray_Status();
+
+	/**
+	 * Returns the meta object for the containment reference list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticArray#getValues
+	 * <em>Values</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference list '<em>Values</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticArray#getValues()
+	 * @see #getDiagnosticArray()
+	 * @generated
+	 */
+	EReference getDiagnosticArray_Values();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus
+	 * <em>Diagnostic Status</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Diagnostic Status</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus
+	 * @generated
+	 */
+	EClass getDiagnosticStatus();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus#getOK <em>OK</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>OK</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus#getOK()
+	 * @see #getDiagnosticStatus()
+	 * @generated
+	 */
+	EAttribute getDiagnosticStatus_OK();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus#getWARN <em>WARN</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>WARN</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus#getWARN()
+	 * @see #getDiagnosticStatus()
+	 * @generated
+	 */
+	EAttribute getDiagnosticStatus_WARN();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus#getERROR
+	 * <em>ERROR</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>ERROR</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus#getERROR()
+	 * @see #getDiagnosticStatus()
+	 * @generated
+	 */
+	EAttribute getDiagnosticStatus_ERROR();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus#getLevel
+	 * <em>Level</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Level</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus#getLevel()
+	 * @see #getDiagnosticStatus()
+	 * @generated
+	 */
+	EAttribute getDiagnosticStatus_Level();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus#getName <em>Name</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Name</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus#getName()
+	 * @see #getDiagnosticStatus()
+	 * @generated
+	 */
+	EAttribute getDiagnosticStatus_Name();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus#getMessage
+	 * <em>Message</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Message</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus#getMessage()
+	 * @see #getDiagnosticStatus()
+	 * @generated
+	 */
+	EAttribute getDiagnosticStatus_Message();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus#getHardware_id
+	 * <em>Hardware id</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Hardware id</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus#getHardware_id()
+	 * @see #getDiagnosticStatus()
+	 * @generated
+	 */
+	EAttribute getDiagnosticStatus_Hardware_id();
+
+	/**
+	 * Returns the meta object for the containment reference list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus#getValues
+	 * <em>Values</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference list '<em>Values</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus#getValues()
+	 * @see #getDiagnosticStatus()
+	 * @generated
+	 */
+	EReference getDiagnosticStatus_Values();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.KeyValue <em>Key Value</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Key Value</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.KeyValue
+	 * @generated
+	 */
+	EClass getKeyValue();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.KeyValue#getKey <em>Key</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Key</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.KeyValue#getKey()
+	 * @see #getKeyValue()
+	 * @generated
+	 */
+	EAttribute getKeyValue_Key();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.KeyValue#getValue <em>Value</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Value</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.KeyValue#getValue()
+	 * @see #getKeyValue()
+	 * @generated
+	 */
+	EAttribute getKeyValue_Value();
+
+	/**
+	 * Returns the factory that creates the instances of the model.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the factory that creates the instances of the model.
+	 * @generated
+	 */
+	Diagnostic_datatypesFactory getDiagnostic_datatypesFactory();
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * Defines literals for the meta objects that represent
+	 * <ul>
+	 * <li>each class,</li>
+	 * <li>each feature of each class,</li>
+	 * <li>each enum,</li>
+	 * <li>and each data type</li>
+	 * </ul>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	interface Literals {
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.DiagnosticArrayImpl
+		 * <em>Diagnostic Array</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.DiagnosticArrayImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.Diagnostic_datatypesPackageImpl#getDiagnosticArray()
+		 * @generated
+		 */
+		EClass DIAGNOSTIC_ARRAY = eINSTANCE.getDiagnosticArray();
+
+		/**
+		 * The meta object literal for the '<em><b>Header</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference DIAGNOSTIC_ARRAY__HEADER = eINSTANCE.getDiagnosticArray_Header();
+
+		/**
+		 * The meta object literal for the '<em><b>Status</b></em>' containment reference list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference DIAGNOSTIC_ARRAY__STATUS = eINSTANCE.getDiagnosticArray_Status();
+
+		/**
+		 * The meta object literal for the '<em><b>Values</b></em>' containment reference list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference DIAGNOSTIC_ARRAY__VALUES = eINSTANCE.getDiagnosticArray_Values();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.DiagnosticStatusImpl
+		 * <em>Diagnostic Status</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.DiagnosticStatusImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.Diagnostic_datatypesPackageImpl#getDiagnosticStatus()
+		 * @generated
+		 */
+		EClass DIAGNOSTIC_STATUS = eINSTANCE.getDiagnosticStatus();
+
+		/**
+		 * The meta object literal for the '<em><b>OK</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute DIAGNOSTIC_STATUS__OK = eINSTANCE.getDiagnosticStatus_OK();
+
+		/**
+		 * The meta object literal for the '<em><b>WARN</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute DIAGNOSTIC_STATUS__WARN = eINSTANCE.getDiagnosticStatus_WARN();
+
+		/**
+		 * The meta object literal for the '<em><b>ERROR</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute DIAGNOSTIC_STATUS__ERROR = eINSTANCE.getDiagnosticStatus_ERROR();
+
+		/**
+		 * The meta object literal for the '<em><b>Level</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute DIAGNOSTIC_STATUS__LEVEL = eINSTANCE.getDiagnosticStatus_Level();
+
+		/**
+		 * The meta object literal for the '<em><b>Name</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute DIAGNOSTIC_STATUS__NAME = eINSTANCE.getDiagnosticStatus_Name();
+
+		/**
+		 * The meta object literal for the '<em><b>Message</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute DIAGNOSTIC_STATUS__MESSAGE = eINSTANCE.getDiagnosticStatus_Message();
+
+		/**
+		 * The meta object literal for the '<em><b>Hardware id</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute DIAGNOSTIC_STATUS__HARDWARE_ID = eINSTANCE.getDiagnosticStatus_Hardware_id();
+
+		/**
+		 * The meta object literal for the '<em><b>Values</b></em>' containment reference list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference DIAGNOSTIC_STATUS__VALUES = eINSTANCE.getDiagnosticStatus_Values();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.KeyValueImpl
+		 * <em>Key Value</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.KeyValueImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.Diagnostic_datatypesPackageImpl#getKeyValue()
+		 * @generated
+		 */
+		EClass KEY_VALUE = eINSTANCE.getKeyValue();
+
+		/**
+		 * The meta object literal for the '<em><b>Key</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute KEY_VALUE__KEY = eINSTANCE.getKeyValue_Key();
+
+		/**
+		 * The meta object literal for the '<em><b>Value</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute KEY_VALUE__VALUE = eINSTANCE.getKeyValue_Value();
+
+	}
+
+} //Diagnostic_datatypesPackage
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/diagnostic_datatypes/KeyValue.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/diagnostic_datatypes/KeyValue.java
new file mode 100644
index 00000000000..cbce70c5ffb
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/diagnostic_datatypes/KeyValue.java
@@ -0,0 +1,96 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Key Value</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.KeyValue#getKey <em>Key</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.KeyValue#getValue <em>Value</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesPackage#getKeyValue()
+ * @model
+ * @generated
+ */
+public interface KeyValue extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Key</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Key</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Key</em>' attribute.
+	 * @see #setKey(String)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesPackage#getKeyValue_Key()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.String" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	String getKey();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.KeyValue#getKey
+	 * <em>Key</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Key</em>' attribute.
+	 * @see #getKey()
+	 * @generated
+	 */
+	void setKey(String value);
+
+	/**
+	 * Returns the value of the '<em><b>Value</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Value</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Value</em>' attribute.
+	 * @see #setValue(String)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesPackage#getKeyValue_Value()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.String" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	String getValue();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.KeyValue#getValue <em>Value</em>}'
+	 * attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Value</em>' attribute.
+	 * @see #getValue()
+	 * @generated
+	 */
+	void setValue(String value);
+
+} // KeyValue
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/diagnostic_datatypes/impl/DiagnosticArrayImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/diagnostic_datatypes/impl/DiagnosticArrayImpl.java
new file mode 100644
index 00000000000..2eb3ae44878
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/diagnostic_datatypes/impl/DiagnosticArrayImpl.java
@@ -0,0 +1,284 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl;
+
+import java.util.Collection;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.emf.ecore.util.EObjectContainmentEList;
+import org.eclipse.emf.ecore.util.InternalEList;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.KeyValue;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Diagnostic Array</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.DiagnosticArrayImpl#getHeader <em>
+ * Header</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.DiagnosticArrayImpl#getStatus <em>
+ * Status</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.DiagnosticArrayImpl#getValues <em>
+ * Values</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class DiagnosticArrayImpl extends EObjectImpl implements DiagnosticArray {
+
+	/**
+	 * The cached value of the '{@link #getHeader() <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHeader()
+	 * @generated
+	 * @ordered
+	 */
+	protected Header header;
+
+	/**
+	 * The cached value of the '{@link #getStatus() <em>Status</em>}' containment reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getStatus()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<DiagnosticStatus> status;
+
+	/**
+	 * The cached value of the '{@link #getValues() <em>Values</em>}' containment reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getValues()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<KeyValue> values;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected DiagnosticArrayImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Diagnostic_datatypesPackage.Literals.DIAGNOSTIC_ARRAY;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Header getHeader() {
+		return header;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetHeader(Header newHeader, NotificationChain msgs) {
+		Header oldHeader = header;
+		header = newHeader;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Diagnostic_datatypesPackage.DIAGNOSTIC_ARRAY__HEADER, oldHeader, newHeader);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setHeader(Header newHeader) {
+		if(newHeader != header) {
+			NotificationChain msgs = null;
+			if(header != null)
+				msgs = ((InternalEObject)header).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Diagnostic_datatypesPackage.DIAGNOSTIC_ARRAY__HEADER, null, msgs);
+			if(newHeader != null)
+				msgs = ((InternalEObject)newHeader).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Diagnostic_datatypesPackage.DIAGNOSTIC_ARRAY__HEADER, null, msgs);
+			msgs = basicSetHeader(newHeader, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Diagnostic_datatypesPackage.DIAGNOSTIC_ARRAY__HEADER, newHeader, newHeader));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<DiagnosticStatus> getStatus() {
+		if(status == null) {
+			status = new EObjectContainmentEList<DiagnosticStatus>(DiagnosticStatus.class, this, Diagnostic_datatypesPackage.DIAGNOSTIC_ARRAY__STATUS);
+		}
+		return status;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<KeyValue> getValues() {
+		if(values == null) {
+			values = new EObjectContainmentEList<KeyValue>(KeyValue.class, this, Diagnostic_datatypesPackage.DIAGNOSTIC_ARRAY__VALUES);
+		}
+		return values;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_ARRAY__HEADER:
+			return basicSetHeader(null, msgs);
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_ARRAY__STATUS:
+			return ((InternalEList<?>)getStatus()).basicRemove(otherEnd, msgs);
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_ARRAY__VALUES:
+			return ((InternalEList<?>)getValues()).basicRemove(otherEnd, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_ARRAY__HEADER:
+			return getHeader();
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_ARRAY__STATUS:
+			return getStatus();
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_ARRAY__VALUES:
+			return getValues();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@SuppressWarnings("unchecked")
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_ARRAY__HEADER:
+			setHeader((Header)newValue);
+			return;
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_ARRAY__STATUS:
+			getStatus().clear();
+			getStatus().addAll((Collection<? extends DiagnosticStatus>)newValue);
+			return;
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_ARRAY__VALUES:
+			getValues().clear();
+			getValues().addAll((Collection<? extends KeyValue>)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_ARRAY__HEADER:
+			setHeader((Header)null);
+			return;
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_ARRAY__STATUS:
+			getStatus().clear();
+			return;
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_ARRAY__VALUES:
+			getValues().clear();
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_ARRAY__HEADER:
+			return header != null;
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_ARRAY__STATUS:
+			return status != null && !status.isEmpty();
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_ARRAY__VALUES:
+			return values != null && !values.isEmpty();
+		}
+		return super.eIsSet(featureID);
+	}
+
+} //DiagnosticArrayImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/diagnostic_datatypes/impl/DiagnosticStatusImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/diagnostic_datatypes/impl/DiagnosticStatusImpl.java
new file mode 100644
index 00000000000..845807046ae
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/diagnostic_datatypes/impl/DiagnosticStatusImpl.java
@@ -0,0 +1,599 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl;
+
+import java.util.Collection;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.emf.ecore.util.EObjectContainmentEList;
+import org.eclipse.emf.ecore.util.InternalEList;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.KeyValue;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Diagnostic Status</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.DiagnosticStatusImpl#getOK <em>OK
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.DiagnosticStatusImpl#getWARN <em>
+ * WARN</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.DiagnosticStatusImpl#getERROR <em>
+ * ERROR</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.DiagnosticStatusImpl#getLevel <em>
+ * Level</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.DiagnosticStatusImpl#getName <em>
+ * Name</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.DiagnosticStatusImpl#getMessage
+ * <em>Message</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.DiagnosticStatusImpl#getHardware_id
+ * <em>Hardware id</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.DiagnosticStatusImpl#getValues
+ * <em>Values</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class DiagnosticStatusImpl extends EObjectImpl implements DiagnosticStatus {
+
+	/**
+	 * The default value of the '{@link #getOK() <em>OK</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getOK()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final byte OK_EDEFAULT = 0x00;
+
+	/**
+	 * The cached value of the '{@link #getOK() <em>OK</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getOK()
+	 * @generated
+	 * @ordered
+	 */
+	protected byte ok = OK_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getWARN() <em>WARN</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWARN()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final byte WARN_EDEFAULT = 0x00;
+
+	/**
+	 * The cached value of the '{@link #getWARN() <em>WARN</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWARN()
+	 * @generated
+	 * @ordered
+	 */
+	protected byte warn = WARN_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getERROR() <em>ERROR</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getERROR()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final byte ERROR_EDEFAULT = 0x00;
+
+	/**
+	 * The cached value of the '{@link #getERROR() <em>ERROR</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getERROR()
+	 * @generated
+	 * @ordered
+	 */
+	protected byte error = ERROR_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getLevel() <em>Level</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLevel()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final byte LEVEL_EDEFAULT = 0x00;
+
+	/**
+	 * The cached value of the '{@link #getLevel() <em>Level</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLevel()
+	 * @generated
+	 * @ordered
+	 */
+	protected byte level = LEVEL_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getName() <em>Name</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getName()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final String NAME_EDEFAULT = null;
+
+	/**
+	 * The cached value of the '{@link #getName() <em>Name</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getName()
+	 * @generated
+	 * @ordered
+	 */
+	protected String name = NAME_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getMessage() <em>Message</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getMessage()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final String MESSAGE_EDEFAULT = null;
+
+	/**
+	 * The cached value of the '{@link #getMessage() <em>Message</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getMessage()
+	 * @generated
+	 * @ordered
+	 */
+	protected String message = MESSAGE_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getHardware_id() <em>Hardware id</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHardware_id()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final String HARDWARE_ID_EDEFAULT = null;
+
+	/**
+	 * The cached value of the '{@link #getHardware_id() <em>Hardware id</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHardware_id()
+	 * @generated
+	 * @ordered
+	 */
+	protected String hardware_id = HARDWARE_ID_EDEFAULT;
+
+	/**
+	 * The cached value of the '{@link #getValues() <em>Values</em>}' containment reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getValues()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<KeyValue> values;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected DiagnosticStatusImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Diagnostic_datatypesPackage.Literals.DIAGNOSTIC_STATUS;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public byte getOK() {
+		return ok;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setOK(byte newOK) {
+		byte oldOK = ok;
+		ok = newOK;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__OK, oldOK, ok));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public byte getWARN() {
+		return warn;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setWARN(byte newWARN) {
+		byte oldWARN = warn;
+		warn = newWARN;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__WARN, oldWARN, warn));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public byte getERROR() {
+		return error;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setERROR(byte newERROR) {
+		byte oldERROR = error;
+		error = newERROR;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__ERROR, oldERROR, error));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public byte getLevel() {
+		return level;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setLevel(byte newLevel) {
+		byte oldLevel = level;
+		level = newLevel;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__LEVEL, oldLevel, level));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getName() {
+		return name;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setName(String newName) {
+		String oldName = name;
+		name = newName;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__NAME, oldName, name));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getMessage() {
+		return message;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setMessage(String newMessage) {
+		String oldMessage = message;
+		message = newMessage;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__MESSAGE, oldMessage, message));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getHardware_id() {
+		return hardware_id;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setHardware_id(String newHardware_id) {
+		String oldHardware_id = hardware_id;
+		hardware_id = newHardware_id;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__HARDWARE_ID, oldHardware_id, hardware_id));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<KeyValue> getValues() {
+		if(values == null) {
+			values = new EObjectContainmentEList<KeyValue>(KeyValue.class, this, Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__VALUES);
+		}
+		return values;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__VALUES:
+			return ((InternalEList<?>)getValues()).basicRemove(otherEnd, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__OK:
+			return getOK();
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__WARN:
+			return getWARN();
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__ERROR:
+			return getERROR();
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__LEVEL:
+			return getLevel();
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__NAME:
+			return getName();
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__MESSAGE:
+			return getMessage();
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__HARDWARE_ID:
+			return getHardware_id();
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__VALUES:
+			return getValues();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@SuppressWarnings("unchecked")
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__OK:
+			setOK((Byte)newValue);
+			return;
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__WARN:
+			setWARN((Byte)newValue);
+			return;
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__ERROR:
+			setERROR((Byte)newValue);
+			return;
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__LEVEL:
+			setLevel((Byte)newValue);
+			return;
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__NAME:
+			setName((String)newValue);
+			return;
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__MESSAGE:
+			setMessage((String)newValue);
+			return;
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__HARDWARE_ID:
+			setHardware_id((String)newValue);
+			return;
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__VALUES:
+			getValues().clear();
+			getValues().addAll((Collection<? extends KeyValue>)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__OK:
+			setOK(OK_EDEFAULT);
+			return;
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__WARN:
+			setWARN(WARN_EDEFAULT);
+			return;
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__ERROR:
+			setERROR(ERROR_EDEFAULT);
+			return;
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__LEVEL:
+			setLevel(LEVEL_EDEFAULT);
+			return;
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__NAME:
+			setName(NAME_EDEFAULT);
+			return;
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__MESSAGE:
+			setMessage(MESSAGE_EDEFAULT);
+			return;
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__HARDWARE_ID:
+			setHardware_id(HARDWARE_ID_EDEFAULT);
+			return;
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__VALUES:
+			getValues().clear();
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__OK:
+			return ok != OK_EDEFAULT;
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__WARN:
+			return warn != WARN_EDEFAULT;
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__ERROR:
+			return error != ERROR_EDEFAULT;
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__LEVEL:
+			return level != LEVEL_EDEFAULT;
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__NAME:
+			return NAME_EDEFAULT == null ? name != null : !NAME_EDEFAULT.equals(name);
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__MESSAGE:
+			return MESSAGE_EDEFAULT == null ? message != null : !MESSAGE_EDEFAULT.equals(message);
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__HARDWARE_ID:
+			return HARDWARE_ID_EDEFAULT == null ? hardware_id != null : !HARDWARE_ID_EDEFAULT.equals(hardware_id);
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS__VALUES:
+			return values != null && !values.isEmpty();
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (OK: ");
+		result.append(ok);
+		result.append(", WARN: ");
+		result.append(warn);
+		result.append(", ERROR: ");
+		result.append(error);
+		result.append(", level: ");
+		result.append(level);
+		result.append(", name: ");
+		result.append(name);
+		result.append(", message: ");
+		result.append(message);
+		result.append(", hardware_id: ");
+		result.append(hardware_id);
+		result.append(')');
+		return result.toString();
+	}
+
+} //DiagnosticStatusImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/diagnostic_datatypes/impl/Diagnostic_datatypesFactoryImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/diagnostic_datatypes/impl/Diagnostic_datatypesFactoryImpl.java
new file mode 100644
index 00000000000..32c41210136
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/diagnostic_datatypes/impl/Diagnostic_datatypesFactoryImpl.java
@@ -0,0 +1,139 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl;
+
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.emf.ecore.EPackage;
+import org.eclipse.emf.ecore.impl.EFactoryImpl;
+import org.eclipse.emf.ecore.plugin.EcorePlugin;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesFactory;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.KeyValue;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model <b>Factory</b>.
+ * <!-- end-user-doc -->
+ * 
+ * @generated
+ */
+public class Diagnostic_datatypesFactoryImpl extends EFactoryImpl implements Diagnostic_datatypesFactory {
+
+	/**
+	 * Creates the default factory implementation.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static Diagnostic_datatypesFactory init() {
+		try {
+			Diagnostic_datatypesFactory theDiagnostic_datatypesFactory = (Diagnostic_datatypesFactory)EPackage.Registry.INSTANCE.getEFactory("http:///RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/diagnostic_datatypes.ecore");
+			if(theDiagnostic_datatypesFactory != null) {
+				return theDiagnostic_datatypesFactory;
+			}
+		} catch (Exception exception) {
+			EcorePlugin.INSTANCE.log(exception);
+		}
+		return new Diagnostic_datatypesFactoryImpl();
+	}
+
+	/**
+	 * Creates an instance of the factory.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Diagnostic_datatypesFactoryImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public EObject create(EClass eClass) {
+		switch(eClass.getClassifierID()) {
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_ARRAY:
+			return createDiagnosticArray();
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS:
+			return createDiagnosticStatus();
+		case Diagnostic_datatypesPackage.KEY_VALUE:
+			return createKeyValue();
+		default:
+			throw new IllegalArgumentException("The class '" + eClass.getName() + "' is not a valid classifier");
+		}
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public DiagnosticArray createDiagnosticArray() {
+		DiagnosticArrayImpl diagnosticArray = new DiagnosticArrayImpl();
+		return diagnosticArray;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public DiagnosticStatus createDiagnosticStatus() {
+		DiagnosticStatusImpl diagnosticStatus = new DiagnosticStatusImpl();
+		return diagnosticStatus;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public KeyValue createKeyValue() {
+		KeyValueImpl keyValue = new KeyValueImpl();
+		return keyValue;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Diagnostic_datatypesPackage getDiagnostic_datatypesPackage() {
+		return (Diagnostic_datatypesPackage)getEPackage();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @deprecated
+	 * @generated
+	 */
+	@Deprecated
+	public static Diagnostic_datatypesPackage getPackage() {
+		return Diagnostic_datatypesPackage.eINSTANCE;
+	}
+
+} //Diagnostic_datatypesFactoryImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/diagnostic_datatypes/impl/Diagnostic_datatypesPackageImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/diagnostic_datatypes/impl/Diagnostic_datatypesPackageImpl.java
new file mode 100644
index 00000000000..2c19c90b3f5
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/diagnostic_datatypes/impl/Diagnostic_datatypesPackageImpl.java
@@ -0,0 +1,436 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl;
+
+import org.eclipse.emf.ecore.EAttribute;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.EPackage;
+import org.eclipse.emf.ecore.EReference;
+import org.eclipse.emf.ecore.impl.EPackageImpl;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.Actionlib_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesFactory;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.KeyValue;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.Nav_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.Oarp1_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl.Oarp1_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl;
+import org.eclipse.uml2.uml.UMLPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model <b>Package</b>.
+ * <!-- end-user-doc -->
+ * 
+ * @generated
+ */
+public class Diagnostic_datatypesPackageImpl extends EPackageImpl implements Diagnostic_datatypesPackage {
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass diagnosticArrayEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass diagnosticStatusEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass keyValueEClass = null;
+
+	/**
+	 * Creates an instance of the model <b>Package</b>, registered with {@link org.eclipse.emf.ecore.EPackage.Registry EPackage.Registry} by the
+	 * package
+	 * package URI value.
+	 * <p>
+	 * Note: the correct way to create the package is via the static factory method {@link #init init()}, which also performs initialization of the
+	 * package, or returns the registered package, if one already exists. <!-- begin-user-doc --> <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.emf.ecore.EPackage.Registry
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesPackage#eNS_URI
+	 * @see #init()
+	 * @generated
+	 */
+	private Diagnostic_datatypesPackageImpl() {
+		super(eNS_URI, Diagnostic_datatypesFactory.eINSTANCE);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private static boolean isInited = false;
+
+	/**
+	 * Creates, registers, and initializes the <b>Package</b> for this model, and for any others upon which it depends.
+	 * 
+	 * <p>
+	 * This method is used to initialize {@link Diagnostic_datatypesPackage#eINSTANCE} when that field is accessed. Clients should not invoke it
+	 * directly. Instead, they should simply access that field to obtain the package. <!-- begin-user-doc --> <!-- end-user-doc -->
+	 * 
+	 * @see #eNS_URI
+	 * @see #createPackageContents()
+	 * @see #initializePackageContents()
+	 * @generated
+	 */
+	public static Diagnostic_datatypesPackage init() {
+		if(isInited)
+			return (Diagnostic_datatypesPackage)EPackage.Registry.INSTANCE.getEPackage(Diagnostic_datatypesPackage.eNS_URI);
+
+		// Obtain or create and register package
+		Diagnostic_datatypesPackageImpl theDiagnostic_datatypesPackage = (Diagnostic_datatypesPackageImpl)(EPackage.Registry.INSTANCE.get(eNS_URI) instanceof Diagnostic_datatypesPackageImpl ? EPackage.Registry.INSTANCE.get(eNS_URI) : new Diagnostic_datatypesPackageImpl());
+
+		isInited = true;
+
+		// Initialize simple dependencies
+		UMLPackage.eINSTANCE.eClass();
+
+		// Obtain or create and register interdependencies
+		RobotMLPackageImpl theRobotMLPackage = (RobotMLPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(RobotMLPackage.eNS_URI) instanceof RobotMLPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(RobotMLPackage.eNS_URI) : RobotMLPackage.eINSTANCE);
+		Geometry_datatypesPackageImpl theGeometry_datatypesPackage = (Geometry_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Geometry_datatypesPackage.eNS_URI) instanceof Geometry_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Geometry_datatypesPackage.eNS_URI) : Geometry_datatypesPackage.eINSTANCE);
+		Nav_datatypesPackageImpl theNav_datatypesPackage = (Nav_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Nav_datatypesPackage.eNS_URI) instanceof Nav_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Nav_datatypesPackage.eNS_URI) : Nav_datatypesPackage.eINSTANCE);
+		Sensor_datatypesPackageImpl theSensor_datatypesPackage = (Sensor_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Sensor_datatypesPackage.eNS_URI) instanceof Sensor_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Sensor_datatypesPackage.eNS_URI) : Sensor_datatypesPackage.eINSTANCE);
+		Actionlib_datatypesPackageImpl theActionlib_datatypesPackage = (Actionlib_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Actionlib_datatypesPackage.eNS_URI) instanceof Actionlib_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Actionlib_datatypesPackage.eNS_URI) : Actionlib_datatypesPackage.eINSTANCE);
+		Oarp1_datatypesPackageImpl theOarp1_datatypesPackage = (Oarp1_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Oarp1_datatypesPackage.eNS_URI) instanceof Oarp1_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Oarp1_datatypesPackage.eNS_URI) : Oarp1_datatypesPackage.eINSTANCE);
+		Oarp4_datatypesPackageImpl theOarp4_datatypesPackage = (Oarp4_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Oarp4_datatypesPackage.eNS_URI) instanceof Oarp4_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Oarp4_datatypesPackage.eNS_URI) : Oarp4_datatypesPackage.eINSTANCE);
+		Std_datatypesPackageImpl theStd_datatypesPackage = (Std_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Std_datatypesPackage.eNS_URI) instanceof Std_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Std_datatypesPackage.eNS_URI) : Std_datatypesPackage.eINSTANCE);
+
+		// Create package meta-data objects
+		theDiagnostic_datatypesPackage.createPackageContents();
+		theRobotMLPackage.createPackageContents();
+		theGeometry_datatypesPackage.createPackageContents();
+		theNav_datatypesPackage.createPackageContents();
+		theSensor_datatypesPackage.createPackageContents();
+		theActionlib_datatypesPackage.createPackageContents();
+		theOarp1_datatypesPackage.createPackageContents();
+		theOarp4_datatypesPackage.createPackageContents();
+		theStd_datatypesPackage.createPackageContents();
+
+		// Initialize created meta-data
+		theDiagnostic_datatypesPackage.initializePackageContents();
+		theRobotMLPackage.initializePackageContents();
+		theGeometry_datatypesPackage.initializePackageContents();
+		theNav_datatypesPackage.initializePackageContents();
+		theSensor_datatypesPackage.initializePackageContents();
+		theActionlib_datatypesPackage.initializePackageContents();
+		theOarp1_datatypesPackage.initializePackageContents();
+		theOarp4_datatypesPackage.initializePackageContents();
+		theStd_datatypesPackage.initializePackageContents();
+
+		// Mark meta-data to indicate it can't be changed
+		theDiagnostic_datatypesPackage.freeze();
+
+
+		// Update the registry and return the package
+		EPackage.Registry.INSTANCE.put(Diagnostic_datatypesPackage.eNS_URI, theDiagnostic_datatypesPackage);
+		return theDiagnostic_datatypesPackage;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getDiagnosticArray() {
+		return diagnosticArrayEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getDiagnosticArray_Header() {
+		return (EReference)diagnosticArrayEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getDiagnosticArray_Status() {
+		return (EReference)diagnosticArrayEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getDiagnosticArray_Values() {
+		return (EReference)diagnosticArrayEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getDiagnosticStatus() {
+		return diagnosticStatusEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getDiagnosticStatus_OK() {
+		return (EAttribute)diagnosticStatusEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getDiagnosticStatus_WARN() {
+		return (EAttribute)diagnosticStatusEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getDiagnosticStatus_ERROR() {
+		return (EAttribute)diagnosticStatusEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getDiagnosticStatus_Level() {
+		return (EAttribute)diagnosticStatusEClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getDiagnosticStatus_Name() {
+		return (EAttribute)diagnosticStatusEClass.getEStructuralFeatures().get(4);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getDiagnosticStatus_Message() {
+		return (EAttribute)diagnosticStatusEClass.getEStructuralFeatures().get(5);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getDiagnosticStatus_Hardware_id() {
+		return (EAttribute)diagnosticStatusEClass.getEStructuralFeatures().get(6);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getDiagnosticStatus_Values() {
+		return (EReference)diagnosticStatusEClass.getEStructuralFeatures().get(7);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getKeyValue() {
+		return keyValueEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getKeyValue_Key() {
+		return (EAttribute)keyValueEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getKeyValue_Value() {
+		return (EAttribute)keyValueEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Diagnostic_datatypesFactory getDiagnostic_datatypesFactory() {
+		return (Diagnostic_datatypesFactory)getEFactoryInstance();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private boolean isCreated = false;
+
+	/**
+	 * Creates the meta-model objects for the package. This method is
+	 * guarded to have no affect on any invocation but its first.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void createPackageContents() {
+		if(isCreated)
+			return;
+		isCreated = true;
+
+		// Create classes and their features
+		diagnosticArrayEClass = createEClass(DIAGNOSTIC_ARRAY);
+		createEReference(diagnosticArrayEClass, DIAGNOSTIC_ARRAY__HEADER);
+		createEReference(diagnosticArrayEClass, DIAGNOSTIC_ARRAY__STATUS);
+		createEReference(diagnosticArrayEClass, DIAGNOSTIC_ARRAY__VALUES);
+
+		diagnosticStatusEClass = createEClass(DIAGNOSTIC_STATUS);
+		createEAttribute(diagnosticStatusEClass, DIAGNOSTIC_STATUS__OK);
+		createEAttribute(diagnosticStatusEClass, DIAGNOSTIC_STATUS__WARN);
+		createEAttribute(diagnosticStatusEClass, DIAGNOSTIC_STATUS__ERROR);
+		createEAttribute(diagnosticStatusEClass, DIAGNOSTIC_STATUS__LEVEL);
+		createEAttribute(diagnosticStatusEClass, DIAGNOSTIC_STATUS__NAME);
+		createEAttribute(diagnosticStatusEClass, DIAGNOSTIC_STATUS__MESSAGE);
+		createEAttribute(diagnosticStatusEClass, DIAGNOSTIC_STATUS__HARDWARE_ID);
+		createEReference(diagnosticStatusEClass, DIAGNOSTIC_STATUS__VALUES);
+
+		keyValueEClass = createEClass(KEY_VALUE);
+		createEAttribute(keyValueEClass, KEY_VALUE__KEY);
+		createEAttribute(keyValueEClass, KEY_VALUE__VALUE);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private boolean isInitialized = false;
+
+	/**
+	 * Complete the initialization of the package and its meta-model. This
+	 * method is guarded to have no affect on any invocation but its first.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void initializePackageContents() {
+		if(isInitialized)
+			return;
+		isInitialized = true;
+
+		// Initialize package
+		setName(eNAME);
+		setNsPrefix(eNS_PREFIX);
+		setNsURI(eNS_URI);
+
+		// Obtain other dependent packages
+		Std_datatypesPackage theStd_datatypesPackage = (Std_datatypesPackage)EPackage.Registry.INSTANCE.getEPackage(Std_datatypesPackage.eNS_URI);
+
+		// Create type parameters
+
+		// Set bounds for type parameters
+
+		// Add supertypes to classes
+
+		// Initialize classes and features; add operations and parameters
+		initEClass(diagnosticArrayEClass, DiagnosticArray.class, "DiagnosticArray", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getDiagnosticArray_Header(), theStd_datatypesPackage.getHeader(), null, "header", null, 1, 1, DiagnosticArray.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getDiagnosticArray_Status(), this.getDiagnosticStatus(), null, "status", null, 0, -1, DiagnosticArray.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getDiagnosticArray_Values(), this.getKeyValue(), null, "values", null, 0, -1, DiagnosticArray.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(diagnosticStatusEClass, DiagnosticStatus.class, "DiagnosticStatus", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getDiagnosticStatus_OK(), theStd_datatypesPackage.getByte(), "OK", null, 1, 1, DiagnosticStatus.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getDiagnosticStatus_WARN(), theStd_datatypesPackage.getByte(), "WARN", null, 1, 1, DiagnosticStatus.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getDiagnosticStatus_ERROR(), theStd_datatypesPackage.getByte(), "ERROR", null, 1, 1, DiagnosticStatus.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getDiagnosticStatus_Level(), theStd_datatypesPackage.getByte(), "level", null, 1, 1, DiagnosticStatus.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getDiagnosticStatus_Name(), theStd_datatypesPackage.getString(), "name", null, 1, 1, DiagnosticStatus.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getDiagnosticStatus_Message(), theStd_datatypesPackage.getString(), "message", null, 1, 1, DiagnosticStatus.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getDiagnosticStatus_Hardware_id(), theStd_datatypesPackage.getString(), "hardware_id", null, 1, 1, DiagnosticStatus.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getDiagnosticStatus_Values(), this.getKeyValue(), null, "values", null, 0, -1, DiagnosticStatus.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(keyValueEClass, KeyValue.class, "KeyValue", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getKeyValue_Key(), theStd_datatypesPackage.getString(), "key", null, 1, 1, KeyValue.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getKeyValue_Value(), theStd_datatypesPackage.getString(), "value", null, 1, 1, KeyValue.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		// Create resource
+		createResource(eNS_URI);
+	}
+
+} //Diagnostic_datatypesPackageImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/diagnostic_datatypes/impl/KeyValueImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/diagnostic_datatypes/impl/KeyValueImpl.java
new file mode 100644
index 00000000000..a885ee97b80
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/diagnostic_datatypes/impl/KeyValueImpl.java
@@ -0,0 +1,241 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.KeyValue;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Key Value</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.KeyValueImpl#getKey <em>Key</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.KeyValueImpl#getValue <em>Value
+ * </em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class KeyValueImpl extends EObjectImpl implements KeyValue {
+
+	/**
+	 * The default value of the '{@link #getKey() <em>Key</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getKey()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final String KEY_EDEFAULT = null;
+
+	/**
+	 * The cached value of the '{@link #getKey() <em>Key</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getKey()
+	 * @generated
+	 * @ordered
+	 */
+	protected String key = KEY_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getValue() <em>Value</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getValue()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final String VALUE_EDEFAULT = null;
+
+	/**
+	 * The cached value of the '{@link #getValue() <em>Value</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getValue()
+	 * @generated
+	 * @ordered
+	 */
+	protected String value = VALUE_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected KeyValueImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Diagnostic_datatypesPackage.Literals.KEY_VALUE;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getKey() {
+		return key;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setKey(String newKey) {
+		String oldKey = key;
+		key = newKey;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Diagnostic_datatypesPackage.KEY_VALUE__KEY, oldKey, key));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getValue() {
+		return value;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setValue(String newValue) {
+		String oldValue = value;
+		value = newValue;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Diagnostic_datatypesPackage.KEY_VALUE__VALUE, oldValue, value));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Diagnostic_datatypesPackage.KEY_VALUE__KEY:
+			return getKey();
+		case Diagnostic_datatypesPackage.KEY_VALUE__VALUE:
+			return getValue();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Diagnostic_datatypesPackage.KEY_VALUE__KEY:
+			setKey((String)newValue);
+			return;
+		case Diagnostic_datatypesPackage.KEY_VALUE__VALUE:
+			setValue((String)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Diagnostic_datatypesPackage.KEY_VALUE__KEY:
+			setKey(KEY_EDEFAULT);
+			return;
+		case Diagnostic_datatypesPackage.KEY_VALUE__VALUE:
+			setValue(VALUE_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Diagnostic_datatypesPackage.KEY_VALUE__KEY:
+			return KEY_EDEFAULT == null ? key != null : !KEY_EDEFAULT.equals(key);
+		case Diagnostic_datatypesPackage.KEY_VALUE__VALUE:
+			return VALUE_EDEFAULT == null ? value != null : !VALUE_EDEFAULT.equals(value);
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (key: ");
+		result.append(key);
+		result.append(", value: ");
+		result.append(value);
+		result.append(')');
+		return result.toString();
+	}
+
+} //KeyValueImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/diagnostic_datatypes/util/Diagnostic_datatypesAdapterFactory.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/diagnostic_datatypes/util/Diagnostic_datatypesAdapterFactory.java
new file mode 100644
index 00000000000..aa544bb58e9
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/diagnostic_datatypes/util/Diagnostic_datatypesAdapterFactory.java
@@ -0,0 +1,185 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.util;
+
+import org.eclipse.emf.common.notify.Adapter;
+import org.eclipse.emf.common.notify.Notifier;
+import org.eclipse.emf.common.notify.impl.AdapterFactoryImpl;
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.KeyValue;
+
+/**
+ * <!-- begin-user-doc -->
+ * The <b>Adapter Factory</b> for the model.
+ * It provides an adapter <code>createXXX</code> method for each class of the model.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesPackage
+ * @generated
+ */
+public class Diagnostic_datatypesAdapterFactory extends AdapterFactoryImpl {
+
+	/**
+	 * The cached model package.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected static Diagnostic_datatypesPackage modelPackage;
+
+	/**
+	 * Creates an instance of the adapter factory.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Diagnostic_datatypesAdapterFactory() {
+		if(modelPackage == null) {
+			modelPackage = Diagnostic_datatypesPackage.eINSTANCE;
+		}
+	}
+
+	/**
+	 * Returns whether this factory is applicable for the type of the object.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns <code>true</code> if the object is either the model's package or is an instance object of the model.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return whether this factory is applicable for the type of the object.
+	 * @generated
+	 */
+	@Override
+	public boolean isFactoryForType(Object object) {
+		if(object == modelPackage) {
+			return true;
+		}
+		if(object instanceof EObject) {
+			return ((EObject)object).eClass().getEPackage() == modelPackage;
+		}
+		return false;
+	}
+
+	/**
+	 * The switch that delegates to the <code>createXXX</code> methods.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected Diagnostic_datatypesSwitch<Adapter> modelSwitch = new Diagnostic_datatypesSwitch<Adapter>() {
+
+		@Override
+		public Adapter caseDiagnosticArray(DiagnosticArray object) {
+			return createDiagnosticArrayAdapter();
+		}
+
+		@Override
+		public Adapter caseDiagnosticStatus(DiagnosticStatus object) {
+			return createDiagnosticStatusAdapter();
+		}
+
+		@Override
+		public Adapter caseKeyValue(KeyValue object) {
+			return createKeyValueAdapter();
+		}
+
+		@Override
+		public Adapter defaultCase(EObject object) {
+			return createEObjectAdapter();
+		}
+	};
+
+	/**
+	 * Creates an adapter for the <code>target</code>.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param target
+	 *        the object to adapt.
+	 * @return the adapter for the <code>target</code>.
+	 * @generated
+	 */
+	@Override
+	public Adapter createAdapter(Notifier target) {
+		return modelSwitch.doSwitch((EObject)target);
+	}
+
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticArray
+	 * <em>Diagnostic Array</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticArray
+	 * @generated
+	 */
+	public Adapter createDiagnosticArrayAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus
+	 * <em>Diagnostic Status</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus
+	 * @generated
+	 */
+	public Adapter createDiagnosticStatusAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.KeyValue <em>Key Value</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.KeyValue
+	 * @generated
+	 */
+	public Adapter createKeyValueAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for the default case.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @generated
+	 */
+	public Adapter createEObjectAdapter() {
+		return null;
+	}
+
+} //Diagnostic_datatypesAdapterFactory
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/diagnostic_datatypes/util/Diagnostic_datatypesSwitch.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/diagnostic_datatypes/util/Diagnostic_datatypesSwitch.java
new file mode 100644
index 00000000000..4e9d7844207
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/diagnostic_datatypes/util/Diagnostic_datatypesSwitch.java
@@ -0,0 +1,182 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.util;
+
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.emf.ecore.EPackage;
+import org.eclipse.emf.ecore.util.Switch;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.DiagnosticStatus;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.KeyValue;
+
+/**
+ * <!-- begin-user-doc -->
+ * The <b>Switch</b> for the model's inheritance hierarchy.
+ * It supports the call {@link #doSwitch(EObject) doSwitch(object)} to invoke the <code>caseXXX</code> method for each class of the model,
+ * starting with the actual class of the object
+ * and proceeding up the inheritance hierarchy
+ * until a non-null result is returned,
+ * which is the result of the switch.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesPackage
+ * @generated
+ */
+public class Diagnostic_datatypesSwitch<T> extends Switch<T> {
+
+	/**
+	 * The cached model package
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected static Diagnostic_datatypesPackage modelPackage;
+
+	/**
+	 * Creates an instance of the switch.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Diagnostic_datatypesSwitch() {
+		if(modelPackage == null) {
+			modelPackage = Diagnostic_datatypesPackage.eINSTANCE;
+		}
+	}
+
+	/**
+	 * Checks whether this is a switch for the given package.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @parameter ePackage the package in question.
+	 * @return whether this is a switch for the given package.
+	 * @generated
+	 */
+	@Override
+	protected boolean isSwitchFor(EPackage ePackage) {
+		return ePackage == modelPackage;
+	}
+
+	/**
+	 * Calls <code>caseXXX</code> for each class of the model until one returns a non null result; it yields that result.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the first non-null result returned by a <code>caseXXX</code> call.
+	 * @generated
+	 */
+	@Override
+	protected T doSwitch(int classifierID, EObject theEObject) {
+		switch(classifierID) {
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_ARRAY:
+		{
+			DiagnosticArray diagnosticArray = (DiagnosticArray)theEObject;
+			T result = caseDiagnosticArray(diagnosticArray);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Diagnostic_datatypesPackage.DIAGNOSTIC_STATUS:
+		{
+			DiagnosticStatus diagnosticStatus = (DiagnosticStatus)theEObject;
+			T result = caseDiagnosticStatus(diagnosticStatus);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Diagnostic_datatypesPackage.KEY_VALUE:
+		{
+			KeyValue keyValue = (KeyValue)theEObject;
+			T result = caseKeyValue(keyValue);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		default:
+			return defaultCase(theEObject);
+		}
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Diagnostic Array</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Diagnostic Array</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseDiagnosticArray(DiagnosticArray object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Diagnostic Status</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Diagnostic Status</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseDiagnosticStatus(DiagnosticStatus object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Key Value</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Key Value</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseKeyValue(KeyValue object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>EObject</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch, but this is the last case anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>EObject</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject)
+	 * @generated
+	 */
+	@Override
+	public T defaultCase(EObject object) {
+		return null;
+	}
+
+} //Diagnostic_datatypesSwitch
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Geometry_datatypesFactory.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Geometry_datatypesFactory.java
new file mode 100644
index 00000000000..f7cd54ddf97
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Geometry_datatypesFactory.java
@@ -0,0 +1,256 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes;
+
+import org.eclipse.emf.ecore.EFactory;
+
+/**
+ * <!-- begin-user-doc -->
+ * The <b>Factory</b> for the model.
+ * It provides a create method for each non-abstract class of the model.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage
+ * @generated
+ */
+public interface Geometry_datatypesFactory extends EFactory {
+
+	/**
+	 * The singleton instance of the factory.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	Geometry_datatypesFactory eINSTANCE = org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesFactoryImpl.init();
+
+	/**
+	 * Returns a new object of class '<em>Point</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Point</em>'.
+	 * @generated
+	 */
+	Point createPoint();
+
+	/**
+	 * Returns a new object of class '<em>Point32</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Point32</em>'.
+	 * @generated
+	 */
+	Point32 createPoint32();
+
+	/**
+	 * Returns a new object of class '<em>Point Stamped</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Point Stamped</em>'.
+	 * @generated
+	 */
+	PointStamped createPointStamped();
+
+	/**
+	 * Returns a new object of class '<em>Polygon</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Polygon</em>'.
+	 * @generated
+	 */
+	Polygon createPolygon();
+
+	/**
+	 * Returns a new object of class '<em>Polygon Stamped</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Polygon Stamped</em>'.
+	 * @generated
+	 */
+	PolygonStamped createPolygonStamped();
+
+	/**
+	 * Returns a new object of class '<em>Vector3</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Vector3</em>'.
+	 * @generated
+	 */
+	Vector3 createVector3();
+
+	/**
+	 * Returns a new object of class '<em>Vector3 Stamped</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Vector3 Stamped</em>'.
+	 * @generated
+	 */
+	Vector3Stamped createVector3Stamped();
+
+	/**
+	 * Returns a new object of class '<em>Quaternion</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Quaternion</em>'.
+	 * @generated
+	 */
+	Quaternion createQuaternion();
+
+	/**
+	 * Returns a new object of class '<em>Pose</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Pose</em>'.
+	 * @generated
+	 */
+	Pose createPose();
+
+	/**
+	 * Returns a new object of class '<em>Pose Stamped</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Pose Stamped</em>'.
+	 * @generated
+	 */
+	PoseStamped createPoseStamped();
+
+	/**
+	 * Returns a new object of class '<em>Twist With Covariance</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Twist With Covariance</em>'.
+	 * @generated
+	 */
+	TwistWithCovariance createTwistWithCovariance();
+
+	/**
+	 * Returns a new object of class '<em>Twist</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Twist</em>'.
+	 * @generated
+	 */
+	Twist createTwist();
+
+	/**
+	 * Returns a new object of class '<em>Twist Stamped</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Twist Stamped</em>'.
+	 * @generated
+	 */
+	TwistStamped createTwistStamped();
+
+	/**
+	 * Returns a new object of class '<em>Pose With Covariance</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Pose With Covariance</em>'.
+	 * @generated
+	 */
+	PoseWithCovariance createPoseWithCovariance();
+
+	/**
+	 * Returns a new object of class '<em>Pose2 D</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Pose2 D</em>'.
+	 * @generated
+	 */
+	Pose2D createPose2D();
+
+	/**
+	 * Returns a new object of class '<em>Pose With Covariance Stamped</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Pose With Covariance Stamped</em>'.
+	 * @generated
+	 */
+	PoseWithCovarianceStamped createPoseWithCovarianceStamped();
+
+	/**
+	 * Returns a new object of class '<em>Pose Array</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Pose Array</em>'.
+	 * @generated
+	 */
+	PoseArray createPoseArray();
+
+	/**
+	 * Returns a new object of class '<em>Quaternion Stamped</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Quaternion Stamped</em>'.
+	 * @generated
+	 */
+	QuaternionStamped createQuaternionStamped();
+
+	/**
+	 * Returns a new object of class '<em>Transform</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Transform</em>'.
+	 * @generated
+	 */
+	Transform createTransform();
+
+	/**
+	 * Returns a new object of class '<em>Wrench Stamped</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Wrench Stamped</em>'.
+	 * @generated
+	 */
+	WrenchStamped createWrenchStamped();
+
+	/**
+	 * Returns a new object of class '<em>Wrench</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Wrench</em>'.
+	 * @generated
+	 */
+	Wrench createWrench();
+
+	/**
+	 * Returns the package supported by this factory.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the package supported by this factory.
+	 * @generated
+	 */
+	Geometry_datatypesPackage getGeometry_datatypesPackage();
+
+} //Geometry_datatypesFactory
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Geometry_datatypesPackage.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Geometry_datatypesPackage.java
new file mode 100644
index 00000000000..644c881af25
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Geometry_datatypesPackage.java
@@ -0,0 +1,2564 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes;
+
+import org.eclipse.emf.ecore.EAttribute;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.EPackage;
+import org.eclipse.emf.ecore.EReference;
+
+/**
+ * <!-- begin-user-doc -->
+ * The <b>Package</b> for the model.
+ * It contains accessors for the meta objects to represent
+ * <ul>
+ * <li>each class,</li>
+ * <li>each feature of each class,</li>
+ * <li>each enum,</li>
+ * <li>and each data type</li>
+ * </ul>
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesFactory
+ * @model kind="package"
+ * @generated
+ */
+public interface Geometry_datatypesPackage extends EPackage {
+
+	/**
+	 * The package name.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	String eNAME = "geometry_datatypes";
+
+	/**
+	 * The package namespace URI.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	String eNS_URI = "http:///RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes.ecore";
+
+	/**
+	 * The package namespace name.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	String eNS_PREFIX = "RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes";
+
+	/**
+	 * The singleton instance of the package.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	Geometry_datatypesPackage eINSTANCE = org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl.init();
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PointImpl <em>Point</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PointImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getPoint()
+	 * @generated
+	 */
+	int POINT = 0;
+
+	/**
+	 * The feature id for the '<em><b>X</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POINT__X = 0;
+
+	/**
+	 * The feature id for the '<em><b>Y</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POINT__Y = 1;
+
+	/**
+	 * The feature id for the '<em><b>Z</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POINT__Z = 2;
+
+	/**
+	 * The number of structural features of the '<em>Point</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POINT_FEATURE_COUNT = 3;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Point32Impl <em>Point32</em>}'
+	 * class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Point32Impl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getPoint32()
+	 * @generated
+	 */
+	int POINT32 = 1;
+
+	/**
+	 * The feature id for the '<em><b>X</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POINT32__X = 0;
+
+	/**
+	 * The feature id for the '<em><b>Y</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POINT32__Y = 1;
+
+	/**
+	 * The feature id for the '<em><b>Z</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POINT32__Z = 2;
+
+	/**
+	 * The number of structural features of the '<em>Point32</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POINT32_FEATURE_COUNT = 3;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PointStampedImpl
+	 * <em>Point Stamped</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PointStampedImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getPointStamped()
+	 * @generated
+	 */
+	int POINT_STAMPED = 2;
+
+	/**
+	 * The feature id for the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POINT_STAMPED__HEADER = 0;
+
+	/**
+	 * The feature id for the '<em><b>Point</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POINT_STAMPED__POINT = 1;
+
+	/**
+	 * The number of structural features of the '<em>Point Stamped</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POINT_STAMPED_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PolygonImpl <em>Polygon</em>}'
+	 * class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PolygonImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getPolygon()
+	 * @generated
+	 */
+	int POLYGON = 3;
+
+	/**
+	 * The feature id for the '<em><b>Point</b></em>' containment reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POLYGON__POINT = 0;
+
+	/**
+	 * The number of structural features of the '<em>Polygon</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POLYGON_FEATURE_COUNT = 1;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PolygonStampedImpl
+	 * <em>Polygon Stamped</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PolygonStampedImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getPolygonStamped()
+	 * @generated
+	 */
+	int POLYGON_STAMPED = 4;
+
+	/**
+	 * The feature id for the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POLYGON_STAMPED__HEADER = 0;
+
+	/**
+	 * The feature id for the '<em><b>Polygon</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POLYGON_STAMPED__POLYGON = 1;
+
+	/**
+	 * The number of structural features of the '<em>Polygon Stamped</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POLYGON_STAMPED_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Vector3Impl <em>Vector3</em>}'
+	 * class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Vector3Impl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getVector3()
+	 * @generated
+	 */
+	int VECTOR3 = 5;
+
+	/**
+	 * The feature id for the '<em><b>X</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int VECTOR3__X = 0;
+
+	/**
+	 * The feature id for the '<em><b>Y</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int VECTOR3__Y = 1;
+
+	/**
+	 * The feature id for the '<em><b>Z</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int VECTOR3__Z = 2;
+
+	/**
+	 * The number of structural features of the '<em>Vector3</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int VECTOR3_FEATURE_COUNT = 3;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Vector3StampedImpl
+	 * <em>Vector3 Stamped</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Vector3StampedImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getVector3Stamped()
+	 * @generated
+	 */
+	int VECTOR3_STAMPED = 6;
+
+	/**
+	 * The feature id for the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int VECTOR3_STAMPED__HEADER = 0;
+
+	/**
+	 * The feature id for the '<em><b>Vector</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int VECTOR3_STAMPED__VECTOR = 1;
+
+	/**
+	 * The number of structural features of the '<em>Vector3 Stamped</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int VECTOR3_STAMPED_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.QuaternionImpl <em>Quaternion</em>}'
+	 * class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.QuaternionImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getQuaternion()
+	 * @generated
+	 */
+	int QUATERNION = 7;
+
+	/**
+	 * The feature id for the '<em><b>X</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int QUATERNION__X = 0;
+
+	/**
+	 * The feature id for the '<em><b>Y</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int QUATERNION__Y = 1;
+
+	/**
+	 * The feature id for the '<em><b>Z</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int QUATERNION__Z = 2;
+
+	/**
+	 * The feature id for the '<em><b>W</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int QUATERNION__W = 3;
+
+	/**
+	 * The number of structural features of the '<em>Quaternion</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int QUATERNION_FEATURE_COUNT = 4;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PoseImpl <em>Pose</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PoseImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getPose()
+	 * @generated
+	 */
+	int POSE = 8;
+
+	/**
+	 * The feature id for the '<em><b>Position</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POSE__POSITION = 0;
+
+	/**
+	 * The feature id for the '<em><b>Orientation</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POSE__ORIENTATION = 1;
+
+	/**
+	 * The number of structural features of the '<em>Pose</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POSE_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PoseStampedImpl
+	 * <em>Pose Stamped</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PoseStampedImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getPoseStamped()
+	 * @generated
+	 */
+	int POSE_STAMPED = 9;
+
+	/**
+	 * The feature id for the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POSE_STAMPED__HEADER = 0;
+
+	/**
+	 * The feature id for the '<em><b>Pose</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POSE_STAMPED__POSE = 1;
+
+	/**
+	 * The number of structural features of the '<em>Pose Stamped</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POSE_STAMPED_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.TwistWithCovarianceImpl
+	 * <em>Twist With Covariance</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.TwistWithCovarianceImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getTwistWithCovariance()
+	 * @generated
+	 */
+	int TWIST_WITH_COVARIANCE = 10;
+
+	/**
+	 * The feature id for the '<em><b>Twist</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int TWIST_WITH_COVARIANCE__TWIST = 0;
+
+	/**
+	 * The feature id for the '<em><b>Covariance</b></em>' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int TWIST_WITH_COVARIANCE__COVARIANCE = 1;
+
+	/**
+	 * The number of structural features of the '<em>Twist With Covariance</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int TWIST_WITH_COVARIANCE_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.TwistImpl <em>Twist</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.TwistImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getTwist()
+	 * @generated
+	 */
+	int TWIST = 11;
+
+	/**
+	 * The feature id for the '<em><b>Linear</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int TWIST__LINEAR = 0;
+
+	/**
+	 * The feature id for the '<em><b>Angular</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int TWIST__ANGULAR = 1;
+
+	/**
+	 * The number of structural features of the '<em>Twist</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int TWIST_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.TwistStampedImpl
+	 * <em>Twist Stamped</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.TwistStampedImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getTwistStamped()
+	 * @generated
+	 */
+	int TWIST_STAMPED = 12;
+
+	/**
+	 * The feature id for the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int TWIST_STAMPED__HEADER = 0;
+
+	/**
+	 * The feature id for the '<em><b>Twist</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int TWIST_STAMPED__TWIST = 1;
+
+	/**
+	 * The number of structural features of the '<em>Twist Stamped</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int TWIST_STAMPED_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PoseWithCovarianceImpl
+	 * <em>Pose With Covariance</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PoseWithCovarianceImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getPoseWithCovariance()
+	 * @generated
+	 */
+	int POSE_WITH_COVARIANCE = 13;
+
+	/**
+	 * The feature id for the '<em><b>Pose</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POSE_WITH_COVARIANCE__POSE = 0;
+
+	/**
+	 * The feature id for the '<em><b>Covariance</b></em>' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POSE_WITH_COVARIANCE__COVARIANCE = 1;
+
+	/**
+	 * The number of structural features of the '<em>Pose With Covariance</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POSE_WITH_COVARIANCE_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Pose2DImpl <em>Pose2 D</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Pose2DImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getPose2D()
+	 * @generated
+	 */
+	int POSE2_D = 14;
+
+	/**
+	 * The feature id for the '<em><b>X</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POSE2_D__X = 0;
+
+	/**
+	 * The feature id for the '<em><b>Y</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POSE2_D__Y = 1;
+
+	/**
+	 * The feature id for the '<em><b>Theta</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POSE2_D__THETA = 2;
+
+	/**
+	 * The number of structural features of the '<em>Pose2 D</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POSE2_D_FEATURE_COUNT = 3;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PoseWithCovarianceStampedImpl
+	 * <em>Pose With Covariance Stamped</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PoseWithCovarianceStampedImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getPoseWithCovarianceStamped()
+	 * @generated
+	 */
+	int POSE_WITH_COVARIANCE_STAMPED = 15;
+
+	/**
+	 * The number of structural features of the '<em>Pose With Covariance Stamped</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POSE_WITH_COVARIANCE_STAMPED_FEATURE_COUNT = 0;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PoseArrayImpl <em>Pose Array</em>}'
+	 * class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PoseArrayImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getPoseArray()
+	 * @generated
+	 */
+	int POSE_ARRAY = 16;
+
+	/**
+	 * The feature id for the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POSE_ARRAY__HEADER = 0;
+
+	/**
+	 * The feature id for the '<em><b>Poses</b></em>' containment reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POSE_ARRAY__POSES = 1;
+
+	/**
+	 * The number of structural features of the '<em>Pose Array</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POSE_ARRAY_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.QuaternionStampedImpl
+	 * <em>Quaternion Stamped</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.QuaternionStampedImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getQuaternionStamped()
+	 * @generated
+	 */
+	int QUATERNION_STAMPED = 17;
+
+	/**
+	 * The feature id for the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int QUATERNION_STAMPED__HEADER = 0;
+
+	/**
+	 * The feature id for the '<em><b>Quaternion</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int QUATERNION_STAMPED__QUATERNION = 1;
+
+	/**
+	 * The number of structural features of the '<em>Quaternion Stamped</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int QUATERNION_STAMPED_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.TransformImpl <em>Transform</em>}'
+	 * class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.TransformImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getTransform()
+	 * @generated
+	 */
+	int TRANSFORM = 18;
+
+	/**
+	 * The feature id for the '<em><b>Translation</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int TRANSFORM__TRANSLATION = 0;
+
+	/**
+	 * The feature id for the '<em><b>Rotation</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int TRANSFORM__ROTATION = 1;
+
+	/**
+	 * The number of structural features of the '<em>Transform</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int TRANSFORM_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.WrenchStampedImpl
+	 * <em>Wrench Stamped</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.WrenchStampedImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getWrenchStamped()
+	 * @generated
+	 */
+	int WRENCH_STAMPED = 19;
+
+	/**
+	 * The feature id for the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int WRENCH_STAMPED__HEADER = 0;
+
+	/**
+	 * The feature id for the '<em><b>Wrench</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int WRENCH_STAMPED__WRENCH = 1;
+
+	/**
+	 * The number of structural features of the '<em>Wrench Stamped</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int WRENCH_STAMPED_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.WrenchImpl <em>Wrench</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.WrenchImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getWrench()
+	 * @generated
+	 */
+	int WRENCH = 20;
+
+	/**
+	 * The feature id for the '<em><b>Force</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int WRENCH__FORCE = 0;
+
+	/**
+	 * The feature id for the '<em><b>Torque</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int WRENCH__TORQUE = 1;
+
+	/**
+	 * The number of structural features of the '<em>Wrench</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int WRENCH_FEATURE_COUNT = 2;
+
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point
+	 * <em>Point</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Point</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point
+	 * @generated
+	 */
+	EClass getPoint();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point#getX <em>X</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>X</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point#getX()
+	 * @see #getPoint()
+	 * @generated
+	 */
+	EAttribute getPoint_X();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point#getY <em>Y</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Y</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point#getY()
+	 * @see #getPoint()
+	 * @generated
+	 */
+	EAttribute getPoint_Y();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point#getZ <em>Z</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Z</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point#getZ()
+	 * @see #getPoint()
+	 * @generated
+	 */
+	EAttribute getPoint_Z();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point32 <em>Point32</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Point32</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point32
+	 * @generated
+	 */
+	EClass getPoint32();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point32#getX <em>X</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>X</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point32#getX()
+	 * @see #getPoint32()
+	 * @generated
+	 */
+	EAttribute getPoint32_X();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point32#getY <em>Y</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Y</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point32#getY()
+	 * @see #getPoint32()
+	 * @generated
+	 */
+	EAttribute getPoint32_Y();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point32#getZ <em>Z</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Z</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point32#getZ()
+	 * @see #getPoint32()
+	 * @generated
+	 */
+	EAttribute getPoint32_Z();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PointStamped <em>Point Stamped</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Point Stamped</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PointStamped
+	 * @generated
+	 */
+	EClass getPointStamped();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PointStamped#getHeader <em>Header</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Header</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PointStamped#getHeader()
+	 * @see #getPointStamped()
+	 * @generated
+	 */
+	EReference getPointStamped_Header();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PointStamped#getPoint <em>Point</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Point</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PointStamped#getPoint()
+	 * @see #getPointStamped()
+	 * @generated
+	 */
+	EReference getPointStamped_Point();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Polygon <em>Polygon</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Polygon</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Polygon
+	 * @generated
+	 */
+	EClass getPolygon();
+
+	/**
+	 * Returns the meta object for the containment reference list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Polygon#getPoint <em>Point</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference list '<em>Point</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Polygon#getPoint()
+	 * @see #getPolygon()
+	 * @generated
+	 */
+	EReference getPolygon_Point();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PolygonStamped <em>Polygon Stamped</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Polygon Stamped</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PolygonStamped
+	 * @generated
+	 */
+	EClass getPolygonStamped();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PolygonStamped#getHeader <em>Header</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Header</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PolygonStamped#getHeader()
+	 * @see #getPolygonStamped()
+	 * @generated
+	 */
+	EReference getPolygonStamped_Header();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PolygonStamped#getPolygon
+	 * <em>Polygon</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Polygon</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PolygonStamped#getPolygon()
+	 * @see #getPolygonStamped()
+	 * @generated
+	 */
+	EReference getPolygonStamped_Polygon();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3 <em>Vector3</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Vector3</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3
+	 * @generated
+	 */
+	EClass getVector3();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3#getX <em>X</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>X</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3#getX()
+	 * @see #getVector3()
+	 * @generated
+	 */
+	EAttribute getVector3_X();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3#getY <em>Y</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Y</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3#getY()
+	 * @see #getVector3()
+	 * @generated
+	 */
+	EAttribute getVector3_Y();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3#getZ <em>Z</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Z</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3#getZ()
+	 * @see #getVector3()
+	 * @generated
+	 */
+	EAttribute getVector3_Z();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3Stamped <em>Vector3 Stamped</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Vector3 Stamped</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3Stamped
+	 * @generated
+	 */
+	EClass getVector3Stamped();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3Stamped#getHeader <em>Header</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Header</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3Stamped#getHeader()
+	 * @see #getVector3Stamped()
+	 * @generated
+	 */
+	EReference getVector3Stamped_Header();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3Stamped#getVector <em>Vector</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Vector</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3Stamped#getVector()
+	 * @see #getVector3Stamped()
+	 * @generated
+	 */
+	EReference getVector3Stamped_Vector();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Quaternion <em>Quaternion</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Quaternion</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Quaternion
+	 * @generated
+	 */
+	EClass getQuaternion();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Quaternion#getX <em>X</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>X</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Quaternion#getX()
+	 * @see #getQuaternion()
+	 * @generated
+	 */
+	EAttribute getQuaternion_X();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Quaternion#getY <em>Y</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Y</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Quaternion#getY()
+	 * @see #getQuaternion()
+	 * @generated
+	 */
+	EAttribute getQuaternion_Y();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Quaternion#getZ <em>Z</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Z</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Quaternion#getZ()
+	 * @see #getQuaternion()
+	 * @generated
+	 */
+	EAttribute getQuaternion_Z();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Quaternion#getW <em>W</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>W</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Quaternion#getW()
+	 * @see #getQuaternion()
+	 * @generated
+	 */
+	EAttribute getQuaternion_W();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose
+	 * <em>Pose</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Pose</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose
+	 * @generated
+	 */
+	EClass getPose();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose#getPosition <em>Position</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Position</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose#getPosition()
+	 * @see #getPose()
+	 * @generated
+	 */
+	EReference getPose_Position();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose#getOrientation <em>Orientation</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Orientation</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose#getOrientation()
+	 * @see #getPose()
+	 * @generated
+	 */
+	EReference getPose_Orientation();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseStamped <em>Pose Stamped</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Pose Stamped</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseStamped
+	 * @generated
+	 */
+	EClass getPoseStamped();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseStamped#getHeader <em>Header</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Header</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseStamped#getHeader()
+	 * @see #getPoseStamped()
+	 * @generated
+	 */
+	EReference getPoseStamped_Header();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseStamped#getPose <em>Pose</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Pose</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseStamped#getPose()
+	 * @see #getPoseStamped()
+	 * @generated
+	 */
+	EReference getPoseStamped_Pose();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.TwistWithCovariance
+	 * <em>Twist With Covariance</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Twist With Covariance</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.TwistWithCovariance
+	 * @generated
+	 */
+	EClass getTwistWithCovariance();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.TwistWithCovariance#getTwist
+	 * <em>Twist</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Twist</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.TwistWithCovariance#getTwist()
+	 * @see #getTwistWithCovariance()
+	 * @generated
+	 */
+	EReference getTwistWithCovariance_Twist();
+
+	/**
+	 * Returns the meta object for the attribute list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.TwistWithCovariance#getCovariance
+	 * <em>Covariance</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute list '<em>Covariance</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.TwistWithCovariance#getCovariance()
+	 * @see #getTwistWithCovariance()
+	 * @generated
+	 */
+	EAttribute getTwistWithCovariance_Covariance();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Twist
+	 * <em>Twist</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Twist</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Twist
+	 * @generated
+	 */
+	EClass getTwist();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Twist#getLinear <em>Linear</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Linear</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Twist#getLinear()
+	 * @see #getTwist()
+	 * @generated
+	 */
+	EReference getTwist_Linear();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Twist#getAngular <em>Angular</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Angular</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Twist#getAngular()
+	 * @see #getTwist()
+	 * @generated
+	 */
+	EReference getTwist_Angular();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.TwistStamped <em>Twist Stamped</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Twist Stamped</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.TwistStamped
+	 * @generated
+	 */
+	EClass getTwistStamped();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.TwistStamped#getHeader <em>Header</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Header</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.TwistStamped#getHeader()
+	 * @see #getTwistStamped()
+	 * @generated
+	 */
+	EReference getTwistStamped_Header();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.TwistStamped#getTwist <em>Twist</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Twist</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.TwistStamped#getTwist()
+	 * @see #getTwistStamped()
+	 * @generated
+	 */
+	EReference getTwistStamped_Twist();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseWithCovariance
+	 * <em>Pose With Covariance</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Pose With Covariance</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseWithCovariance
+	 * @generated
+	 */
+	EClass getPoseWithCovariance();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseWithCovariance#getPose <em>Pose</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Pose</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseWithCovariance#getPose()
+	 * @see #getPoseWithCovariance()
+	 * @generated
+	 */
+	EReference getPoseWithCovariance_Pose();
+
+	/**
+	 * Returns the meta object for the attribute list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseWithCovariance#getCovariance
+	 * <em>Covariance</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute list '<em>Covariance</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseWithCovariance#getCovariance()
+	 * @see #getPoseWithCovariance()
+	 * @generated
+	 */
+	EAttribute getPoseWithCovariance_Covariance();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose2D <em>Pose2 D</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Pose2 D</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose2D
+	 * @generated
+	 */
+	EClass getPose2D();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose2D#getX <em>X</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>X</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose2D#getX()
+	 * @see #getPose2D()
+	 * @generated
+	 */
+	EAttribute getPose2D_X();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose2D#getY <em>Y</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Y</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose2D#getY()
+	 * @see #getPose2D()
+	 * @generated
+	 */
+	EAttribute getPose2D_Y();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose2D#getTheta <em>Theta</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Theta</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose2D#getTheta()
+	 * @see #getPose2D()
+	 * @generated
+	 */
+	EAttribute getPose2D_Theta();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseWithCovarianceStamped
+	 * <em>Pose With Covariance Stamped</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Pose With Covariance Stamped</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseWithCovarianceStamped
+	 * @generated
+	 */
+	EClass getPoseWithCovarianceStamped();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseArray <em>Pose Array</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Pose Array</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseArray
+	 * @generated
+	 */
+	EClass getPoseArray();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseArray#getHeader <em>Header</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Header</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseArray#getHeader()
+	 * @see #getPoseArray()
+	 * @generated
+	 */
+	EReference getPoseArray_Header();
+
+	/**
+	 * Returns the meta object for the containment reference list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseArray#getPoses <em>Poses</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference list '<em>Poses</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseArray#getPoses()
+	 * @see #getPoseArray()
+	 * @generated
+	 */
+	EReference getPoseArray_Poses();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.QuaternionStamped
+	 * <em>Quaternion Stamped</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Quaternion Stamped</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.QuaternionStamped
+	 * @generated
+	 */
+	EClass getQuaternionStamped();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.QuaternionStamped#getHeader
+	 * <em>Header</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Header</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.QuaternionStamped#getHeader()
+	 * @see #getQuaternionStamped()
+	 * @generated
+	 */
+	EReference getQuaternionStamped_Header();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.QuaternionStamped#getQuaternion
+	 * <em>Quaternion</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Quaternion</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.QuaternionStamped#getQuaternion()
+	 * @see #getQuaternionStamped()
+	 * @generated
+	 */
+	EReference getQuaternionStamped_Quaternion();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Transform <em>Transform</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Transform</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Transform
+	 * @generated
+	 */
+	EClass getTransform();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Transform#getTranslation
+	 * <em>Translation</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Translation</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Transform#getTranslation()
+	 * @see #getTransform()
+	 * @generated
+	 */
+	EReference getTransform_Translation();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Transform#getRotation <em>Rotation</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Rotation</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Transform#getRotation()
+	 * @see #getTransform()
+	 * @generated
+	 */
+	EReference getTransform_Rotation();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.WrenchStamped <em>Wrench Stamped</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Wrench Stamped</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.WrenchStamped
+	 * @generated
+	 */
+	EClass getWrenchStamped();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.WrenchStamped#getHeader <em>Header</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Header</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.WrenchStamped#getHeader()
+	 * @see #getWrenchStamped()
+	 * @generated
+	 */
+	EReference getWrenchStamped_Header();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.WrenchStamped#getWrench <em>Wrench</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Wrench</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.WrenchStamped#getWrench()
+	 * @see #getWrenchStamped()
+	 * @generated
+	 */
+	EReference getWrenchStamped_Wrench();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Wrench <em>Wrench</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Wrench</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Wrench
+	 * @generated
+	 */
+	EClass getWrench();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Wrench#getForce <em>Force</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Force</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Wrench#getForce()
+	 * @see #getWrench()
+	 * @generated
+	 */
+	EReference getWrench_Force();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Wrench#getTorque <em>Torque</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Torque</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Wrench#getTorque()
+	 * @see #getWrench()
+	 * @generated
+	 */
+	EReference getWrench_Torque();
+
+	/**
+	 * Returns the factory that creates the instances of the model.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the factory that creates the instances of the model.
+	 * @generated
+	 */
+	Geometry_datatypesFactory getGeometry_datatypesFactory();
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * Defines literals for the meta objects that represent
+	 * <ul>
+	 * <li>each class,</li>
+	 * <li>each feature of each class,</li>
+	 * <li>each enum,</li>
+	 * <li>and each data type</li>
+	 * </ul>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	interface Literals {
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PointImpl <em>Point</em>}'
+		 * class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PointImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getPoint()
+		 * @generated
+		 */
+		EClass POINT = eINSTANCE.getPoint();
+
+		/**
+		 * The meta object literal for the '<em><b>X</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute POINT__X = eINSTANCE.getPoint_X();
+
+		/**
+		 * The meta object literal for the '<em><b>Y</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute POINT__Y = eINSTANCE.getPoint_Y();
+
+		/**
+		 * The meta object literal for the '<em><b>Z</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute POINT__Z = eINSTANCE.getPoint_Z();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Point32Impl <em>Point32</em>}'
+		 * class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Point32Impl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getPoint32()
+		 * @generated
+		 */
+		EClass POINT32 = eINSTANCE.getPoint32();
+
+		/**
+		 * The meta object literal for the '<em><b>X</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute POINT32__X = eINSTANCE.getPoint32_X();
+
+		/**
+		 * The meta object literal for the '<em><b>Y</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute POINT32__Y = eINSTANCE.getPoint32_Y();
+
+		/**
+		 * The meta object literal for the '<em><b>Z</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute POINT32__Z = eINSTANCE.getPoint32_Z();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PointStampedImpl
+		 * <em>Point Stamped</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PointStampedImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getPointStamped()
+		 * @generated
+		 */
+		EClass POINT_STAMPED = eINSTANCE.getPointStamped();
+
+		/**
+		 * The meta object literal for the '<em><b>Header</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference POINT_STAMPED__HEADER = eINSTANCE.getPointStamped_Header();
+
+		/**
+		 * The meta object literal for the '<em><b>Point</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference POINT_STAMPED__POINT = eINSTANCE.getPointStamped_Point();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PolygonImpl <em>Polygon</em>}'
+		 * class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PolygonImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getPolygon()
+		 * @generated
+		 */
+		EClass POLYGON = eINSTANCE.getPolygon();
+
+		/**
+		 * The meta object literal for the '<em><b>Point</b></em>' containment reference list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference POLYGON__POINT = eINSTANCE.getPolygon_Point();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PolygonStampedImpl
+		 * <em>Polygon Stamped</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PolygonStampedImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getPolygonStamped()
+		 * @generated
+		 */
+		EClass POLYGON_STAMPED = eINSTANCE.getPolygonStamped();
+
+		/**
+		 * The meta object literal for the '<em><b>Header</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference POLYGON_STAMPED__HEADER = eINSTANCE.getPolygonStamped_Header();
+
+		/**
+		 * The meta object literal for the '<em><b>Polygon</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference POLYGON_STAMPED__POLYGON = eINSTANCE.getPolygonStamped_Polygon();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Vector3Impl <em>Vector3</em>}'
+		 * class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Vector3Impl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getVector3()
+		 * @generated
+		 */
+		EClass VECTOR3 = eINSTANCE.getVector3();
+
+		/**
+		 * The meta object literal for the '<em><b>X</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute VECTOR3__X = eINSTANCE.getVector3_X();
+
+		/**
+		 * The meta object literal for the '<em><b>Y</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute VECTOR3__Y = eINSTANCE.getVector3_Y();
+
+		/**
+		 * The meta object literal for the '<em><b>Z</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute VECTOR3__Z = eINSTANCE.getVector3_Z();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Vector3StampedImpl
+		 * <em>Vector3 Stamped</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Vector3StampedImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getVector3Stamped()
+		 * @generated
+		 */
+		EClass VECTOR3_STAMPED = eINSTANCE.getVector3Stamped();
+
+		/**
+		 * The meta object literal for the '<em><b>Header</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference VECTOR3_STAMPED__HEADER = eINSTANCE.getVector3Stamped_Header();
+
+		/**
+		 * The meta object literal for the '<em><b>Vector</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference VECTOR3_STAMPED__VECTOR = eINSTANCE.getVector3Stamped_Vector();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.QuaternionImpl
+		 * <em>Quaternion</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.QuaternionImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getQuaternion()
+		 * @generated
+		 */
+		EClass QUATERNION = eINSTANCE.getQuaternion();
+
+		/**
+		 * The meta object literal for the '<em><b>X</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute QUATERNION__X = eINSTANCE.getQuaternion_X();
+
+		/**
+		 * The meta object literal for the '<em><b>Y</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute QUATERNION__Y = eINSTANCE.getQuaternion_Y();
+
+		/**
+		 * The meta object literal for the '<em><b>Z</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute QUATERNION__Z = eINSTANCE.getQuaternion_Z();
+
+		/**
+		 * The meta object literal for the '<em><b>W</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute QUATERNION__W = eINSTANCE.getQuaternion_W();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PoseImpl <em>Pose</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PoseImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getPose()
+		 * @generated
+		 */
+		EClass POSE = eINSTANCE.getPose();
+
+		/**
+		 * The meta object literal for the '<em><b>Position</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference POSE__POSITION = eINSTANCE.getPose_Position();
+
+		/**
+		 * The meta object literal for the '<em><b>Orientation</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference POSE__ORIENTATION = eINSTANCE.getPose_Orientation();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PoseStampedImpl
+		 * <em>Pose Stamped</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PoseStampedImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getPoseStamped()
+		 * @generated
+		 */
+		EClass POSE_STAMPED = eINSTANCE.getPoseStamped();
+
+		/**
+		 * The meta object literal for the '<em><b>Header</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference POSE_STAMPED__HEADER = eINSTANCE.getPoseStamped_Header();
+
+		/**
+		 * The meta object literal for the '<em><b>Pose</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference POSE_STAMPED__POSE = eINSTANCE.getPoseStamped_Pose();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.TwistWithCovarianceImpl
+		 * <em>Twist With Covariance</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.TwistWithCovarianceImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getTwistWithCovariance()
+		 * @generated
+		 */
+		EClass TWIST_WITH_COVARIANCE = eINSTANCE.getTwistWithCovariance();
+
+		/**
+		 * The meta object literal for the '<em><b>Twist</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference TWIST_WITH_COVARIANCE__TWIST = eINSTANCE.getTwistWithCovariance_Twist();
+
+		/**
+		 * The meta object literal for the '<em><b>Covariance</b></em>' attribute list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute TWIST_WITH_COVARIANCE__COVARIANCE = eINSTANCE.getTwistWithCovariance_Covariance();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.TwistImpl <em>Twist</em>}'
+		 * class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.TwistImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getTwist()
+		 * @generated
+		 */
+		EClass TWIST = eINSTANCE.getTwist();
+
+		/**
+		 * The meta object literal for the '<em><b>Linear</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference TWIST__LINEAR = eINSTANCE.getTwist_Linear();
+
+		/**
+		 * The meta object literal for the '<em><b>Angular</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference TWIST__ANGULAR = eINSTANCE.getTwist_Angular();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.TwistStampedImpl
+		 * <em>Twist Stamped</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.TwistStampedImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getTwistStamped()
+		 * @generated
+		 */
+		EClass TWIST_STAMPED = eINSTANCE.getTwistStamped();
+
+		/**
+		 * The meta object literal for the '<em><b>Header</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference TWIST_STAMPED__HEADER = eINSTANCE.getTwistStamped_Header();
+
+		/**
+		 * The meta object literal for the '<em><b>Twist</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference TWIST_STAMPED__TWIST = eINSTANCE.getTwistStamped_Twist();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PoseWithCovarianceImpl
+		 * <em>Pose With Covariance</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PoseWithCovarianceImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getPoseWithCovariance()
+		 * @generated
+		 */
+		EClass POSE_WITH_COVARIANCE = eINSTANCE.getPoseWithCovariance();
+
+		/**
+		 * The meta object literal for the '<em><b>Pose</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference POSE_WITH_COVARIANCE__POSE = eINSTANCE.getPoseWithCovariance_Pose();
+
+		/**
+		 * The meta object literal for the '<em><b>Covariance</b></em>' attribute list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute POSE_WITH_COVARIANCE__COVARIANCE = eINSTANCE.getPoseWithCovariance_Covariance();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Pose2DImpl <em>Pose2 D</em>}'
+		 * class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Pose2DImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getPose2D()
+		 * @generated
+		 */
+		EClass POSE2_D = eINSTANCE.getPose2D();
+
+		/**
+		 * The meta object literal for the '<em><b>X</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute POSE2_D__X = eINSTANCE.getPose2D_X();
+
+		/**
+		 * The meta object literal for the '<em><b>Y</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute POSE2_D__Y = eINSTANCE.getPose2D_Y();
+
+		/**
+		 * The meta object literal for the '<em><b>Theta</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute POSE2_D__THETA = eINSTANCE.getPose2D_Theta();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PoseWithCovarianceStampedImpl
+		 * <em>Pose With Covariance Stamped</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PoseWithCovarianceStampedImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getPoseWithCovarianceStamped()
+		 * @generated
+		 */
+		EClass POSE_WITH_COVARIANCE_STAMPED = eINSTANCE.getPoseWithCovarianceStamped();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PoseArrayImpl
+		 * <em>Pose Array</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PoseArrayImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getPoseArray()
+		 * @generated
+		 */
+		EClass POSE_ARRAY = eINSTANCE.getPoseArray();
+
+		/**
+		 * The meta object literal for the '<em><b>Header</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference POSE_ARRAY__HEADER = eINSTANCE.getPoseArray_Header();
+
+		/**
+		 * The meta object literal for the '<em><b>Poses</b></em>' containment reference list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference POSE_ARRAY__POSES = eINSTANCE.getPoseArray_Poses();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.QuaternionStampedImpl
+		 * <em>Quaternion Stamped</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.QuaternionStampedImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getQuaternionStamped()
+		 * @generated
+		 */
+		EClass QUATERNION_STAMPED = eINSTANCE.getQuaternionStamped();
+
+		/**
+		 * The meta object literal for the '<em><b>Header</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference QUATERNION_STAMPED__HEADER = eINSTANCE.getQuaternionStamped_Header();
+
+		/**
+		 * The meta object literal for the '<em><b>Quaternion</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference QUATERNION_STAMPED__QUATERNION = eINSTANCE.getQuaternionStamped_Quaternion();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.TransformImpl
+		 * <em>Transform</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.TransformImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getTransform()
+		 * @generated
+		 */
+		EClass TRANSFORM = eINSTANCE.getTransform();
+
+		/**
+		 * The meta object literal for the '<em><b>Translation</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference TRANSFORM__TRANSLATION = eINSTANCE.getTransform_Translation();
+
+		/**
+		 * The meta object literal for the '<em><b>Rotation</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference TRANSFORM__ROTATION = eINSTANCE.getTransform_Rotation();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.WrenchStampedImpl
+		 * <em>Wrench Stamped</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.WrenchStampedImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getWrenchStamped()
+		 * @generated
+		 */
+		EClass WRENCH_STAMPED = eINSTANCE.getWrenchStamped();
+
+		/**
+		 * The meta object literal for the '<em><b>Header</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference WRENCH_STAMPED__HEADER = eINSTANCE.getWrenchStamped_Header();
+
+		/**
+		 * The meta object literal for the '<em><b>Wrench</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference WRENCH_STAMPED__WRENCH = eINSTANCE.getWrenchStamped_Wrench();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.WrenchImpl <em>Wrench</em>}'
+		 * class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.WrenchImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl#getWrench()
+		 * @generated
+		 */
+		EClass WRENCH = eINSTANCE.getWrench();
+
+		/**
+		 * The meta object literal for the '<em><b>Force</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference WRENCH__FORCE = eINSTANCE.getWrench_Force();
+
+		/**
+		 * The meta object literal for the '<em><b>Torque</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference WRENCH__TORQUE = eINSTANCE.getWrench_Torque();
+
+	}
+
+} //Geometry_datatypesPackage
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Point.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Point.java
new file mode 100644
index 00000000000..3cf223a378f
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Point.java
@@ -0,0 +1,126 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Point</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point#getX <em>X</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point#getY <em>Y</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point#getZ <em>Z</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getPoint()
+ * @model
+ * @generated
+ */
+public interface Point extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>X</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>X</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>X</em>' attribute.
+	 * @see #setX(double)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getPoint_X()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	double getX();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point#getX
+	 * <em>X</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>X</em>' attribute.
+	 * @see #getX()
+	 * @generated
+	 */
+	void setX(double value);
+
+	/**
+	 * Returns the value of the '<em><b>Y</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Y</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Y</em>' attribute.
+	 * @see #setY(double)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getPoint_Y()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	double getY();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point#getY
+	 * <em>Y</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Y</em>' attribute.
+	 * @see #getY()
+	 * @generated
+	 */
+	void setY(double value);
+
+	/**
+	 * Returns the value of the '<em><b>Z</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Z</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Z</em>' attribute.
+	 * @see #setZ(double)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getPoint_Z()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	double getZ();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point#getZ
+	 * <em>Z</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Z</em>' attribute.
+	 * @see #getZ()
+	 * @generated
+	 */
+	void setZ(double value);
+
+} // Point
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Point32.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Point32.java
new file mode 100644
index 00000000000..77840db5a81
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Point32.java
@@ -0,0 +1,126 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Point32</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point32#getX <em>X</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point32#getY <em>Y</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point32#getZ <em>Z</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getPoint32()
+ * @model
+ * @generated
+ */
+public interface Point32 extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>X</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>X</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>X</em>' attribute.
+	 * @see #setX(float)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getPoint32_X()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getX();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point32#getX
+	 * <em>X</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>X</em>' attribute.
+	 * @see #getX()
+	 * @generated
+	 */
+	void setX(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Y</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Y</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Y</em>' attribute.
+	 * @see #setY(float)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getPoint32_Y()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getY();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point32#getY
+	 * <em>Y</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Y</em>' attribute.
+	 * @see #getY()
+	 * @generated
+	 */
+	void setY(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Z</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Z</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Z</em>' attribute.
+	 * @see #setZ(float)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getPoint32_Z()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getZ();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point32#getZ
+	 * <em>Z</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Z</em>' attribute.
+	 * @see #getZ()
+	 * @generated
+	 */
+	void setZ(float value);
+
+} // Point32
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/PointStamped.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/PointStamped.java
new file mode 100644
index 00000000000..b8372b5e98c
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/PointStamped.java
@@ -0,0 +1,96 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Point Stamped</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PointStamped#getHeader <em>Header</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PointStamped#getPoint <em>Point</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getPointStamped()
+ * @model
+ * @generated
+ */
+public interface PointStamped extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Header</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Header</em>' containment reference.
+	 * @see #setHeader(Header)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getPointStamped_Header()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Header getHeader();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PointStamped#getHeader <em>Header</em>}'
+	 * containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Header</em>' containment reference.
+	 * @see #getHeader()
+	 * @generated
+	 */
+	void setHeader(Header value);
+
+	/**
+	 * Returns the value of the '<em><b>Point</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Point</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Point</em>' containment reference.
+	 * @see #setPoint(Point)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getPointStamped_Point()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Point getPoint();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PointStamped#getPoint <em>Point</em>}'
+	 * containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Point</em>' containment reference.
+	 * @see #getPoint()
+	 * @generated
+	 */
+	void setPoint(Point value);
+
+} // PointStamped
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Polygon.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Polygon.java
new file mode 100644
index 00000000000..7ff176acb46
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Polygon.java
@@ -0,0 +1,51 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes;
+
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Polygon</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Polygon#getPoint <em>Point</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getPolygon()
+ * @model
+ * @generated
+ */
+public interface Polygon extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Point</b></em>' containment reference list.
+	 * The list contents are of type {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point32}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Point</em>' containment reference list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Point</em>' containment reference list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getPolygon_Point()
+	 * @model containment="true" lower="3" ordered="false"
+	 * @generated
+	 */
+	EList<Point32> getPoint();
+
+} // Polygon
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/PolygonStamped.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/PolygonStamped.java
new file mode 100644
index 00000000000..b40b11382b1
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/PolygonStamped.java
@@ -0,0 +1,98 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Polygon Stamped</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PolygonStamped#getHeader <em>Header</em>}
+ * </li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PolygonStamped#getPolygon <em>Polygon
+ * </em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getPolygonStamped()
+ * @model
+ * @generated
+ */
+public interface PolygonStamped extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Header</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Header</em>' containment reference.
+	 * @see #setHeader(Header)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getPolygonStamped_Header()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Header getHeader();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PolygonStamped#getHeader <em>Header</em>}
+	 * ' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Header</em>' containment reference.
+	 * @see #getHeader()
+	 * @generated
+	 */
+	void setHeader(Header value);
+
+	/**
+	 * Returns the value of the '<em><b>Polygon</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Polygon</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Polygon</em>' containment reference.
+	 * @see #setPolygon(Polygon)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getPolygonStamped_Polygon()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Polygon getPolygon();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PolygonStamped#getPolygon
+	 * <em>Polygon</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Polygon</em>' containment reference.
+	 * @see #getPolygon()
+	 * @generated
+	 */
+	void setPolygon(Polygon value);
+
+} // PolygonStamped
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Pose.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Pose.java
new file mode 100644
index 00000000000..2c5982ac660
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Pose.java
@@ -0,0 +1,95 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Pose</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose#getPosition <em>Position</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose#getOrientation <em>Orientation</em>}
+ * </li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getPose()
+ * @model
+ * @generated
+ */
+public interface Pose extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Position</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Position</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Position</em>' containment reference.
+	 * @see #setPosition(Point)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getPose_Position()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Point getPosition();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose#getPosition
+	 * <em>Position</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Position</em>' containment reference.
+	 * @see #getPosition()
+	 * @generated
+	 */
+	void setPosition(Point value);
+
+	/**
+	 * Returns the value of the '<em><b>Orientation</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Orientation</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Orientation</em>' containment reference.
+	 * @see #setOrientation(Quaternion)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getPose_Orientation()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Quaternion getOrientation();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose#getOrientation <em>Orientation</em>}
+	 * ' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Orientation</em>' containment reference.
+	 * @see #getOrientation()
+	 * @generated
+	 */
+	void setOrientation(Quaternion value);
+
+} // Pose
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Pose2D.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Pose2D.java
new file mode 100644
index 00000000000..d7b085f996e
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Pose2D.java
@@ -0,0 +1,126 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Pose2 D</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose2D#getX <em>X</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose2D#getY <em>Y</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose2D#getTheta <em>Theta</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getPose2D()
+ * @model
+ * @generated
+ */
+public interface Pose2D extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>X</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>X</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>X</em>' attribute.
+	 * @see #setX(double)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getPose2D_X()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	double getX();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose2D#getX
+	 * <em>X</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>X</em>' attribute.
+	 * @see #getX()
+	 * @generated
+	 */
+	void setX(double value);
+
+	/**
+	 * Returns the value of the '<em><b>Y</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Y</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Y</em>' attribute.
+	 * @see #setY(double)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getPose2D_Y()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	double getY();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose2D#getY
+	 * <em>Y</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Y</em>' attribute.
+	 * @see #getY()
+	 * @generated
+	 */
+	void setY(double value);
+
+	/**
+	 * Returns the value of the '<em><b>Theta</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Theta</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Theta</em>' attribute.
+	 * @see #setTheta(double)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getPose2D_Theta()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	double getTheta();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose2D#getTheta
+	 * <em>Theta</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Theta</em>' attribute.
+	 * @see #getTheta()
+	 * @generated
+	 */
+	void setTheta(double value);
+
+} // Pose2D
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/PoseArray.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/PoseArray.java
new file mode 100644
index 00000000000..6fa1e75c641
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/PoseArray.java
@@ -0,0 +1,83 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes;
+
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Pose Array</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseArray#getHeader <em>Header</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseArray#getPoses <em>Poses</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getPoseArray()
+ * @model
+ * @generated
+ */
+public interface PoseArray extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Header</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Header</em>' containment reference.
+	 * @see #setHeader(Header)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getPoseArray_Header()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Header getHeader();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseArray#getHeader <em>Header</em>}'
+	 * containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Header</em>' containment reference.
+	 * @see #getHeader()
+	 * @generated
+	 */
+	void setHeader(Header value);
+
+	/**
+	 * Returns the value of the '<em><b>Poses</b></em>' containment reference list.
+	 * The list contents are of type {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Poses</em>' containment reference list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Poses</em>' containment reference list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getPoseArray_Poses()
+	 * @model containment="true" ordered="false"
+	 * @generated
+	 */
+	EList<Pose> getPoses();
+
+} // PoseArray
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/PoseStamped.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/PoseStamped.java
new file mode 100644
index 00000000000..2ca32eab529
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/PoseStamped.java
@@ -0,0 +1,96 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Pose Stamped</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseStamped#getHeader <em>Header</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseStamped#getPose <em>Pose</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getPoseStamped()
+ * @model
+ * @generated
+ */
+public interface PoseStamped extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Header</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Header</em>' containment reference.
+	 * @see #setHeader(Header)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getPoseStamped_Header()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Header getHeader();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseStamped#getHeader <em>Header</em>}'
+	 * containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Header</em>' containment reference.
+	 * @see #getHeader()
+	 * @generated
+	 */
+	void setHeader(Header value);
+
+	/**
+	 * Returns the value of the '<em><b>Pose</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Pose</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Pose</em>' containment reference.
+	 * @see #setPose(Pose)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getPoseStamped_Pose()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Pose getPose();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseStamped#getPose <em>Pose</em>}'
+	 * containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Pose</em>' containment reference.
+	 * @see #getPose()
+	 * @generated
+	 */
+	void setPose(Pose value);
+
+} // PoseStamped
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/PoseWithCovariance.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/PoseWithCovariance.java
new file mode 100644
index 00000000000..79f71dbb3c1
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/PoseWithCovariance.java
@@ -0,0 +1,85 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes;
+
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Pose With Covariance</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseWithCovariance#getPose <em>Pose</em>}
+ * </li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseWithCovariance#getCovariance <em>
+ * Covariance</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getPoseWithCovariance()
+ * @model
+ * @generated
+ */
+public interface PoseWithCovariance extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Pose</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Pose</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Pose</em>' containment reference.
+	 * @see #setPose(Pose)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getPoseWithCovariance_Pose()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Pose getPose();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseWithCovariance#getPose <em>Pose</em>}
+	 * ' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Pose</em>' containment reference.
+	 * @see #getPose()
+	 * @generated
+	 */
+	void setPose(Pose value);
+
+	/**
+	 * Returns the value of the '<em><b>Covariance</b></em>' attribute list.
+	 * The list contents are of type {@link java.lang.Double}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Covariance</em>' attribute list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Covariance</em>' attribute list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getPoseWithCovariance_Covariance()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" lower="36" upper="36"
+	 *        ordered="false"
+	 * @generated
+	 */
+	EList<Double> getCovariance();
+
+} // PoseWithCovariance
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/PoseWithCovarianceStamped.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/PoseWithCovarianceStamped.java
new file mode 100644
index 00000000000..54b6538c5e3
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/PoseWithCovarianceStamped.java
@@ -0,0 +1,27 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Pose With Covariance Stamped</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getPoseWithCovarianceStamped()
+ * @model
+ * @generated
+ */
+public interface PoseWithCovarianceStamped extends EObject {
+} // PoseWithCovarianceStamped
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Quaternion.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Quaternion.java
new file mode 100644
index 00000000000..b84bad3f14d
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Quaternion.java
@@ -0,0 +1,157 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Quaternion</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Quaternion#getX <em>X</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Quaternion#getY <em>Y</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Quaternion#getZ <em>Z</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Quaternion#getW <em>W</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getQuaternion()
+ * @model
+ * @generated
+ */
+public interface Quaternion extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>X</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>X</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>X</em>' attribute.
+	 * @see #setX(double)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getQuaternion_X()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	double getX();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Quaternion#getX
+	 * <em>X</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>X</em>' attribute.
+	 * @see #getX()
+	 * @generated
+	 */
+	void setX(double value);
+
+	/**
+	 * Returns the value of the '<em><b>Y</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Y</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Y</em>' attribute.
+	 * @see #setY(double)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getQuaternion_Y()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	double getY();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Quaternion#getY
+	 * <em>Y</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Y</em>' attribute.
+	 * @see #getY()
+	 * @generated
+	 */
+	void setY(double value);
+
+	/**
+	 * Returns the value of the '<em><b>Z</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Z</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Z</em>' attribute.
+	 * @see #setZ(double)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getQuaternion_Z()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	double getZ();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Quaternion#getZ
+	 * <em>Z</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Z</em>' attribute.
+	 * @see #getZ()
+	 * @generated
+	 */
+	void setZ(double value);
+
+	/**
+	 * Returns the value of the '<em><b>W</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>W</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>W</em>' attribute.
+	 * @see #setW(double)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getQuaternion_W()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	double getW();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Quaternion#getW
+	 * <em>W</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>W</em>' attribute.
+	 * @see #getW()
+	 * @generated
+	 */
+	void setW(double value);
+
+} // Quaternion
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/QuaternionStamped.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/QuaternionStamped.java
new file mode 100644
index 00000000000..2d216383eb4
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/QuaternionStamped.java
@@ -0,0 +1,98 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Quaternion Stamped</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.QuaternionStamped#getHeader <em>Header
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.QuaternionStamped#getQuaternion <em>
+ * Quaternion</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getQuaternionStamped()
+ * @model
+ * @generated
+ */
+public interface QuaternionStamped extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Header</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Header</em>' containment reference.
+	 * @see #setHeader(Header)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getQuaternionStamped_Header()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Header getHeader();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.QuaternionStamped#getHeader
+	 * <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Header</em>' containment reference.
+	 * @see #getHeader()
+	 * @generated
+	 */
+	void setHeader(Header value);
+
+	/**
+	 * Returns the value of the '<em><b>Quaternion</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Quaternion</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Quaternion</em>' containment reference.
+	 * @see #setQuaternion(Quaternion)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getQuaternionStamped_Quaternion()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Quaternion getQuaternion();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.QuaternionStamped#getQuaternion
+	 * <em>Quaternion</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Quaternion</em>' containment reference.
+	 * @see #getQuaternion()
+	 * @generated
+	 */
+	void setQuaternion(Quaternion value);
+
+} // QuaternionStamped
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Transform.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Transform.java
new file mode 100644
index 00000000000..5bb2d124212
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Transform.java
@@ -0,0 +1,96 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Transform</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Transform#getTranslation <em>Translation
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Transform#getRotation <em>Rotation</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getTransform()
+ * @model
+ * @generated
+ */
+public interface Transform extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Translation</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Translation</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Translation</em>' containment reference.
+	 * @see #setTranslation(Vector3)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getTransform_Translation()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Vector3 getTranslation();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Transform#getTranslation
+	 * <em>Translation</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Translation</em>' containment reference.
+	 * @see #getTranslation()
+	 * @generated
+	 */
+	void setTranslation(Vector3 value);
+
+	/**
+	 * Returns the value of the '<em><b>Rotation</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Rotation</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Rotation</em>' containment reference.
+	 * @see #setRotation(Quaternion)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getTransform_Rotation()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Quaternion getRotation();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Transform#getRotation <em>Rotation</em>}'
+	 * containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Rotation</em>' containment reference.
+	 * @see #getRotation()
+	 * @generated
+	 */
+	void setRotation(Quaternion value);
+
+} // Transform
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Twist.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Twist.java
new file mode 100644
index 00000000000..81350d089f8
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Twist.java
@@ -0,0 +1,93 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Twist</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Twist#getLinear <em>Linear</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Twist#getAngular <em>Angular</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getTwist()
+ * @model
+ * @generated
+ */
+public interface Twist extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Linear</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Linear</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Linear</em>' containment reference.
+	 * @see #setLinear(Vector3)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getTwist_Linear()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Vector3 getLinear();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Twist#getLinear
+	 * <em>Linear</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Linear</em>' containment reference.
+	 * @see #getLinear()
+	 * @generated
+	 */
+	void setLinear(Vector3 value);
+
+	/**
+	 * Returns the value of the '<em><b>Angular</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Angular</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Angular</em>' containment reference.
+	 * @see #setAngular(Vector3)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getTwist_Angular()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Vector3 getAngular();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Twist#getAngular
+	 * <em>Angular</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Angular</em>' containment reference.
+	 * @see #getAngular()
+	 * @generated
+	 */
+	void setAngular(Vector3 value);
+
+} // Twist
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/TwistStamped.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/TwistStamped.java
new file mode 100644
index 00000000000..a5d98ffaf17
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/TwistStamped.java
@@ -0,0 +1,96 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Twist Stamped</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.TwistStamped#getHeader <em>Header</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.TwistStamped#getTwist <em>Twist</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getTwistStamped()
+ * @model
+ * @generated
+ */
+public interface TwistStamped extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Header</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Header</em>' containment reference.
+	 * @see #setHeader(Header)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getTwistStamped_Header()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Header getHeader();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.TwistStamped#getHeader <em>Header</em>}'
+	 * containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Header</em>' containment reference.
+	 * @see #getHeader()
+	 * @generated
+	 */
+	void setHeader(Header value);
+
+	/**
+	 * Returns the value of the '<em><b>Twist</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Twist</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Twist</em>' containment reference.
+	 * @see #setTwist(Twist)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getTwistStamped_Twist()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Twist getTwist();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.TwistStamped#getTwist <em>Twist</em>}'
+	 * containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Twist</em>' containment reference.
+	 * @see #getTwist()
+	 * @generated
+	 */
+	void setTwist(Twist value);
+
+} // TwistStamped
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/TwistWithCovariance.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/TwistWithCovariance.java
new file mode 100644
index 00000000000..aaa691fdeeb
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/TwistWithCovariance.java
@@ -0,0 +1,85 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes;
+
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Twist With Covariance</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.TwistWithCovariance#getTwist <em>Twist
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.TwistWithCovariance#getCovariance <em>
+ * Covariance</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getTwistWithCovariance()
+ * @model
+ * @generated
+ */
+public interface TwistWithCovariance extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Twist</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Twist</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Twist</em>' containment reference.
+	 * @see #setTwist(Twist)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getTwistWithCovariance_Twist()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Twist getTwist();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.TwistWithCovariance#getTwist
+	 * <em>Twist</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Twist</em>' containment reference.
+	 * @see #getTwist()
+	 * @generated
+	 */
+	void setTwist(Twist value);
+
+	/**
+	 * Returns the value of the '<em><b>Covariance</b></em>' attribute list.
+	 * The list contents are of type {@link java.lang.Double}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Covariance</em>' attribute list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Covariance</em>' attribute list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getTwistWithCovariance_Covariance()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" lower="36" upper="36"
+	 *        ordered="false"
+	 * @generated
+	 */
+	EList<Double> getCovariance();
+
+} // TwistWithCovariance
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Vector3.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Vector3.java
new file mode 100644
index 00000000000..521f29b1af0
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Vector3.java
@@ -0,0 +1,126 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Vector3</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3#getX <em>X</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3#getY <em>Y</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3#getZ <em>Z</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getVector3()
+ * @model
+ * @generated
+ */
+public interface Vector3 extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>X</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>X</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>X</em>' attribute.
+	 * @see #setX(double)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getVector3_X()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	double getX();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3#getX
+	 * <em>X</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>X</em>' attribute.
+	 * @see #getX()
+	 * @generated
+	 */
+	void setX(double value);
+
+	/**
+	 * Returns the value of the '<em><b>Y</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Y</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Y</em>' attribute.
+	 * @see #setY(double)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getVector3_Y()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	double getY();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3#getY
+	 * <em>Y</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Y</em>' attribute.
+	 * @see #getY()
+	 * @generated
+	 */
+	void setY(double value);
+
+	/**
+	 * Returns the value of the '<em><b>Z</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Z</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Z</em>' attribute.
+	 * @see #setZ(double)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getVector3_Z()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	double getZ();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3#getZ
+	 * <em>Z</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Z</em>' attribute.
+	 * @see #getZ()
+	 * @generated
+	 */
+	void setZ(double value);
+
+} // Vector3
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Vector3Stamped.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Vector3Stamped.java
new file mode 100644
index 00000000000..8912f10e7c8
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Vector3Stamped.java
@@ -0,0 +1,98 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Vector3 Stamped</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3Stamped#getHeader <em>Header</em>}
+ * </li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3Stamped#getVector <em>Vector</em>}
+ * </li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getVector3Stamped()
+ * @model
+ * @generated
+ */
+public interface Vector3Stamped extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Header</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Header</em>' containment reference.
+	 * @see #setHeader(Header)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getVector3Stamped_Header()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Header getHeader();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3Stamped#getHeader <em>Header</em>}
+	 * ' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Header</em>' containment reference.
+	 * @see #getHeader()
+	 * @generated
+	 */
+	void setHeader(Header value);
+
+	/**
+	 * Returns the value of the '<em><b>Vector</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Vector</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Vector</em>' containment reference.
+	 * @see #setVector(Vector3)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getVector3Stamped_Vector()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Vector3 getVector();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3Stamped#getVector <em>Vector</em>}
+	 * ' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Vector</em>' containment reference.
+	 * @see #getVector()
+	 * @generated
+	 */
+	void setVector(Vector3 value);
+
+} // Vector3Stamped
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Wrench.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Wrench.java
new file mode 100644
index 00000000000..b231cb46133
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/Wrench.java
@@ -0,0 +1,93 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Wrench</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Wrench#getForce <em>Force</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Wrench#getTorque <em>Torque</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getWrench()
+ * @model
+ * @generated
+ */
+public interface Wrench extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Force</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Force</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Force</em>' containment reference.
+	 * @see #setForce(Vector3)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getWrench_Force()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Vector3 getForce();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Wrench#getForce
+	 * <em>Force</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Force</em>' containment reference.
+	 * @see #getForce()
+	 * @generated
+	 */
+	void setForce(Vector3 value);
+
+	/**
+	 * Returns the value of the '<em><b>Torque</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Torque</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Torque</em>' containment reference.
+	 * @see #setTorque(Vector3)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getWrench_Torque()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Vector3 getTorque();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Wrench#getTorque
+	 * <em>Torque</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Torque</em>' containment reference.
+	 * @see #getTorque()
+	 * @generated
+	 */
+	void setTorque(Vector3 value);
+
+} // Wrench
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/WrenchStamped.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/WrenchStamped.java
new file mode 100644
index 00000000000..9aef1594b53
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/WrenchStamped.java
@@ -0,0 +1,96 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Wrench Stamped</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.WrenchStamped#getHeader <em>Header</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.WrenchStamped#getWrench <em>Wrench</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getWrenchStamped()
+ * @model
+ * @generated
+ */
+public interface WrenchStamped extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Header</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Header</em>' containment reference.
+	 * @see #setHeader(Header)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getWrenchStamped_Header()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Header getHeader();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.WrenchStamped#getHeader <em>Header</em>}'
+	 * containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Header</em>' containment reference.
+	 * @see #getHeader()
+	 * @generated
+	 */
+	void setHeader(Header value);
+
+	/**
+	 * Returns the value of the '<em><b>Wrench</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Wrench</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Wrench</em>' containment reference.
+	 * @see #setWrench(Wrench)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#getWrenchStamped_Wrench()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Wrench getWrench();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.WrenchStamped#getWrench <em>Wrench</em>}'
+	 * containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Wrench</em>' containment reference.
+	 * @see #getWrench()
+	 * @generated
+	 */
+	void setWrench(Wrench value);
+
+} // WrenchStamped
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/Geometry_datatypesFactoryImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/Geometry_datatypesFactoryImpl.java
new file mode 100644
index 00000000000..6af7229cd56
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/Geometry_datatypesFactoryImpl.java
@@ -0,0 +1,391 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl;
+
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.emf.ecore.EPackage;
+import org.eclipse.emf.ecore.impl.EFactoryImpl;
+import org.eclipse.emf.ecore.plugin.EcorePlugin;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesFactory;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point32;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PointStamped;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Polygon;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PolygonStamped;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose2D;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseStamped;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseWithCovariance;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseWithCovarianceStamped;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Quaternion;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.QuaternionStamped;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Transform;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Twist;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.TwistStamped;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.TwistWithCovariance;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3Stamped;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Wrench;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.WrenchStamped;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model <b>Factory</b>.
+ * <!-- end-user-doc -->
+ * 
+ * @generated
+ */
+public class Geometry_datatypesFactoryImpl extends EFactoryImpl implements Geometry_datatypesFactory {
+
+	/**
+	 * Creates the default factory implementation.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static Geometry_datatypesFactory init() {
+		try {
+			Geometry_datatypesFactory theGeometry_datatypesFactory = (Geometry_datatypesFactory)EPackage.Registry.INSTANCE.getEFactory("http:///RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes.ecore");
+			if(theGeometry_datatypesFactory != null) {
+				return theGeometry_datatypesFactory;
+			}
+		} catch (Exception exception) {
+			EcorePlugin.INSTANCE.log(exception);
+		}
+		return new Geometry_datatypesFactoryImpl();
+	}
+
+	/**
+	 * Creates an instance of the factory.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Geometry_datatypesFactoryImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public EObject create(EClass eClass) {
+		switch(eClass.getClassifierID()) {
+		case Geometry_datatypesPackage.POINT:
+			return createPoint();
+		case Geometry_datatypesPackage.POINT32:
+			return createPoint32();
+		case Geometry_datatypesPackage.POINT_STAMPED:
+			return createPointStamped();
+		case Geometry_datatypesPackage.POLYGON:
+			return createPolygon();
+		case Geometry_datatypesPackage.POLYGON_STAMPED:
+			return createPolygonStamped();
+		case Geometry_datatypesPackage.VECTOR3:
+			return createVector3();
+		case Geometry_datatypesPackage.VECTOR3_STAMPED:
+			return createVector3Stamped();
+		case Geometry_datatypesPackage.QUATERNION:
+			return createQuaternion();
+		case Geometry_datatypesPackage.POSE:
+			return createPose();
+		case Geometry_datatypesPackage.POSE_STAMPED:
+			return createPoseStamped();
+		case Geometry_datatypesPackage.TWIST_WITH_COVARIANCE:
+			return createTwistWithCovariance();
+		case Geometry_datatypesPackage.TWIST:
+			return createTwist();
+		case Geometry_datatypesPackage.TWIST_STAMPED:
+			return createTwistStamped();
+		case Geometry_datatypesPackage.POSE_WITH_COVARIANCE:
+			return createPoseWithCovariance();
+		case Geometry_datatypesPackage.POSE2_D:
+			return createPose2D();
+		case Geometry_datatypesPackage.POSE_WITH_COVARIANCE_STAMPED:
+			return createPoseWithCovarianceStamped();
+		case Geometry_datatypesPackage.POSE_ARRAY:
+			return createPoseArray();
+		case Geometry_datatypesPackage.QUATERNION_STAMPED:
+			return createQuaternionStamped();
+		case Geometry_datatypesPackage.TRANSFORM:
+			return createTransform();
+		case Geometry_datatypesPackage.WRENCH_STAMPED:
+			return createWrenchStamped();
+		case Geometry_datatypesPackage.WRENCH:
+			return createWrench();
+		default:
+			throw new IllegalArgumentException("The class '" + eClass.getName() + "' is not a valid classifier");
+		}
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Point createPoint() {
+		PointImpl point = new PointImpl();
+		return point;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Point32 createPoint32() {
+		Point32Impl point32 = new Point32Impl();
+		return point32;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public PointStamped createPointStamped() {
+		PointStampedImpl pointStamped = new PointStampedImpl();
+		return pointStamped;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Polygon createPolygon() {
+		PolygonImpl polygon = new PolygonImpl();
+		return polygon;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public PolygonStamped createPolygonStamped() {
+		PolygonStampedImpl polygonStamped = new PolygonStampedImpl();
+		return polygonStamped;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Vector3 createVector3() {
+		Vector3Impl vector3 = new Vector3Impl();
+		return vector3;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Vector3Stamped createVector3Stamped() {
+		Vector3StampedImpl vector3Stamped = new Vector3StampedImpl();
+		return vector3Stamped;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Quaternion createQuaternion() {
+		QuaternionImpl quaternion = new QuaternionImpl();
+		return quaternion;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Pose createPose() {
+		PoseImpl pose = new PoseImpl();
+		return pose;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public PoseStamped createPoseStamped() {
+		PoseStampedImpl poseStamped = new PoseStampedImpl();
+		return poseStamped;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public TwistWithCovariance createTwistWithCovariance() {
+		TwistWithCovarianceImpl twistWithCovariance = new TwistWithCovarianceImpl();
+		return twistWithCovariance;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Twist createTwist() {
+		TwistImpl twist = new TwistImpl();
+		return twist;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public TwistStamped createTwistStamped() {
+		TwistStampedImpl twistStamped = new TwistStampedImpl();
+		return twistStamped;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public PoseWithCovariance createPoseWithCovariance() {
+		PoseWithCovarianceImpl poseWithCovariance = new PoseWithCovarianceImpl();
+		return poseWithCovariance;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Pose2D createPose2D() {
+		Pose2DImpl pose2D = new Pose2DImpl();
+		return pose2D;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public PoseWithCovarianceStamped createPoseWithCovarianceStamped() {
+		PoseWithCovarianceStampedImpl poseWithCovarianceStamped = new PoseWithCovarianceStampedImpl();
+		return poseWithCovarianceStamped;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public PoseArray createPoseArray() {
+		PoseArrayImpl poseArray = new PoseArrayImpl();
+		return poseArray;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public QuaternionStamped createQuaternionStamped() {
+		QuaternionStampedImpl quaternionStamped = new QuaternionStampedImpl();
+		return quaternionStamped;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Transform createTransform() {
+		TransformImpl transform = new TransformImpl();
+		return transform;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public WrenchStamped createWrenchStamped() {
+		WrenchStampedImpl wrenchStamped = new WrenchStampedImpl();
+		return wrenchStamped;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Wrench createWrench() {
+		WrenchImpl wrench = new WrenchImpl();
+		return wrench;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Geometry_datatypesPackage getGeometry_datatypesPackage() {
+		return (Geometry_datatypesPackage)getEPackage();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @deprecated
+	 * @generated
+	 */
+	@Deprecated
+	public static Geometry_datatypesPackage getPackage() {
+		return Geometry_datatypesPackage.eINSTANCE;
+	}
+
+} //Geometry_datatypesFactoryImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/Geometry_datatypesPackageImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/Geometry_datatypesPackageImpl.java
new file mode 100644
index 00000000000..6dab9640b29
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/Geometry_datatypesPackageImpl.java
@@ -0,0 +1,1234 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl;
+
+import org.eclipse.emf.ecore.EAttribute;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.EPackage;
+import org.eclipse.emf.ecore.EReference;
+import org.eclipse.emf.ecore.impl.EPackageImpl;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.Actionlib_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.Diagnostic_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesFactory;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point32;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PointStamped;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Polygon;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PolygonStamped;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose2D;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseStamped;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseWithCovariance;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseWithCovarianceStamped;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Quaternion;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.QuaternionStamped;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Transform;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Twist;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.TwistStamped;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.TwistWithCovariance;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3Stamped;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Wrench;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.WrenchStamped;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.Nav_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.Oarp1_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl.Oarp1_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl;
+import org.eclipse.uml2.uml.UMLPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model <b>Package</b>.
+ * <!-- end-user-doc -->
+ * 
+ * @generated
+ */
+public class Geometry_datatypesPackageImpl extends EPackageImpl implements Geometry_datatypesPackage {
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass pointEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass point32EClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass pointStampedEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass polygonEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass polygonStampedEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass vector3EClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass vector3StampedEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass quaternionEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass poseEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass poseStampedEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass twistWithCovarianceEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass twistEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass twistStampedEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass poseWithCovarianceEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass pose2DEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass poseWithCovarianceStampedEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass poseArrayEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass quaternionStampedEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass transformEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass wrenchStampedEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass wrenchEClass = null;
+
+	/**
+	 * Creates an instance of the model <b>Package</b>, registered with {@link org.eclipse.emf.ecore.EPackage.Registry EPackage.Registry} by the
+	 * package
+	 * package URI value.
+	 * <p>
+	 * Note: the correct way to create the package is via the static factory method {@link #init init()}, which also performs initialization of the
+	 * package, or returns the registered package, if one already exists. <!-- begin-user-doc --> <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.emf.ecore.EPackage.Registry
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage#eNS_URI
+	 * @see #init()
+	 * @generated
+	 */
+	private Geometry_datatypesPackageImpl() {
+		super(eNS_URI, Geometry_datatypesFactory.eINSTANCE);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private static boolean isInited = false;
+
+	/**
+	 * Creates, registers, and initializes the <b>Package</b> for this model, and for any others upon which it depends.
+	 * 
+	 * <p>
+	 * This method is used to initialize {@link Geometry_datatypesPackage#eINSTANCE} when that field is accessed. Clients should not invoke it
+	 * directly. Instead, they should simply access that field to obtain the package. <!-- begin-user-doc --> <!-- end-user-doc -->
+	 * 
+	 * @see #eNS_URI
+	 * @see #createPackageContents()
+	 * @see #initializePackageContents()
+	 * @generated
+	 */
+	public static Geometry_datatypesPackage init() {
+		if(isInited)
+			return (Geometry_datatypesPackage)EPackage.Registry.INSTANCE.getEPackage(Geometry_datatypesPackage.eNS_URI);
+
+		// Obtain or create and register package
+		Geometry_datatypesPackageImpl theGeometry_datatypesPackage = (Geometry_datatypesPackageImpl)(EPackage.Registry.INSTANCE.get(eNS_URI) instanceof Geometry_datatypesPackageImpl ? EPackage.Registry.INSTANCE.get(eNS_URI) : new Geometry_datatypesPackageImpl());
+
+		isInited = true;
+
+		// Initialize simple dependencies
+		UMLPackage.eINSTANCE.eClass();
+
+		// Obtain or create and register interdependencies
+		RobotMLPackageImpl theRobotMLPackage = (RobotMLPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(RobotMLPackage.eNS_URI) instanceof RobotMLPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(RobotMLPackage.eNS_URI) : RobotMLPackage.eINSTANCE);
+		Diagnostic_datatypesPackageImpl theDiagnostic_datatypesPackage = (Diagnostic_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Diagnostic_datatypesPackage.eNS_URI) instanceof Diagnostic_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Diagnostic_datatypesPackage.eNS_URI) : Diagnostic_datatypesPackage.eINSTANCE);
+		Nav_datatypesPackageImpl theNav_datatypesPackage = (Nav_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Nav_datatypesPackage.eNS_URI) instanceof Nav_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Nav_datatypesPackage.eNS_URI) : Nav_datatypesPackage.eINSTANCE);
+		Sensor_datatypesPackageImpl theSensor_datatypesPackage = (Sensor_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Sensor_datatypesPackage.eNS_URI) instanceof Sensor_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Sensor_datatypesPackage.eNS_URI) : Sensor_datatypesPackage.eINSTANCE);
+		Actionlib_datatypesPackageImpl theActionlib_datatypesPackage = (Actionlib_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Actionlib_datatypesPackage.eNS_URI) instanceof Actionlib_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Actionlib_datatypesPackage.eNS_URI) : Actionlib_datatypesPackage.eINSTANCE);
+		Oarp1_datatypesPackageImpl theOarp1_datatypesPackage = (Oarp1_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Oarp1_datatypesPackage.eNS_URI) instanceof Oarp1_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Oarp1_datatypesPackage.eNS_URI) : Oarp1_datatypesPackage.eINSTANCE);
+		Oarp4_datatypesPackageImpl theOarp4_datatypesPackage = (Oarp4_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Oarp4_datatypesPackage.eNS_URI) instanceof Oarp4_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Oarp4_datatypesPackage.eNS_URI) : Oarp4_datatypesPackage.eINSTANCE);
+		Std_datatypesPackageImpl theStd_datatypesPackage = (Std_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Std_datatypesPackage.eNS_URI) instanceof Std_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Std_datatypesPackage.eNS_URI) : Std_datatypesPackage.eINSTANCE);
+
+		// Create package meta-data objects
+		theGeometry_datatypesPackage.createPackageContents();
+		theRobotMLPackage.createPackageContents();
+		theDiagnostic_datatypesPackage.createPackageContents();
+		theNav_datatypesPackage.createPackageContents();
+		theSensor_datatypesPackage.createPackageContents();
+		theActionlib_datatypesPackage.createPackageContents();
+		theOarp1_datatypesPackage.createPackageContents();
+		theOarp4_datatypesPackage.createPackageContents();
+		theStd_datatypesPackage.createPackageContents();
+
+		// Initialize created meta-data
+		theGeometry_datatypesPackage.initializePackageContents();
+		theRobotMLPackage.initializePackageContents();
+		theDiagnostic_datatypesPackage.initializePackageContents();
+		theNav_datatypesPackage.initializePackageContents();
+		theSensor_datatypesPackage.initializePackageContents();
+		theActionlib_datatypesPackage.initializePackageContents();
+		theOarp1_datatypesPackage.initializePackageContents();
+		theOarp4_datatypesPackage.initializePackageContents();
+		theStd_datatypesPackage.initializePackageContents();
+
+		// Mark meta-data to indicate it can't be changed
+		theGeometry_datatypesPackage.freeze();
+
+
+		// Update the registry and return the package
+		EPackage.Registry.INSTANCE.put(Geometry_datatypesPackage.eNS_URI, theGeometry_datatypesPackage);
+		return theGeometry_datatypesPackage;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getPoint() {
+		return pointEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getPoint_X() {
+		return (EAttribute)pointEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getPoint_Y() {
+		return (EAttribute)pointEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getPoint_Z() {
+		return (EAttribute)pointEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getPoint32() {
+		return point32EClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getPoint32_X() {
+		return (EAttribute)point32EClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getPoint32_Y() {
+		return (EAttribute)point32EClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getPoint32_Z() {
+		return (EAttribute)point32EClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getPointStamped() {
+		return pointStampedEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getPointStamped_Header() {
+		return (EReference)pointStampedEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getPointStamped_Point() {
+		return (EReference)pointStampedEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getPolygon() {
+		return polygonEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getPolygon_Point() {
+		return (EReference)polygonEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getPolygonStamped() {
+		return polygonStampedEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getPolygonStamped_Header() {
+		return (EReference)polygonStampedEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getPolygonStamped_Polygon() {
+		return (EReference)polygonStampedEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getVector3() {
+		return vector3EClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getVector3_X() {
+		return (EAttribute)vector3EClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getVector3_Y() {
+		return (EAttribute)vector3EClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getVector3_Z() {
+		return (EAttribute)vector3EClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getVector3Stamped() {
+		return vector3StampedEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getVector3Stamped_Header() {
+		return (EReference)vector3StampedEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getVector3Stamped_Vector() {
+		return (EReference)vector3StampedEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getQuaternion() {
+		return quaternionEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getQuaternion_X() {
+		return (EAttribute)quaternionEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getQuaternion_Y() {
+		return (EAttribute)quaternionEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getQuaternion_Z() {
+		return (EAttribute)quaternionEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getQuaternion_W() {
+		return (EAttribute)quaternionEClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getPose() {
+		return poseEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getPose_Position() {
+		return (EReference)poseEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getPose_Orientation() {
+		return (EReference)poseEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getPoseStamped() {
+		return poseStampedEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getPoseStamped_Header() {
+		return (EReference)poseStampedEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getPoseStamped_Pose() {
+		return (EReference)poseStampedEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getTwistWithCovariance() {
+		return twistWithCovarianceEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getTwistWithCovariance_Twist() {
+		return (EReference)twistWithCovarianceEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getTwistWithCovariance_Covariance() {
+		return (EAttribute)twistWithCovarianceEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getTwist() {
+		return twistEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getTwist_Linear() {
+		return (EReference)twistEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getTwist_Angular() {
+		return (EReference)twistEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getTwistStamped() {
+		return twistStampedEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getTwistStamped_Header() {
+		return (EReference)twistStampedEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getTwistStamped_Twist() {
+		return (EReference)twistStampedEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getPoseWithCovariance() {
+		return poseWithCovarianceEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getPoseWithCovariance_Pose() {
+		return (EReference)poseWithCovarianceEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getPoseWithCovariance_Covariance() {
+		return (EAttribute)poseWithCovarianceEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getPose2D() {
+		return pose2DEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getPose2D_X() {
+		return (EAttribute)pose2DEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getPose2D_Y() {
+		return (EAttribute)pose2DEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getPose2D_Theta() {
+		return (EAttribute)pose2DEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getPoseWithCovarianceStamped() {
+		return poseWithCovarianceStampedEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getPoseArray() {
+		return poseArrayEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getPoseArray_Header() {
+		return (EReference)poseArrayEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getPoseArray_Poses() {
+		return (EReference)poseArrayEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getQuaternionStamped() {
+		return quaternionStampedEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getQuaternionStamped_Header() {
+		return (EReference)quaternionStampedEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getQuaternionStamped_Quaternion() {
+		return (EReference)quaternionStampedEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getTransform() {
+		return transformEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getTransform_Translation() {
+		return (EReference)transformEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getTransform_Rotation() {
+		return (EReference)transformEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getWrenchStamped() {
+		return wrenchStampedEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getWrenchStamped_Header() {
+		return (EReference)wrenchStampedEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getWrenchStamped_Wrench() {
+		return (EReference)wrenchStampedEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getWrench() {
+		return wrenchEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getWrench_Force() {
+		return (EReference)wrenchEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getWrench_Torque() {
+		return (EReference)wrenchEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Geometry_datatypesFactory getGeometry_datatypesFactory() {
+		return (Geometry_datatypesFactory)getEFactoryInstance();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private boolean isCreated = false;
+
+	/**
+	 * Creates the meta-model objects for the package. This method is
+	 * guarded to have no affect on any invocation but its first.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void createPackageContents() {
+		if(isCreated)
+			return;
+		isCreated = true;
+
+		// Create classes and their features
+		pointEClass = createEClass(POINT);
+		createEAttribute(pointEClass, POINT__X);
+		createEAttribute(pointEClass, POINT__Y);
+		createEAttribute(pointEClass, POINT__Z);
+
+		point32EClass = createEClass(POINT32);
+		createEAttribute(point32EClass, POINT32__X);
+		createEAttribute(point32EClass, POINT32__Y);
+		createEAttribute(point32EClass, POINT32__Z);
+
+		pointStampedEClass = createEClass(POINT_STAMPED);
+		createEReference(pointStampedEClass, POINT_STAMPED__HEADER);
+		createEReference(pointStampedEClass, POINT_STAMPED__POINT);
+
+		polygonEClass = createEClass(POLYGON);
+		createEReference(polygonEClass, POLYGON__POINT);
+
+		polygonStampedEClass = createEClass(POLYGON_STAMPED);
+		createEReference(polygonStampedEClass, POLYGON_STAMPED__HEADER);
+		createEReference(polygonStampedEClass, POLYGON_STAMPED__POLYGON);
+
+		vector3EClass = createEClass(VECTOR3);
+		createEAttribute(vector3EClass, VECTOR3__X);
+		createEAttribute(vector3EClass, VECTOR3__Y);
+		createEAttribute(vector3EClass, VECTOR3__Z);
+
+		vector3StampedEClass = createEClass(VECTOR3_STAMPED);
+		createEReference(vector3StampedEClass, VECTOR3_STAMPED__HEADER);
+		createEReference(vector3StampedEClass, VECTOR3_STAMPED__VECTOR);
+
+		quaternionEClass = createEClass(QUATERNION);
+		createEAttribute(quaternionEClass, QUATERNION__X);
+		createEAttribute(quaternionEClass, QUATERNION__Y);
+		createEAttribute(quaternionEClass, QUATERNION__Z);
+		createEAttribute(quaternionEClass, QUATERNION__W);
+
+		poseEClass = createEClass(POSE);
+		createEReference(poseEClass, POSE__POSITION);
+		createEReference(poseEClass, POSE__ORIENTATION);
+
+		poseStampedEClass = createEClass(POSE_STAMPED);
+		createEReference(poseStampedEClass, POSE_STAMPED__HEADER);
+		createEReference(poseStampedEClass, POSE_STAMPED__POSE);
+
+		twistWithCovarianceEClass = createEClass(TWIST_WITH_COVARIANCE);
+		createEReference(twistWithCovarianceEClass, TWIST_WITH_COVARIANCE__TWIST);
+		createEAttribute(twistWithCovarianceEClass, TWIST_WITH_COVARIANCE__COVARIANCE);
+
+		twistEClass = createEClass(TWIST);
+		createEReference(twistEClass, TWIST__LINEAR);
+		createEReference(twistEClass, TWIST__ANGULAR);
+
+		twistStampedEClass = createEClass(TWIST_STAMPED);
+		createEReference(twistStampedEClass, TWIST_STAMPED__HEADER);
+		createEReference(twistStampedEClass, TWIST_STAMPED__TWIST);
+
+		poseWithCovarianceEClass = createEClass(POSE_WITH_COVARIANCE);
+		createEReference(poseWithCovarianceEClass, POSE_WITH_COVARIANCE__POSE);
+		createEAttribute(poseWithCovarianceEClass, POSE_WITH_COVARIANCE__COVARIANCE);
+
+		pose2DEClass = createEClass(POSE2_D);
+		createEAttribute(pose2DEClass, POSE2_D__X);
+		createEAttribute(pose2DEClass, POSE2_D__Y);
+		createEAttribute(pose2DEClass, POSE2_D__THETA);
+
+		poseWithCovarianceStampedEClass = createEClass(POSE_WITH_COVARIANCE_STAMPED);
+
+		poseArrayEClass = createEClass(POSE_ARRAY);
+		createEReference(poseArrayEClass, POSE_ARRAY__HEADER);
+		createEReference(poseArrayEClass, POSE_ARRAY__POSES);
+
+		quaternionStampedEClass = createEClass(QUATERNION_STAMPED);
+		createEReference(quaternionStampedEClass, QUATERNION_STAMPED__HEADER);
+		createEReference(quaternionStampedEClass, QUATERNION_STAMPED__QUATERNION);
+
+		transformEClass = createEClass(TRANSFORM);
+		createEReference(transformEClass, TRANSFORM__TRANSLATION);
+		createEReference(transformEClass, TRANSFORM__ROTATION);
+
+		wrenchStampedEClass = createEClass(WRENCH_STAMPED);
+		createEReference(wrenchStampedEClass, WRENCH_STAMPED__HEADER);
+		createEReference(wrenchStampedEClass, WRENCH_STAMPED__WRENCH);
+
+		wrenchEClass = createEClass(WRENCH);
+		createEReference(wrenchEClass, WRENCH__FORCE);
+		createEReference(wrenchEClass, WRENCH__TORQUE);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private boolean isInitialized = false;
+
+	/**
+	 * Complete the initialization of the package and its meta-model. This
+	 * method is guarded to have no affect on any invocation but its first.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void initializePackageContents() {
+		if(isInitialized)
+			return;
+		isInitialized = true;
+
+		// Initialize package
+		setName(eNAME);
+		setNsPrefix(eNS_PREFIX);
+		setNsURI(eNS_URI);
+
+		// Obtain other dependent packages
+		Std_datatypesPackage theStd_datatypesPackage = (Std_datatypesPackage)EPackage.Registry.INSTANCE.getEPackage(Std_datatypesPackage.eNS_URI);
+
+		// Create type parameters
+
+		// Set bounds for type parameters
+
+		// Add supertypes to classes
+
+		// Initialize classes and features; add operations and parameters
+		initEClass(pointEClass, Point.class, "Point", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getPoint_X(), theStd_datatypesPackage.getFloat64(), "x", null, 1, 1, Point.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getPoint_Y(), theStd_datatypesPackage.getFloat64(), "y", null, 1, 1, Point.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getPoint_Z(), theStd_datatypesPackage.getFloat64(), "z", null, 1, 1, Point.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(point32EClass, Point32.class, "Point32", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getPoint32_X(), theStd_datatypesPackage.getFloat32(), "x", null, 1, 1, Point32.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getPoint32_Y(), theStd_datatypesPackage.getFloat32(), "y", null, 1, 1, Point32.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getPoint32_Z(), theStd_datatypesPackage.getFloat32(), "z", null, 1, 1, Point32.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(pointStampedEClass, PointStamped.class, "PointStamped", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getPointStamped_Header(), theStd_datatypesPackage.getHeader(), null, "header", null, 1, 1, PointStamped.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getPointStamped_Point(), this.getPoint(), null, "point", null, 1, 1, PointStamped.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(polygonEClass, Polygon.class, "Polygon", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getPolygon_Point(), this.getPoint32(), null, "point", null, 3, -1, Polygon.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(polygonStampedEClass, PolygonStamped.class, "PolygonStamped", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getPolygonStamped_Header(), theStd_datatypesPackage.getHeader(), null, "header", null, 1, 1, PolygonStamped.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getPolygonStamped_Polygon(), this.getPolygon(), null, "polygon", null, 1, 1, PolygonStamped.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(vector3EClass, Vector3.class, "Vector3", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getVector3_X(), theStd_datatypesPackage.getFloat64(), "x", null, 1, 1, Vector3.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getVector3_Y(), theStd_datatypesPackage.getFloat64(), "y", null, 1, 1, Vector3.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getVector3_Z(), theStd_datatypesPackage.getFloat64(), "z", null, 1, 1, Vector3.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(vector3StampedEClass, Vector3Stamped.class, "Vector3Stamped", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getVector3Stamped_Header(), theStd_datatypesPackage.getHeader(), null, "header", null, 1, 1, Vector3Stamped.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getVector3Stamped_Vector(), this.getVector3(), null, "vector", null, 1, 1, Vector3Stamped.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(quaternionEClass, Quaternion.class, "Quaternion", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getQuaternion_X(), theStd_datatypesPackage.getFloat64(), "x", null, 1, 1, Quaternion.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getQuaternion_Y(), theStd_datatypesPackage.getFloat64(), "y", null, 1, 1, Quaternion.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getQuaternion_Z(), theStd_datatypesPackage.getFloat64(), "z", null, 1, 1, Quaternion.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getQuaternion_W(), theStd_datatypesPackage.getFloat64(), "w", null, 1, 1, Quaternion.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(poseEClass, Pose.class, "Pose", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getPose_Position(), this.getPoint(), null, "position", null, 1, 1, Pose.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getPose_Orientation(), this.getQuaternion(), null, "orientation", null, 1, 1, Pose.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(poseStampedEClass, PoseStamped.class, "PoseStamped", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getPoseStamped_Header(), theStd_datatypesPackage.getHeader(), null, "header", null, 1, 1, PoseStamped.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getPoseStamped_Pose(), this.getPose(), null, "pose", null, 1, 1, PoseStamped.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(twistWithCovarianceEClass, TwistWithCovariance.class, "TwistWithCovariance", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getTwistWithCovariance_Twist(), this.getTwist(), null, "twist", null, 1, 1, TwistWithCovariance.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getTwistWithCovariance_Covariance(), theStd_datatypesPackage.getFloat64(), "covariance", null, 36, 36, TwistWithCovariance.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(twistEClass, Twist.class, "Twist", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getTwist_Linear(), this.getVector3(), null, "linear", null, 1, 1, Twist.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getTwist_Angular(), this.getVector3(), null, "angular", null, 1, 1, Twist.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(twistStampedEClass, TwistStamped.class, "TwistStamped", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getTwistStamped_Header(), theStd_datatypesPackage.getHeader(), null, "header", null, 1, 1, TwistStamped.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getTwistStamped_Twist(), this.getTwist(), null, "twist", null, 1, 1, TwistStamped.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(poseWithCovarianceEClass, PoseWithCovariance.class, "PoseWithCovariance", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getPoseWithCovariance_Pose(), this.getPose(), null, "pose", null, 1, 1, PoseWithCovariance.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getPoseWithCovariance_Covariance(), theStd_datatypesPackage.getFloat64(), "covariance", null, 36, 36, PoseWithCovariance.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(pose2DEClass, Pose2D.class, "Pose2D", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getPose2D_X(), theStd_datatypesPackage.getFloat64(), "x", null, 1, 1, Pose2D.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getPose2D_Y(), theStd_datatypesPackage.getFloat64(), "y", null, 1, 1, Pose2D.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getPose2D_Theta(), theStd_datatypesPackage.getFloat64(), "theta", null, 1, 1, Pose2D.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(poseWithCovarianceStampedEClass, PoseWithCovarianceStamped.class, "PoseWithCovarianceStamped", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(poseArrayEClass, PoseArray.class, "PoseArray", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getPoseArray_Header(), theStd_datatypesPackage.getHeader(), null, "header", null, 1, 1, PoseArray.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getPoseArray_Poses(), this.getPose(), null, "poses", null, 0, -1, PoseArray.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(quaternionStampedEClass, QuaternionStamped.class, "QuaternionStamped", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getQuaternionStamped_Header(), theStd_datatypesPackage.getHeader(), null, "header", null, 1, 1, QuaternionStamped.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getQuaternionStamped_Quaternion(), this.getQuaternion(), null, "quaternion", null, 1, 1, QuaternionStamped.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(transformEClass, Transform.class, "Transform", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getTransform_Translation(), this.getVector3(), null, "translation", null, 1, 1, Transform.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getTransform_Rotation(), this.getQuaternion(), null, "rotation", null, 1, 1, Transform.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(wrenchStampedEClass, WrenchStamped.class, "WrenchStamped", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getWrenchStamped_Header(), theStd_datatypesPackage.getHeader(), null, "header", null, 1, 1, WrenchStamped.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getWrenchStamped_Wrench(), this.getWrench(), null, "wrench", null, 1, 1, WrenchStamped.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(wrenchEClass, Wrench.class, "Wrench", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getWrench_Force(), this.getVector3(), null, "force", null, 1, 1, Wrench.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getWrench_Torque(), this.getVector3(), null, "torque", null, 1, 1, Wrench.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		// Create resource
+		createResource(eNS_URI);
+	}
+
+} //Geometry_datatypesPackageImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/Point32Impl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/Point32Impl.java
new file mode 100644
index 00000000000..7046498e456
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/Point32Impl.java
@@ -0,0 +1,298 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point32;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Point32</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Point32Impl#getX <em>X</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Point32Impl#getY <em>Y</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Point32Impl#getZ <em>Z</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class Point32Impl extends EObjectImpl implements Point32 {
+
+	/**
+	 * The default value of the '{@link #getX() <em>X</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getX()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float X_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getX() <em>X</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getX()
+	 * @generated
+	 * @ordered
+	 */
+	protected float x = X_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getY() <em>Y</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getY()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float Y_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getY() <em>Y</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getY()
+	 * @generated
+	 * @ordered
+	 */
+	protected float y = Y_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getZ() <em>Z</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getZ()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float Z_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getZ() <em>Z</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getZ()
+	 * @generated
+	 * @ordered
+	 */
+	protected float z = Z_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected Point32Impl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Geometry_datatypesPackage.Literals.POINT32;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getX() {
+		return x;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setX(float newX) {
+		float oldX = x;
+		x = newX;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.POINT32__X, oldX, x));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getY() {
+		return y;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setY(float newY) {
+		float oldY = y;
+		y = newY;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.POINT32__Y, oldY, y));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getZ() {
+		return z;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setZ(float newZ) {
+		float oldZ = z;
+		z = newZ;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.POINT32__Z, oldZ, z));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POINT32__X:
+			return getX();
+		case Geometry_datatypesPackage.POINT32__Y:
+			return getY();
+		case Geometry_datatypesPackage.POINT32__Z:
+			return getZ();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POINT32__X:
+			setX((Float)newValue);
+			return;
+		case Geometry_datatypesPackage.POINT32__Y:
+			setY((Float)newValue);
+			return;
+		case Geometry_datatypesPackage.POINT32__Z:
+			setZ((Float)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POINT32__X:
+			setX(X_EDEFAULT);
+			return;
+		case Geometry_datatypesPackage.POINT32__Y:
+			setY(Y_EDEFAULT);
+			return;
+		case Geometry_datatypesPackage.POINT32__Z:
+			setZ(Z_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POINT32__X:
+			return x != X_EDEFAULT;
+		case Geometry_datatypesPackage.POINT32__Y:
+			return y != Y_EDEFAULT;
+		case Geometry_datatypesPackage.POINT32__Z:
+			return z != Z_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (x: ");
+		result.append(x);
+		result.append(", y: ");
+		result.append(y);
+		result.append(", z: ");
+		result.append(z);
+		result.append(')');
+		return result.toString();
+	}
+
+} //Point32Impl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/PointImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/PointImpl.java
new file mode 100644
index 00000000000..bcfbb293ae9
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/PointImpl.java
@@ -0,0 +1,298 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Point</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PointImpl#getX <em>X</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PointImpl#getY <em>Y</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PointImpl#getZ <em>Z</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class PointImpl extends EObjectImpl implements Point {
+
+	/**
+	 * The default value of the '{@link #getX() <em>X</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getX()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final double X_EDEFAULT = 0.0;
+
+	/**
+	 * The cached value of the '{@link #getX() <em>X</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getX()
+	 * @generated
+	 * @ordered
+	 */
+	protected double x = X_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getY() <em>Y</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getY()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final double Y_EDEFAULT = 0.0;
+
+	/**
+	 * The cached value of the '{@link #getY() <em>Y</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getY()
+	 * @generated
+	 * @ordered
+	 */
+	protected double y = Y_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getZ() <em>Z</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getZ()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final double Z_EDEFAULT = 0.0;
+
+	/**
+	 * The cached value of the '{@link #getZ() <em>Z</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getZ()
+	 * @generated
+	 * @ordered
+	 */
+	protected double z = Z_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected PointImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Geometry_datatypesPackage.Literals.POINT;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public double getX() {
+		return x;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setX(double newX) {
+		double oldX = x;
+		x = newX;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.POINT__X, oldX, x));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public double getY() {
+		return y;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setY(double newY) {
+		double oldY = y;
+		y = newY;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.POINT__Y, oldY, y));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public double getZ() {
+		return z;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setZ(double newZ) {
+		double oldZ = z;
+		z = newZ;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.POINT__Z, oldZ, z));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POINT__X:
+			return getX();
+		case Geometry_datatypesPackage.POINT__Y:
+			return getY();
+		case Geometry_datatypesPackage.POINT__Z:
+			return getZ();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POINT__X:
+			setX((Double)newValue);
+			return;
+		case Geometry_datatypesPackage.POINT__Y:
+			setY((Double)newValue);
+			return;
+		case Geometry_datatypesPackage.POINT__Z:
+			setZ((Double)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POINT__X:
+			setX(X_EDEFAULT);
+			return;
+		case Geometry_datatypesPackage.POINT__Y:
+			setY(Y_EDEFAULT);
+			return;
+		case Geometry_datatypesPackage.POINT__Z:
+			setZ(Z_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POINT__X:
+			return x != X_EDEFAULT;
+		case Geometry_datatypesPackage.POINT__Y:
+			return y != Y_EDEFAULT;
+		case Geometry_datatypesPackage.POINT__Z:
+			return z != Z_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (x: ");
+		result.append(x);
+		result.append(", y: ");
+		result.append(y);
+		result.append(", z: ");
+		result.append(z);
+		result.append(')');
+		return result.toString();
+	}
+
+} //PointImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/PointStampedImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/PointStampedImpl.java
new file mode 100644
index 00000000000..62250fd649d
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/PointStampedImpl.java
@@ -0,0 +1,273 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PointStamped;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Point Stamped</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PointStampedImpl#getHeader <em>
+ * Header</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PointStampedImpl#getPoint <em>Point
+ * </em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class PointStampedImpl extends EObjectImpl implements PointStamped {
+
+	/**
+	 * The cached value of the '{@link #getHeader() <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHeader()
+	 * @generated
+	 * @ordered
+	 */
+	protected Header header;
+
+	/**
+	 * The cached value of the '{@link #getPoint() <em>Point</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getPoint()
+	 * @generated
+	 * @ordered
+	 */
+	protected Point point;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected PointStampedImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Geometry_datatypesPackage.Literals.POINT_STAMPED;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Header getHeader() {
+		return header;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetHeader(Header newHeader, NotificationChain msgs) {
+		Header oldHeader = header;
+		header = newHeader;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.POINT_STAMPED__HEADER, oldHeader, newHeader);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setHeader(Header newHeader) {
+		if(newHeader != header) {
+			NotificationChain msgs = null;
+			if(header != null)
+				msgs = ((InternalEObject)header).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.POINT_STAMPED__HEADER, null, msgs);
+			if(newHeader != null)
+				msgs = ((InternalEObject)newHeader).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.POINT_STAMPED__HEADER, null, msgs);
+			msgs = basicSetHeader(newHeader, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.POINT_STAMPED__HEADER, newHeader, newHeader));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Point getPoint() {
+		return point;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetPoint(Point newPoint, NotificationChain msgs) {
+		Point oldPoint = point;
+		point = newPoint;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.POINT_STAMPED__POINT, oldPoint, newPoint);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setPoint(Point newPoint) {
+		if(newPoint != point) {
+			NotificationChain msgs = null;
+			if(point != null)
+				msgs = ((InternalEObject)point).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.POINT_STAMPED__POINT, null, msgs);
+			if(newPoint != null)
+				msgs = ((InternalEObject)newPoint).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.POINT_STAMPED__POINT, null, msgs);
+			msgs = basicSetPoint(newPoint, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.POINT_STAMPED__POINT, newPoint, newPoint));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POINT_STAMPED__HEADER:
+			return basicSetHeader(null, msgs);
+		case Geometry_datatypesPackage.POINT_STAMPED__POINT:
+			return basicSetPoint(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POINT_STAMPED__HEADER:
+			return getHeader();
+		case Geometry_datatypesPackage.POINT_STAMPED__POINT:
+			return getPoint();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POINT_STAMPED__HEADER:
+			setHeader((Header)newValue);
+			return;
+		case Geometry_datatypesPackage.POINT_STAMPED__POINT:
+			setPoint((Point)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POINT_STAMPED__HEADER:
+			setHeader((Header)null);
+			return;
+		case Geometry_datatypesPackage.POINT_STAMPED__POINT:
+			setPoint((Point)null);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POINT_STAMPED__HEADER:
+			return header != null;
+		case Geometry_datatypesPackage.POINT_STAMPED__POINT:
+			return point != null;
+		}
+		return super.eIsSet(featureID);
+	}
+
+} //PointStampedImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/PolygonImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/PolygonImpl.java
new file mode 100644
index 00000000000..e94e14721f8
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/PolygonImpl.java
@@ -0,0 +1,167 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl;
+
+import java.util.Collection;
+
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.emf.ecore.util.EObjectContainmentEList;
+import org.eclipse.emf.ecore.util.InternalEList;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point32;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Polygon;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Polygon</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PolygonImpl#getPoint <em>Point</em>}
+ * </li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class PolygonImpl extends EObjectImpl implements Polygon {
+
+	/**
+	 * The cached value of the '{@link #getPoint() <em>Point</em>}' containment reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getPoint()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Point32> point;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected PolygonImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Geometry_datatypesPackage.Literals.POLYGON;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Point32> getPoint() {
+		if(point == null) {
+			point = new EObjectContainmentEList<Point32>(Point32.class, this, Geometry_datatypesPackage.POLYGON__POINT);
+		}
+		return point;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POLYGON__POINT:
+			return ((InternalEList<?>)getPoint()).basicRemove(otherEnd, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POLYGON__POINT:
+			return getPoint();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@SuppressWarnings("unchecked")
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POLYGON__POINT:
+			getPoint().clear();
+			getPoint().addAll((Collection<? extends Point32>)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POLYGON__POINT:
+			getPoint().clear();
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POLYGON__POINT:
+			return point != null && !point.isEmpty();
+		}
+		return super.eIsSet(featureID);
+	}
+
+} //PolygonImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/PolygonStampedImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/PolygonStampedImpl.java
new file mode 100644
index 00000000000..c7e45e78650
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/PolygonStampedImpl.java
@@ -0,0 +1,273 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Polygon;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PolygonStamped;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Polygon Stamped</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PolygonStampedImpl#getHeader <em>
+ * Header</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PolygonStampedImpl#getPolygon <em>
+ * Polygon</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class PolygonStampedImpl extends EObjectImpl implements PolygonStamped {
+
+	/**
+	 * The cached value of the '{@link #getHeader() <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHeader()
+	 * @generated
+	 * @ordered
+	 */
+	protected Header header;
+
+	/**
+	 * The cached value of the '{@link #getPolygon() <em>Polygon</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getPolygon()
+	 * @generated
+	 * @ordered
+	 */
+	protected Polygon polygon;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected PolygonStampedImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Geometry_datatypesPackage.Literals.POLYGON_STAMPED;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Header getHeader() {
+		return header;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetHeader(Header newHeader, NotificationChain msgs) {
+		Header oldHeader = header;
+		header = newHeader;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.POLYGON_STAMPED__HEADER, oldHeader, newHeader);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setHeader(Header newHeader) {
+		if(newHeader != header) {
+			NotificationChain msgs = null;
+			if(header != null)
+				msgs = ((InternalEObject)header).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.POLYGON_STAMPED__HEADER, null, msgs);
+			if(newHeader != null)
+				msgs = ((InternalEObject)newHeader).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.POLYGON_STAMPED__HEADER, null, msgs);
+			msgs = basicSetHeader(newHeader, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.POLYGON_STAMPED__HEADER, newHeader, newHeader));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Polygon getPolygon() {
+		return polygon;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetPolygon(Polygon newPolygon, NotificationChain msgs) {
+		Polygon oldPolygon = polygon;
+		polygon = newPolygon;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.POLYGON_STAMPED__POLYGON, oldPolygon, newPolygon);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setPolygon(Polygon newPolygon) {
+		if(newPolygon != polygon) {
+			NotificationChain msgs = null;
+			if(polygon != null)
+				msgs = ((InternalEObject)polygon).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.POLYGON_STAMPED__POLYGON, null, msgs);
+			if(newPolygon != null)
+				msgs = ((InternalEObject)newPolygon).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.POLYGON_STAMPED__POLYGON, null, msgs);
+			msgs = basicSetPolygon(newPolygon, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.POLYGON_STAMPED__POLYGON, newPolygon, newPolygon));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POLYGON_STAMPED__HEADER:
+			return basicSetHeader(null, msgs);
+		case Geometry_datatypesPackage.POLYGON_STAMPED__POLYGON:
+			return basicSetPolygon(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POLYGON_STAMPED__HEADER:
+			return getHeader();
+		case Geometry_datatypesPackage.POLYGON_STAMPED__POLYGON:
+			return getPolygon();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POLYGON_STAMPED__HEADER:
+			setHeader((Header)newValue);
+			return;
+		case Geometry_datatypesPackage.POLYGON_STAMPED__POLYGON:
+			setPolygon((Polygon)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POLYGON_STAMPED__HEADER:
+			setHeader((Header)null);
+			return;
+		case Geometry_datatypesPackage.POLYGON_STAMPED__POLYGON:
+			setPolygon((Polygon)null);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POLYGON_STAMPED__HEADER:
+			return header != null;
+		case Geometry_datatypesPackage.POLYGON_STAMPED__POLYGON:
+			return polygon != null;
+		}
+		return super.eIsSet(featureID);
+	}
+
+} //PolygonStampedImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/Pose2DImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/Pose2DImpl.java
new file mode 100644
index 00000000000..fa8242e68ca
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/Pose2DImpl.java
@@ -0,0 +1,298 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose2D;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Pose2 D</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Pose2DImpl#getX <em>X</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Pose2DImpl#getY <em>Y</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Pose2DImpl#getTheta <em>Theta</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class Pose2DImpl extends EObjectImpl implements Pose2D {
+
+	/**
+	 * The default value of the '{@link #getX() <em>X</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getX()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final double X_EDEFAULT = 0.0;
+
+	/**
+	 * The cached value of the '{@link #getX() <em>X</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getX()
+	 * @generated
+	 * @ordered
+	 */
+	protected double x = X_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getY() <em>Y</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getY()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final double Y_EDEFAULT = 0.0;
+
+	/**
+	 * The cached value of the '{@link #getY() <em>Y</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getY()
+	 * @generated
+	 * @ordered
+	 */
+	protected double y = Y_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getTheta() <em>Theta</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getTheta()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final double THETA_EDEFAULT = 0.0;
+
+	/**
+	 * The cached value of the '{@link #getTheta() <em>Theta</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getTheta()
+	 * @generated
+	 * @ordered
+	 */
+	protected double theta = THETA_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected Pose2DImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Geometry_datatypesPackage.Literals.POSE2_D;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public double getX() {
+		return x;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setX(double newX) {
+		double oldX = x;
+		x = newX;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.POSE2_D__X, oldX, x));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public double getY() {
+		return y;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setY(double newY) {
+		double oldY = y;
+		y = newY;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.POSE2_D__Y, oldY, y));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public double getTheta() {
+		return theta;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setTheta(double newTheta) {
+		double oldTheta = theta;
+		theta = newTheta;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.POSE2_D__THETA, oldTheta, theta));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POSE2_D__X:
+			return getX();
+		case Geometry_datatypesPackage.POSE2_D__Y:
+			return getY();
+		case Geometry_datatypesPackage.POSE2_D__THETA:
+			return getTheta();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POSE2_D__X:
+			setX((Double)newValue);
+			return;
+		case Geometry_datatypesPackage.POSE2_D__Y:
+			setY((Double)newValue);
+			return;
+		case Geometry_datatypesPackage.POSE2_D__THETA:
+			setTheta((Double)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POSE2_D__X:
+			setX(X_EDEFAULT);
+			return;
+		case Geometry_datatypesPackage.POSE2_D__Y:
+			setY(Y_EDEFAULT);
+			return;
+		case Geometry_datatypesPackage.POSE2_D__THETA:
+			setTheta(THETA_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POSE2_D__X:
+			return x != X_EDEFAULT;
+		case Geometry_datatypesPackage.POSE2_D__Y:
+			return y != Y_EDEFAULT;
+		case Geometry_datatypesPackage.POSE2_D__THETA:
+			return theta != THETA_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (x: ");
+		result.append(x);
+		result.append(", y: ");
+		result.append(y);
+		result.append(", theta: ");
+		result.append(theta);
+		result.append(')');
+		return result.toString();
+	}
+
+} //Pose2DImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/PoseArrayImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/PoseArrayImpl.java
new file mode 100644
index 00000000000..f2e5440237d
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/PoseArrayImpl.java
@@ -0,0 +1,244 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl;
+
+import java.util.Collection;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.emf.ecore.util.EObjectContainmentEList;
+import org.eclipse.emf.ecore.util.InternalEList;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Pose Array</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PoseArrayImpl#getHeader <em>Header
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PoseArrayImpl#getPoses <em>Poses
+ * </em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class PoseArrayImpl extends EObjectImpl implements PoseArray {
+
+	/**
+	 * The cached value of the '{@link #getHeader() <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHeader()
+	 * @generated
+	 * @ordered
+	 */
+	protected Header header;
+
+	/**
+	 * The cached value of the '{@link #getPoses() <em>Poses</em>}' containment reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getPoses()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Pose> poses;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected PoseArrayImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Geometry_datatypesPackage.Literals.POSE_ARRAY;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Header getHeader() {
+		return header;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetHeader(Header newHeader, NotificationChain msgs) {
+		Header oldHeader = header;
+		header = newHeader;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.POSE_ARRAY__HEADER, oldHeader, newHeader);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setHeader(Header newHeader) {
+		if(newHeader != header) {
+			NotificationChain msgs = null;
+			if(header != null)
+				msgs = ((InternalEObject)header).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.POSE_ARRAY__HEADER, null, msgs);
+			if(newHeader != null)
+				msgs = ((InternalEObject)newHeader).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.POSE_ARRAY__HEADER, null, msgs);
+			msgs = basicSetHeader(newHeader, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.POSE_ARRAY__HEADER, newHeader, newHeader));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Pose> getPoses() {
+		if(poses == null) {
+			poses = new EObjectContainmentEList<Pose>(Pose.class, this, Geometry_datatypesPackage.POSE_ARRAY__POSES);
+		}
+		return poses;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POSE_ARRAY__HEADER:
+			return basicSetHeader(null, msgs);
+		case Geometry_datatypesPackage.POSE_ARRAY__POSES:
+			return ((InternalEList<?>)getPoses()).basicRemove(otherEnd, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POSE_ARRAY__HEADER:
+			return getHeader();
+		case Geometry_datatypesPackage.POSE_ARRAY__POSES:
+			return getPoses();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@SuppressWarnings("unchecked")
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POSE_ARRAY__HEADER:
+			setHeader((Header)newValue);
+			return;
+		case Geometry_datatypesPackage.POSE_ARRAY__POSES:
+			getPoses().clear();
+			getPoses().addAll((Collection<? extends Pose>)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POSE_ARRAY__HEADER:
+			setHeader((Header)null);
+			return;
+		case Geometry_datatypesPackage.POSE_ARRAY__POSES:
+			getPoses().clear();
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POSE_ARRAY__HEADER:
+			return header != null;
+		case Geometry_datatypesPackage.POSE_ARRAY__POSES:
+			return poses != null && !poses.isEmpty();
+		}
+		return super.eIsSet(featureID);
+	}
+
+} //PoseArrayImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/PoseImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/PoseImpl.java
new file mode 100644
index 00000000000..20e5cdd6c8a
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/PoseImpl.java
@@ -0,0 +1,273 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Quaternion;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Pose</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PoseImpl#getPosition <em>Position
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PoseImpl#getOrientation <em>
+ * Orientation</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class PoseImpl extends EObjectImpl implements Pose {
+
+	/**
+	 * The cached value of the '{@link #getPosition() <em>Position</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getPosition()
+	 * @generated
+	 * @ordered
+	 */
+	protected Point position;
+
+	/**
+	 * The cached value of the '{@link #getOrientation() <em>Orientation</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getOrientation()
+	 * @generated
+	 * @ordered
+	 */
+	protected Quaternion orientation;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected PoseImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Geometry_datatypesPackage.Literals.POSE;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Point getPosition() {
+		return position;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetPosition(Point newPosition, NotificationChain msgs) {
+		Point oldPosition = position;
+		position = newPosition;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.POSE__POSITION, oldPosition, newPosition);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setPosition(Point newPosition) {
+		if(newPosition != position) {
+			NotificationChain msgs = null;
+			if(position != null)
+				msgs = ((InternalEObject)position).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.POSE__POSITION, null, msgs);
+			if(newPosition != null)
+				msgs = ((InternalEObject)newPosition).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.POSE__POSITION, null, msgs);
+			msgs = basicSetPosition(newPosition, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.POSE__POSITION, newPosition, newPosition));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Quaternion getOrientation() {
+		return orientation;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetOrientation(Quaternion newOrientation, NotificationChain msgs) {
+		Quaternion oldOrientation = orientation;
+		orientation = newOrientation;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.POSE__ORIENTATION, oldOrientation, newOrientation);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setOrientation(Quaternion newOrientation) {
+		if(newOrientation != orientation) {
+			NotificationChain msgs = null;
+			if(orientation != null)
+				msgs = ((InternalEObject)orientation).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.POSE__ORIENTATION, null, msgs);
+			if(newOrientation != null)
+				msgs = ((InternalEObject)newOrientation).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.POSE__ORIENTATION, null, msgs);
+			msgs = basicSetOrientation(newOrientation, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.POSE__ORIENTATION, newOrientation, newOrientation));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POSE__POSITION:
+			return basicSetPosition(null, msgs);
+		case Geometry_datatypesPackage.POSE__ORIENTATION:
+			return basicSetOrientation(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POSE__POSITION:
+			return getPosition();
+		case Geometry_datatypesPackage.POSE__ORIENTATION:
+			return getOrientation();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POSE__POSITION:
+			setPosition((Point)newValue);
+			return;
+		case Geometry_datatypesPackage.POSE__ORIENTATION:
+			setOrientation((Quaternion)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POSE__POSITION:
+			setPosition((Point)null);
+			return;
+		case Geometry_datatypesPackage.POSE__ORIENTATION:
+			setOrientation((Quaternion)null);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POSE__POSITION:
+			return position != null;
+		case Geometry_datatypesPackage.POSE__ORIENTATION:
+			return orientation != null;
+		}
+		return super.eIsSet(featureID);
+	}
+
+} //PoseImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/PoseStampedImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/PoseStampedImpl.java
new file mode 100644
index 00000000000..c2f82eabb85
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/PoseStampedImpl.java
@@ -0,0 +1,273 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseStamped;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Pose Stamped</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PoseStampedImpl#getHeader <em>Header
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PoseStampedImpl#getPose <em>Pose
+ * </em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class PoseStampedImpl extends EObjectImpl implements PoseStamped {
+
+	/**
+	 * The cached value of the '{@link #getHeader() <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHeader()
+	 * @generated
+	 * @ordered
+	 */
+	protected Header header;
+
+	/**
+	 * The cached value of the '{@link #getPose() <em>Pose</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getPose()
+	 * @generated
+	 * @ordered
+	 */
+	protected Pose pose;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected PoseStampedImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Geometry_datatypesPackage.Literals.POSE_STAMPED;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Header getHeader() {
+		return header;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetHeader(Header newHeader, NotificationChain msgs) {
+		Header oldHeader = header;
+		header = newHeader;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.POSE_STAMPED__HEADER, oldHeader, newHeader);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setHeader(Header newHeader) {
+		if(newHeader != header) {
+			NotificationChain msgs = null;
+			if(header != null)
+				msgs = ((InternalEObject)header).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.POSE_STAMPED__HEADER, null, msgs);
+			if(newHeader != null)
+				msgs = ((InternalEObject)newHeader).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.POSE_STAMPED__HEADER, null, msgs);
+			msgs = basicSetHeader(newHeader, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.POSE_STAMPED__HEADER, newHeader, newHeader));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Pose getPose() {
+		return pose;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetPose(Pose newPose, NotificationChain msgs) {
+		Pose oldPose = pose;
+		pose = newPose;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.POSE_STAMPED__POSE, oldPose, newPose);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setPose(Pose newPose) {
+		if(newPose != pose) {
+			NotificationChain msgs = null;
+			if(pose != null)
+				msgs = ((InternalEObject)pose).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.POSE_STAMPED__POSE, null, msgs);
+			if(newPose != null)
+				msgs = ((InternalEObject)newPose).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.POSE_STAMPED__POSE, null, msgs);
+			msgs = basicSetPose(newPose, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.POSE_STAMPED__POSE, newPose, newPose));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POSE_STAMPED__HEADER:
+			return basicSetHeader(null, msgs);
+		case Geometry_datatypesPackage.POSE_STAMPED__POSE:
+			return basicSetPose(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POSE_STAMPED__HEADER:
+			return getHeader();
+		case Geometry_datatypesPackage.POSE_STAMPED__POSE:
+			return getPose();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POSE_STAMPED__HEADER:
+			setHeader((Header)newValue);
+			return;
+		case Geometry_datatypesPackage.POSE_STAMPED__POSE:
+			setPose((Pose)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POSE_STAMPED__HEADER:
+			setHeader((Header)null);
+			return;
+		case Geometry_datatypesPackage.POSE_STAMPED__POSE:
+			setPose((Pose)null);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POSE_STAMPED__HEADER:
+			return header != null;
+		case Geometry_datatypesPackage.POSE_STAMPED__POSE:
+			return pose != null;
+		}
+		return super.eIsSet(featureID);
+	}
+
+} //PoseStampedImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/PoseWithCovarianceImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/PoseWithCovarianceImpl.java
new file mode 100644
index 00000000000..a2cd4ee9990
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/PoseWithCovarianceImpl.java
@@ -0,0 +1,259 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl;
+
+import java.util.Collection;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.emf.ecore.util.EDataTypeUniqueEList;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseWithCovariance;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Pose With Covariance</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PoseWithCovarianceImpl#getPose <em>
+ * Pose</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.PoseWithCovarianceImpl#getCovariance
+ * <em>Covariance</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class PoseWithCovarianceImpl extends EObjectImpl implements PoseWithCovariance {
+
+	/**
+	 * The cached value of the '{@link #getPose() <em>Pose</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getPose()
+	 * @generated
+	 * @ordered
+	 */
+	protected Pose pose;
+
+	/**
+	 * The cached value of the '{@link #getCovariance() <em>Covariance</em>}' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getCovariance()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Double> covariance;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected PoseWithCovarianceImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Geometry_datatypesPackage.Literals.POSE_WITH_COVARIANCE;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Pose getPose() {
+		return pose;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetPose(Pose newPose, NotificationChain msgs) {
+		Pose oldPose = pose;
+		pose = newPose;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.POSE_WITH_COVARIANCE__POSE, oldPose, newPose);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setPose(Pose newPose) {
+		if(newPose != pose) {
+			NotificationChain msgs = null;
+			if(pose != null)
+				msgs = ((InternalEObject)pose).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.POSE_WITH_COVARIANCE__POSE, null, msgs);
+			if(newPose != null)
+				msgs = ((InternalEObject)newPose).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.POSE_WITH_COVARIANCE__POSE, null, msgs);
+			msgs = basicSetPose(newPose, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.POSE_WITH_COVARIANCE__POSE, newPose, newPose));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Double> getCovariance() {
+		if(covariance == null) {
+			covariance = new EDataTypeUniqueEList<Double>(Double.class, this, Geometry_datatypesPackage.POSE_WITH_COVARIANCE__COVARIANCE);
+		}
+		return covariance;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POSE_WITH_COVARIANCE__POSE:
+			return basicSetPose(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POSE_WITH_COVARIANCE__POSE:
+			return getPose();
+		case Geometry_datatypesPackage.POSE_WITH_COVARIANCE__COVARIANCE:
+			return getCovariance();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@SuppressWarnings("unchecked")
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POSE_WITH_COVARIANCE__POSE:
+			setPose((Pose)newValue);
+			return;
+		case Geometry_datatypesPackage.POSE_WITH_COVARIANCE__COVARIANCE:
+			getCovariance().clear();
+			getCovariance().addAll((Collection<? extends Double>)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POSE_WITH_COVARIANCE__POSE:
+			setPose((Pose)null);
+			return;
+		case Geometry_datatypesPackage.POSE_WITH_COVARIANCE__COVARIANCE:
+			getCovariance().clear();
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.POSE_WITH_COVARIANCE__POSE:
+			return pose != null;
+		case Geometry_datatypesPackage.POSE_WITH_COVARIANCE__COVARIANCE:
+			return covariance != null && !covariance.isEmpty();
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (covariance: ");
+		result.append(covariance);
+		result.append(')');
+		return result.toString();
+	}
+
+} //PoseWithCovarianceImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/PoseWithCovarianceStampedImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/PoseWithCovarianceStampedImpl.java
new file mode 100644
index 00000000000..bfc74e01380
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/PoseWithCovarianceStampedImpl.java
@@ -0,0 +1,51 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl;
+
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseWithCovarianceStamped;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Pose With Covariance Stamped</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * </p>
+ * 
+ * @generated
+ */
+public class PoseWithCovarianceStampedImpl extends EObjectImpl implements PoseWithCovarianceStamped {
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected PoseWithCovarianceStampedImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Geometry_datatypesPackage.Literals.POSE_WITH_COVARIANCE_STAMPED;
+	}
+
+} //PoseWithCovarianceStampedImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/QuaternionImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/QuaternionImpl.java
new file mode 100644
index 00000000000..c5350839c70
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/QuaternionImpl.java
@@ -0,0 +1,356 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Quaternion;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Quaternion</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.QuaternionImpl#getX <em>X</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.QuaternionImpl#getY <em>Y</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.QuaternionImpl#getZ <em>Z</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.QuaternionImpl#getW <em>W</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class QuaternionImpl extends EObjectImpl implements Quaternion {
+
+	/**
+	 * The default value of the '{@link #getX() <em>X</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getX()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final double X_EDEFAULT = 0.0;
+
+	/**
+	 * The cached value of the '{@link #getX() <em>X</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getX()
+	 * @generated
+	 * @ordered
+	 */
+	protected double x = X_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getY() <em>Y</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getY()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final double Y_EDEFAULT = 0.0;
+
+	/**
+	 * The cached value of the '{@link #getY() <em>Y</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getY()
+	 * @generated
+	 * @ordered
+	 */
+	protected double y = Y_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getZ() <em>Z</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getZ()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final double Z_EDEFAULT = 0.0;
+
+	/**
+	 * The cached value of the '{@link #getZ() <em>Z</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getZ()
+	 * @generated
+	 * @ordered
+	 */
+	protected double z = Z_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getW() <em>W</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getW()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final double W_EDEFAULT = 0.0;
+
+	/**
+	 * The cached value of the '{@link #getW() <em>W</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getW()
+	 * @generated
+	 * @ordered
+	 */
+	protected double w = W_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected QuaternionImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Geometry_datatypesPackage.Literals.QUATERNION;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public double getX() {
+		return x;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setX(double newX) {
+		double oldX = x;
+		x = newX;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.QUATERNION__X, oldX, x));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public double getY() {
+		return y;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setY(double newY) {
+		double oldY = y;
+		y = newY;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.QUATERNION__Y, oldY, y));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public double getZ() {
+		return z;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setZ(double newZ) {
+		double oldZ = z;
+		z = newZ;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.QUATERNION__Z, oldZ, z));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public double getW() {
+		return w;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setW(double newW) {
+		double oldW = w;
+		w = newW;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.QUATERNION__W, oldW, w));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.QUATERNION__X:
+			return getX();
+		case Geometry_datatypesPackage.QUATERNION__Y:
+			return getY();
+		case Geometry_datatypesPackage.QUATERNION__Z:
+			return getZ();
+		case Geometry_datatypesPackage.QUATERNION__W:
+			return getW();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.QUATERNION__X:
+			setX((Double)newValue);
+			return;
+		case Geometry_datatypesPackage.QUATERNION__Y:
+			setY((Double)newValue);
+			return;
+		case Geometry_datatypesPackage.QUATERNION__Z:
+			setZ((Double)newValue);
+			return;
+		case Geometry_datatypesPackage.QUATERNION__W:
+			setW((Double)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.QUATERNION__X:
+			setX(X_EDEFAULT);
+			return;
+		case Geometry_datatypesPackage.QUATERNION__Y:
+			setY(Y_EDEFAULT);
+			return;
+		case Geometry_datatypesPackage.QUATERNION__Z:
+			setZ(Z_EDEFAULT);
+			return;
+		case Geometry_datatypesPackage.QUATERNION__W:
+			setW(W_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.QUATERNION__X:
+			return x != X_EDEFAULT;
+		case Geometry_datatypesPackage.QUATERNION__Y:
+			return y != Y_EDEFAULT;
+		case Geometry_datatypesPackage.QUATERNION__Z:
+			return z != Z_EDEFAULT;
+		case Geometry_datatypesPackage.QUATERNION__W:
+			return w != W_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (x: ");
+		result.append(x);
+		result.append(", y: ");
+		result.append(y);
+		result.append(", z: ");
+		result.append(z);
+		result.append(", w: ");
+		result.append(w);
+		result.append(')');
+		return result.toString();
+	}
+
+} //QuaternionImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/QuaternionStampedImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/QuaternionStampedImpl.java
new file mode 100644
index 00000000000..9ce0bb4c397
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/QuaternionStampedImpl.java
@@ -0,0 +1,273 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Quaternion;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.QuaternionStamped;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Quaternion Stamped</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.QuaternionStampedImpl#getHeader <em>
+ * Header</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.QuaternionStampedImpl#getQuaternion
+ * <em>Quaternion</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class QuaternionStampedImpl extends EObjectImpl implements QuaternionStamped {
+
+	/**
+	 * The cached value of the '{@link #getHeader() <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHeader()
+	 * @generated
+	 * @ordered
+	 */
+	protected Header header;
+
+	/**
+	 * The cached value of the '{@link #getQuaternion() <em>Quaternion</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getQuaternion()
+	 * @generated
+	 * @ordered
+	 */
+	protected Quaternion quaternion;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected QuaternionStampedImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Geometry_datatypesPackage.Literals.QUATERNION_STAMPED;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Header getHeader() {
+		return header;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetHeader(Header newHeader, NotificationChain msgs) {
+		Header oldHeader = header;
+		header = newHeader;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.QUATERNION_STAMPED__HEADER, oldHeader, newHeader);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setHeader(Header newHeader) {
+		if(newHeader != header) {
+			NotificationChain msgs = null;
+			if(header != null)
+				msgs = ((InternalEObject)header).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.QUATERNION_STAMPED__HEADER, null, msgs);
+			if(newHeader != null)
+				msgs = ((InternalEObject)newHeader).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.QUATERNION_STAMPED__HEADER, null, msgs);
+			msgs = basicSetHeader(newHeader, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.QUATERNION_STAMPED__HEADER, newHeader, newHeader));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Quaternion getQuaternion() {
+		return quaternion;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetQuaternion(Quaternion newQuaternion, NotificationChain msgs) {
+		Quaternion oldQuaternion = quaternion;
+		quaternion = newQuaternion;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.QUATERNION_STAMPED__QUATERNION, oldQuaternion, newQuaternion);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setQuaternion(Quaternion newQuaternion) {
+		if(newQuaternion != quaternion) {
+			NotificationChain msgs = null;
+			if(quaternion != null)
+				msgs = ((InternalEObject)quaternion).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.QUATERNION_STAMPED__QUATERNION, null, msgs);
+			if(newQuaternion != null)
+				msgs = ((InternalEObject)newQuaternion).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.QUATERNION_STAMPED__QUATERNION, null, msgs);
+			msgs = basicSetQuaternion(newQuaternion, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.QUATERNION_STAMPED__QUATERNION, newQuaternion, newQuaternion));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.QUATERNION_STAMPED__HEADER:
+			return basicSetHeader(null, msgs);
+		case Geometry_datatypesPackage.QUATERNION_STAMPED__QUATERNION:
+			return basicSetQuaternion(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.QUATERNION_STAMPED__HEADER:
+			return getHeader();
+		case Geometry_datatypesPackage.QUATERNION_STAMPED__QUATERNION:
+			return getQuaternion();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.QUATERNION_STAMPED__HEADER:
+			setHeader((Header)newValue);
+			return;
+		case Geometry_datatypesPackage.QUATERNION_STAMPED__QUATERNION:
+			setQuaternion((Quaternion)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.QUATERNION_STAMPED__HEADER:
+			setHeader((Header)null);
+			return;
+		case Geometry_datatypesPackage.QUATERNION_STAMPED__QUATERNION:
+			setQuaternion((Quaternion)null);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.QUATERNION_STAMPED__HEADER:
+			return header != null;
+		case Geometry_datatypesPackage.QUATERNION_STAMPED__QUATERNION:
+			return quaternion != null;
+		}
+		return super.eIsSet(featureID);
+	}
+
+} //QuaternionStampedImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/TransformImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/TransformImpl.java
new file mode 100644
index 00000000000..af762e624bc
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/TransformImpl.java
@@ -0,0 +1,273 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Quaternion;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Transform;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Transform</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.TransformImpl#getTranslation <em>
+ * Translation</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.TransformImpl#getRotation <em>
+ * Rotation</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class TransformImpl extends EObjectImpl implements Transform {
+
+	/**
+	 * The cached value of the '{@link #getTranslation() <em>Translation</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getTranslation()
+	 * @generated
+	 * @ordered
+	 */
+	protected Vector3 translation;
+
+	/**
+	 * The cached value of the '{@link #getRotation() <em>Rotation</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getRotation()
+	 * @generated
+	 * @ordered
+	 */
+	protected Quaternion rotation;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected TransformImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Geometry_datatypesPackage.Literals.TRANSFORM;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Vector3 getTranslation() {
+		return translation;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetTranslation(Vector3 newTranslation, NotificationChain msgs) {
+		Vector3 oldTranslation = translation;
+		translation = newTranslation;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.TRANSFORM__TRANSLATION, oldTranslation, newTranslation);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setTranslation(Vector3 newTranslation) {
+		if(newTranslation != translation) {
+			NotificationChain msgs = null;
+			if(translation != null)
+				msgs = ((InternalEObject)translation).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.TRANSFORM__TRANSLATION, null, msgs);
+			if(newTranslation != null)
+				msgs = ((InternalEObject)newTranslation).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.TRANSFORM__TRANSLATION, null, msgs);
+			msgs = basicSetTranslation(newTranslation, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.TRANSFORM__TRANSLATION, newTranslation, newTranslation));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Quaternion getRotation() {
+		return rotation;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetRotation(Quaternion newRotation, NotificationChain msgs) {
+		Quaternion oldRotation = rotation;
+		rotation = newRotation;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.TRANSFORM__ROTATION, oldRotation, newRotation);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setRotation(Quaternion newRotation) {
+		if(newRotation != rotation) {
+			NotificationChain msgs = null;
+			if(rotation != null)
+				msgs = ((InternalEObject)rotation).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.TRANSFORM__ROTATION, null, msgs);
+			if(newRotation != null)
+				msgs = ((InternalEObject)newRotation).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.TRANSFORM__ROTATION, null, msgs);
+			msgs = basicSetRotation(newRotation, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.TRANSFORM__ROTATION, newRotation, newRotation));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.TRANSFORM__TRANSLATION:
+			return basicSetTranslation(null, msgs);
+		case Geometry_datatypesPackage.TRANSFORM__ROTATION:
+			return basicSetRotation(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.TRANSFORM__TRANSLATION:
+			return getTranslation();
+		case Geometry_datatypesPackage.TRANSFORM__ROTATION:
+			return getRotation();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.TRANSFORM__TRANSLATION:
+			setTranslation((Vector3)newValue);
+			return;
+		case Geometry_datatypesPackage.TRANSFORM__ROTATION:
+			setRotation((Quaternion)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.TRANSFORM__TRANSLATION:
+			setTranslation((Vector3)null);
+			return;
+		case Geometry_datatypesPackage.TRANSFORM__ROTATION:
+			setRotation((Quaternion)null);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.TRANSFORM__TRANSLATION:
+			return translation != null;
+		case Geometry_datatypesPackage.TRANSFORM__ROTATION:
+			return rotation != null;
+		}
+		return super.eIsSet(featureID);
+	}
+
+} //TransformImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/TwistImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/TwistImpl.java
new file mode 100644
index 00000000000..45a56e6e520
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/TwistImpl.java
@@ -0,0 +1,272 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Twist;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Twist</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.TwistImpl#getLinear <em>Linear</em>}
+ * </li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.TwistImpl#getAngular <em>Angular
+ * </em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class TwistImpl extends EObjectImpl implements Twist {
+
+	/**
+	 * The cached value of the '{@link #getLinear() <em>Linear</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLinear()
+	 * @generated
+	 * @ordered
+	 */
+	protected Vector3 linear;
+
+	/**
+	 * The cached value of the '{@link #getAngular() <em>Angular</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getAngular()
+	 * @generated
+	 * @ordered
+	 */
+	protected Vector3 angular;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected TwistImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Geometry_datatypesPackage.Literals.TWIST;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Vector3 getLinear() {
+		return linear;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetLinear(Vector3 newLinear, NotificationChain msgs) {
+		Vector3 oldLinear = linear;
+		linear = newLinear;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.TWIST__LINEAR, oldLinear, newLinear);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setLinear(Vector3 newLinear) {
+		if(newLinear != linear) {
+			NotificationChain msgs = null;
+			if(linear != null)
+				msgs = ((InternalEObject)linear).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.TWIST__LINEAR, null, msgs);
+			if(newLinear != null)
+				msgs = ((InternalEObject)newLinear).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.TWIST__LINEAR, null, msgs);
+			msgs = basicSetLinear(newLinear, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.TWIST__LINEAR, newLinear, newLinear));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Vector3 getAngular() {
+		return angular;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetAngular(Vector3 newAngular, NotificationChain msgs) {
+		Vector3 oldAngular = angular;
+		angular = newAngular;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.TWIST__ANGULAR, oldAngular, newAngular);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setAngular(Vector3 newAngular) {
+		if(newAngular != angular) {
+			NotificationChain msgs = null;
+			if(angular != null)
+				msgs = ((InternalEObject)angular).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.TWIST__ANGULAR, null, msgs);
+			if(newAngular != null)
+				msgs = ((InternalEObject)newAngular).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.TWIST__ANGULAR, null, msgs);
+			msgs = basicSetAngular(newAngular, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.TWIST__ANGULAR, newAngular, newAngular));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.TWIST__LINEAR:
+			return basicSetLinear(null, msgs);
+		case Geometry_datatypesPackage.TWIST__ANGULAR:
+			return basicSetAngular(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.TWIST__LINEAR:
+			return getLinear();
+		case Geometry_datatypesPackage.TWIST__ANGULAR:
+			return getAngular();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.TWIST__LINEAR:
+			setLinear((Vector3)newValue);
+			return;
+		case Geometry_datatypesPackage.TWIST__ANGULAR:
+			setAngular((Vector3)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.TWIST__LINEAR:
+			setLinear((Vector3)null);
+			return;
+		case Geometry_datatypesPackage.TWIST__ANGULAR:
+			setAngular((Vector3)null);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.TWIST__LINEAR:
+			return linear != null;
+		case Geometry_datatypesPackage.TWIST__ANGULAR:
+			return angular != null;
+		}
+		return super.eIsSet(featureID);
+	}
+
+} //TwistImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/TwistStampedImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/TwistStampedImpl.java
new file mode 100644
index 00000000000..17a200a365f
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/TwistStampedImpl.java
@@ -0,0 +1,273 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Twist;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.TwistStamped;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Twist Stamped</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.TwistStampedImpl#getHeader <em>
+ * Header</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.TwistStampedImpl#getTwist <em>Twist
+ * </em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class TwistStampedImpl extends EObjectImpl implements TwistStamped {
+
+	/**
+	 * The cached value of the '{@link #getHeader() <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHeader()
+	 * @generated
+	 * @ordered
+	 */
+	protected Header header;
+
+	/**
+	 * The cached value of the '{@link #getTwist() <em>Twist</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getTwist()
+	 * @generated
+	 * @ordered
+	 */
+	protected Twist twist;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected TwistStampedImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Geometry_datatypesPackage.Literals.TWIST_STAMPED;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Header getHeader() {
+		return header;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetHeader(Header newHeader, NotificationChain msgs) {
+		Header oldHeader = header;
+		header = newHeader;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.TWIST_STAMPED__HEADER, oldHeader, newHeader);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setHeader(Header newHeader) {
+		if(newHeader != header) {
+			NotificationChain msgs = null;
+			if(header != null)
+				msgs = ((InternalEObject)header).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.TWIST_STAMPED__HEADER, null, msgs);
+			if(newHeader != null)
+				msgs = ((InternalEObject)newHeader).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.TWIST_STAMPED__HEADER, null, msgs);
+			msgs = basicSetHeader(newHeader, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.TWIST_STAMPED__HEADER, newHeader, newHeader));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Twist getTwist() {
+		return twist;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetTwist(Twist newTwist, NotificationChain msgs) {
+		Twist oldTwist = twist;
+		twist = newTwist;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.TWIST_STAMPED__TWIST, oldTwist, newTwist);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setTwist(Twist newTwist) {
+		if(newTwist != twist) {
+			NotificationChain msgs = null;
+			if(twist != null)
+				msgs = ((InternalEObject)twist).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.TWIST_STAMPED__TWIST, null, msgs);
+			if(newTwist != null)
+				msgs = ((InternalEObject)newTwist).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.TWIST_STAMPED__TWIST, null, msgs);
+			msgs = basicSetTwist(newTwist, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.TWIST_STAMPED__TWIST, newTwist, newTwist));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.TWIST_STAMPED__HEADER:
+			return basicSetHeader(null, msgs);
+		case Geometry_datatypesPackage.TWIST_STAMPED__TWIST:
+			return basicSetTwist(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.TWIST_STAMPED__HEADER:
+			return getHeader();
+		case Geometry_datatypesPackage.TWIST_STAMPED__TWIST:
+			return getTwist();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.TWIST_STAMPED__HEADER:
+			setHeader((Header)newValue);
+			return;
+		case Geometry_datatypesPackage.TWIST_STAMPED__TWIST:
+			setTwist((Twist)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.TWIST_STAMPED__HEADER:
+			setHeader((Header)null);
+			return;
+		case Geometry_datatypesPackage.TWIST_STAMPED__TWIST:
+			setTwist((Twist)null);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.TWIST_STAMPED__HEADER:
+			return header != null;
+		case Geometry_datatypesPackage.TWIST_STAMPED__TWIST:
+			return twist != null;
+		}
+		return super.eIsSet(featureID);
+	}
+
+} //TwistStampedImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/TwistWithCovarianceImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/TwistWithCovarianceImpl.java
new file mode 100644
index 00000000000..54ad64f5be1
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/TwistWithCovarianceImpl.java
@@ -0,0 +1,259 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl;
+
+import java.util.Collection;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.emf.ecore.util.EDataTypeUniqueEList;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Twist;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.TwistWithCovariance;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Twist With Covariance</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.TwistWithCovarianceImpl#getTwist
+ * <em>Twist</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.TwistWithCovarianceImpl#getCovariance
+ * <em>Covariance</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class TwistWithCovarianceImpl extends EObjectImpl implements TwistWithCovariance {
+
+	/**
+	 * The cached value of the '{@link #getTwist() <em>Twist</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getTwist()
+	 * @generated
+	 * @ordered
+	 */
+	protected Twist twist;
+
+	/**
+	 * The cached value of the '{@link #getCovariance() <em>Covariance</em>}' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getCovariance()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Double> covariance;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected TwistWithCovarianceImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Geometry_datatypesPackage.Literals.TWIST_WITH_COVARIANCE;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Twist getTwist() {
+		return twist;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetTwist(Twist newTwist, NotificationChain msgs) {
+		Twist oldTwist = twist;
+		twist = newTwist;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.TWIST_WITH_COVARIANCE__TWIST, oldTwist, newTwist);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setTwist(Twist newTwist) {
+		if(newTwist != twist) {
+			NotificationChain msgs = null;
+			if(twist != null)
+				msgs = ((InternalEObject)twist).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.TWIST_WITH_COVARIANCE__TWIST, null, msgs);
+			if(newTwist != null)
+				msgs = ((InternalEObject)newTwist).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.TWIST_WITH_COVARIANCE__TWIST, null, msgs);
+			msgs = basicSetTwist(newTwist, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.TWIST_WITH_COVARIANCE__TWIST, newTwist, newTwist));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Double> getCovariance() {
+		if(covariance == null) {
+			covariance = new EDataTypeUniqueEList<Double>(Double.class, this, Geometry_datatypesPackage.TWIST_WITH_COVARIANCE__COVARIANCE);
+		}
+		return covariance;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.TWIST_WITH_COVARIANCE__TWIST:
+			return basicSetTwist(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.TWIST_WITH_COVARIANCE__TWIST:
+			return getTwist();
+		case Geometry_datatypesPackage.TWIST_WITH_COVARIANCE__COVARIANCE:
+			return getCovariance();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@SuppressWarnings("unchecked")
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.TWIST_WITH_COVARIANCE__TWIST:
+			setTwist((Twist)newValue);
+			return;
+		case Geometry_datatypesPackage.TWIST_WITH_COVARIANCE__COVARIANCE:
+			getCovariance().clear();
+			getCovariance().addAll((Collection<? extends Double>)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.TWIST_WITH_COVARIANCE__TWIST:
+			setTwist((Twist)null);
+			return;
+		case Geometry_datatypesPackage.TWIST_WITH_COVARIANCE__COVARIANCE:
+			getCovariance().clear();
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.TWIST_WITH_COVARIANCE__TWIST:
+			return twist != null;
+		case Geometry_datatypesPackage.TWIST_WITH_COVARIANCE__COVARIANCE:
+			return covariance != null && !covariance.isEmpty();
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (covariance: ");
+		result.append(covariance);
+		result.append(')');
+		return result.toString();
+	}
+
+} //TwistWithCovarianceImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/Vector3Impl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/Vector3Impl.java
new file mode 100644
index 00000000000..89c526398c2
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/Vector3Impl.java
@@ -0,0 +1,298 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Vector3</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Vector3Impl#getX <em>X</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Vector3Impl#getY <em>Y</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Vector3Impl#getZ <em>Z</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class Vector3Impl extends EObjectImpl implements Vector3 {
+
+	/**
+	 * The default value of the '{@link #getX() <em>X</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getX()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final double X_EDEFAULT = 0.0;
+
+	/**
+	 * The cached value of the '{@link #getX() <em>X</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getX()
+	 * @generated
+	 * @ordered
+	 */
+	protected double x = X_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getY() <em>Y</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getY()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final double Y_EDEFAULT = 0.0;
+
+	/**
+	 * The cached value of the '{@link #getY() <em>Y</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getY()
+	 * @generated
+	 * @ordered
+	 */
+	protected double y = Y_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getZ() <em>Z</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getZ()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final double Z_EDEFAULT = 0.0;
+
+	/**
+	 * The cached value of the '{@link #getZ() <em>Z</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getZ()
+	 * @generated
+	 * @ordered
+	 */
+	protected double z = Z_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected Vector3Impl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Geometry_datatypesPackage.Literals.VECTOR3;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public double getX() {
+		return x;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setX(double newX) {
+		double oldX = x;
+		x = newX;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.VECTOR3__X, oldX, x));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public double getY() {
+		return y;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setY(double newY) {
+		double oldY = y;
+		y = newY;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.VECTOR3__Y, oldY, y));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public double getZ() {
+		return z;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setZ(double newZ) {
+		double oldZ = z;
+		z = newZ;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.VECTOR3__Z, oldZ, z));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.VECTOR3__X:
+			return getX();
+		case Geometry_datatypesPackage.VECTOR3__Y:
+			return getY();
+		case Geometry_datatypesPackage.VECTOR3__Z:
+			return getZ();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.VECTOR3__X:
+			setX((Double)newValue);
+			return;
+		case Geometry_datatypesPackage.VECTOR3__Y:
+			setY((Double)newValue);
+			return;
+		case Geometry_datatypesPackage.VECTOR3__Z:
+			setZ((Double)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.VECTOR3__X:
+			setX(X_EDEFAULT);
+			return;
+		case Geometry_datatypesPackage.VECTOR3__Y:
+			setY(Y_EDEFAULT);
+			return;
+		case Geometry_datatypesPackage.VECTOR3__Z:
+			setZ(Z_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.VECTOR3__X:
+			return x != X_EDEFAULT;
+		case Geometry_datatypesPackage.VECTOR3__Y:
+			return y != Y_EDEFAULT;
+		case Geometry_datatypesPackage.VECTOR3__Z:
+			return z != Z_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (x: ");
+		result.append(x);
+		result.append(", y: ");
+		result.append(y);
+		result.append(", z: ");
+		result.append(z);
+		result.append(')');
+		return result.toString();
+	}
+
+} //Vector3Impl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/Vector3StampedImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/Vector3StampedImpl.java
new file mode 100644
index 00000000000..214af2ae8ce
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/Vector3StampedImpl.java
@@ -0,0 +1,273 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3Stamped;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Vector3 Stamped</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Vector3StampedImpl#getHeader <em>
+ * Header</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Vector3StampedImpl#getVector <em>
+ * Vector</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class Vector3StampedImpl extends EObjectImpl implements Vector3Stamped {
+
+	/**
+	 * The cached value of the '{@link #getHeader() <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHeader()
+	 * @generated
+	 * @ordered
+	 */
+	protected Header header;
+
+	/**
+	 * The cached value of the '{@link #getVector() <em>Vector</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getVector()
+	 * @generated
+	 * @ordered
+	 */
+	protected Vector3 vector;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected Vector3StampedImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Geometry_datatypesPackage.Literals.VECTOR3_STAMPED;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Header getHeader() {
+		return header;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetHeader(Header newHeader, NotificationChain msgs) {
+		Header oldHeader = header;
+		header = newHeader;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.VECTOR3_STAMPED__HEADER, oldHeader, newHeader);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setHeader(Header newHeader) {
+		if(newHeader != header) {
+			NotificationChain msgs = null;
+			if(header != null)
+				msgs = ((InternalEObject)header).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.VECTOR3_STAMPED__HEADER, null, msgs);
+			if(newHeader != null)
+				msgs = ((InternalEObject)newHeader).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.VECTOR3_STAMPED__HEADER, null, msgs);
+			msgs = basicSetHeader(newHeader, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.VECTOR3_STAMPED__HEADER, newHeader, newHeader));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Vector3 getVector() {
+		return vector;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetVector(Vector3 newVector, NotificationChain msgs) {
+		Vector3 oldVector = vector;
+		vector = newVector;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.VECTOR3_STAMPED__VECTOR, oldVector, newVector);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setVector(Vector3 newVector) {
+		if(newVector != vector) {
+			NotificationChain msgs = null;
+			if(vector != null)
+				msgs = ((InternalEObject)vector).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.VECTOR3_STAMPED__VECTOR, null, msgs);
+			if(newVector != null)
+				msgs = ((InternalEObject)newVector).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.VECTOR3_STAMPED__VECTOR, null, msgs);
+			msgs = basicSetVector(newVector, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.VECTOR3_STAMPED__VECTOR, newVector, newVector));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.VECTOR3_STAMPED__HEADER:
+			return basicSetHeader(null, msgs);
+		case Geometry_datatypesPackage.VECTOR3_STAMPED__VECTOR:
+			return basicSetVector(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.VECTOR3_STAMPED__HEADER:
+			return getHeader();
+		case Geometry_datatypesPackage.VECTOR3_STAMPED__VECTOR:
+			return getVector();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.VECTOR3_STAMPED__HEADER:
+			setHeader((Header)newValue);
+			return;
+		case Geometry_datatypesPackage.VECTOR3_STAMPED__VECTOR:
+			setVector((Vector3)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.VECTOR3_STAMPED__HEADER:
+			setHeader((Header)null);
+			return;
+		case Geometry_datatypesPackage.VECTOR3_STAMPED__VECTOR:
+			setVector((Vector3)null);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.VECTOR3_STAMPED__HEADER:
+			return header != null;
+		case Geometry_datatypesPackage.VECTOR3_STAMPED__VECTOR:
+			return vector != null;
+		}
+		return super.eIsSet(featureID);
+	}
+
+} //Vector3StampedImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/WrenchImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/WrenchImpl.java
new file mode 100644
index 00000000000..dbfdb72135f
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/WrenchImpl.java
@@ -0,0 +1,271 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Wrench;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Wrench</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.WrenchImpl#getForce <em>Force</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.WrenchImpl#getTorque <em>Torque
+ * </em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class WrenchImpl extends EObjectImpl implements Wrench {
+
+	/**
+	 * The cached value of the '{@link #getForce() <em>Force</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getForce()
+	 * @generated
+	 * @ordered
+	 */
+	protected Vector3 force;
+
+	/**
+	 * The cached value of the '{@link #getTorque() <em>Torque</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getTorque()
+	 * @generated
+	 * @ordered
+	 */
+	protected Vector3 torque;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected WrenchImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Geometry_datatypesPackage.Literals.WRENCH;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Vector3 getForce() {
+		return force;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetForce(Vector3 newForce, NotificationChain msgs) {
+		Vector3 oldForce = force;
+		force = newForce;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.WRENCH__FORCE, oldForce, newForce);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setForce(Vector3 newForce) {
+		if(newForce != force) {
+			NotificationChain msgs = null;
+			if(force != null)
+				msgs = ((InternalEObject)force).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.WRENCH__FORCE, null, msgs);
+			if(newForce != null)
+				msgs = ((InternalEObject)newForce).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.WRENCH__FORCE, null, msgs);
+			msgs = basicSetForce(newForce, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.WRENCH__FORCE, newForce, newForce));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Vector3 getTorque() {
+		return torque;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetTorque(Vector3 newTorque, NotificationChain msgs) {
+		Vector3 oldTorque = torque;
+		torque = newTorque;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.WRENCH__TORQUE, oldTorque, newTorque);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setTorque(Vector3 newTorque) {
+		if(newTorque != torque) {
+			NotificationChain msgs = null;
+			if(torque != null)
+				msgs = ((InternalEObject)torque).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.WRENCH__TORQUE, null, msgs);
+			if(newTorque != null)
+				msgs = ((InternalEObject)newTorque).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.WRENCH__TORQUE, null, msgs);
+			msgs = basicSetTorque(newTorque, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.WRENCH__TORQUE, newTorque, newTorque));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.WRENCH__FORCE:
+			return basicSetForce(null, msgs);
+		case Geometry_datatypesPackage.WRENCH__TORQUE:
+			return basicSetTorque(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.WRENCH__FORCE:
+			return getForce();
+		case Geometry_datatypesPackage.WRENCH__TORQUE:
+			return getTorque();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.WRENCH__FORCE:
+			setForce((Vector3)newValue);
+			return;
+		case Geometry_datatypesPackage.WRENCH__TORQUE:
+			setTorque((Vector3)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.WRENCH__FORCE:
+			setForce((Vector3)null);
+			return;
+		case Geometry_datatypesPackage.WRENCH__TORQUE:
+			setTorque((Vector3)null);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.WRENCH__FORCE:
+			return force != null;
+		case Geometry_datatypesPackage.WRENCH__TORQUE:
+			return torque != null;
+		}
+		return super.eIsSet(featureID);
+	}
+
+} //WrenchImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/WrenchStampedImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/WrenchStampedImpl.java
new file mode 100644
index 00000000000..2e0a467d89c
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/impl/WrenchStampedImpl.java
@@ -0,0 +1,273 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Wrench;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.WrenchStamped;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Wrench Stamped</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.WrenchStampedImpl#getHeader <em>
+ * Header</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.WrenchStampedImpl#getWrench <em>
+ * Wrench</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class WrenchStampedImpl extends EObjectImpl implements WrenchStamped {
+
+	/**
+	 * The cached value of the '{@link #getHeader() <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHeader()
+	 * @generated
+	 * @ordered
+	 */
+	protected Header header;
+
+	/**
+	 * The cached value of the '{@link #getWrench() <em>Wrench</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWrench()
+	 * @generated
+	 * @ordered
+	 */
+	protected Wrench wrench;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected WrenchStampedImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Geometry_datatypesPackage.Literals.WRENCH_STAMPED;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Header getHeader() {
+		return header;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetHeader(Header newHeader, NotificationChain msgs) {
+		Header oldHeader = header;
+		header = newHeader;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.WRENCH_STAMPED__HEADER, oldHeader, newHeader);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setHeader(Header newHeader) {
+		if(newHeader != header) {
+			NotificationChain msgs = null;
+			if(header != null)
+				msgs = ((InternalEObject)header).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.WRENCH_STAMPED__HEADER, null, msgs);
+			if(newHeader != null)
+				msgs = ((InternalEObject)newHeader).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.WRENCH_STAMPED__HEADER, null, msgs);
+			msgs = basicSetHeader(newHeader, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.WRENCH_STAMPED__HEADER, newHeader, newHeader));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Wrench getWrench() {
+		return wrench;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetWrench(Wrench newWrench, NotificationChain msgs) {
+		Wrench oldWrench = wrench;
+		wrench = newWrench;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.WRENCH_STAMPED__WRENCH, oldWrench, newWrench);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setWrench(Wrench newWrench) {
+		if(newWrench != wrench) {
+			NotificationChain msgs = null;
+			if(wrench != null)
+				msgs = ((InternalEObject)wrench).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.WRENCH_STAMPED__WRENCH, null, msgs);
+			if(newWrench != null)
+				msgs = ((InternalEObject)newWrench).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Geometry_datatypesPackage.WRENCH_STAMPED__WRENCH, null, msgs);
+			msgs = basicSetWrench(newWrench, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Geometry_datatypesPackage.WRENCH_STAMPED__WRENCH, newWrench, newWrench));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.WRENCH_STAMPED__HEADER:
+			return basicSetHeader(null, msgs);
+		case Geometry_datatypesPackage.WRENCH_STAMPED__WRENCH:
+			return basicSetWrench(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.WRENCH_STAMPED__HEADER:
+			return getHeader();
+		case Geometry_datatypesPackage.WRENCH_STAMPED__WRENCH:
+			return getWrench();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.WRENCH_STAMPED__HEADER:
+			setHeader((Header)newValue);
+			return;
+		case Geometry_datatypesPackage.WRENCH_STAMPED__WRENCH:
+			setWrench((Wrench)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.WRENCH_STAMPED__HEADER:
+			setHeader((Header)null);
+			return;
+		case Geometry_datatypesPackage.WRENCH_STAMPED__WRENCH:
+			setWrench((Wrench)null);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Geometry_datatypesPackage.WRENCH_STAMPED__HEADER:
+			return header != null;
+		case Geometry_datatypesPackage.WRENCH_STAMPED__WRENCH:
+			return wrench != null;
+		}
+		return super.eIsSet(featureID);
+	}
+
+} //WrenchStampedImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/util/Geometry_datatypesAdapterFactory.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/util/Geometry_datatypesAdapterFactory.java
new file mode 100644
index 00000000000..6100164e426
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/util/Geometry_datatypesAdapterFactory.java
@@ -0,0 +1,585 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.util;
+
+import org.eclipse.emf.common.notify.Adapter;
+import org.eclipse.emf.common.notify.Notifier;
+import org.eclipse.emf.common.notify.impl.AdapterFactoryImpl;
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point32;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PointStamped;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Polygon;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PolygonStamped;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose2D;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseStamped;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseWithCovariance;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseWithCovarianceStamped;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Quaternion;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.QuaternionStamped;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Transform;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Twist;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.TwistStamped;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.TwistWithCovariance;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3Stamped;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Wrench;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.WrenchStamped;
+
+/**
+ * <!-- begin-user-doc -->
+ * The <b>Adapter Factory</b> for the model.
+ * It provides an adapter <code>createXXX</code> method for each class of the model.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage
+ * @generated
+ */
+public class Geometry_datatypesAdapterFactory extends AdapterFactoryImpl {
+
+	/**
+	 * The cached model package.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected static Geometry_datatypesPackage modelPackage;
+
+	/**
+	 * Creates an instance of the adapter factory.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Geometry_datatypesAdapterFactory() {
+		if(modelPackage == null) {
+			modelPackage = Geometry_datatypesPackage.eINSTANCE;
+		}
+	}
+
+	/**
+	 * Returns whether this factory is applicable for the type of the object.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns <code>true</code> if the object is either the model's package or is an instance object of the model.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return whether this factory is applicable for the type of the object.
+	 * @generated
+	 */
+	@Override
+	public boolean isFactoryForType(Object object) {
+		if(object == modelPackage) {
+			return true;
+		}
+		if(object instanceof EObject) {
+			return ((EObject)object).eClass().getEPackage() == modelPackage;
+		}
+		return false;
+	}
+
+	/**
+	 * The switch that delegates to the <code>createXXX</code> methods.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected Geometry_datatypesSwitch<Adapter> modelSwitch = new Geometry_datatypesSwitch<Adapter>() {
+
+		@Override
+		public Adapter casePoint(Point object) {
+			return createPointAdapter();
+		}
+
+		@Override
+		public Adapter casePoint32(Point32 object) {
+			return createPoint32Adapter();
+		}
+
+		@Override
+		public Adapter casePointStamped(PointStamped object) {
+			return createPointStampedAdapter();
+		}
+
+		@Override
+		public Adapter casePolygon(Polygon object) {
+			return createPolygonAdapter();
+		}
+
+		@Override
+		public Adapter casePolygonStamped(PolygonStamped object) {
+			return createPolygonStampedAdapter();
+		}
+
+		@Override
+		public Adapter caseVector3(Vector3 object) {
+			return createVector3Adapter();
+		}
+
+		@Override
+		public Adapter caseVector3Stamped(Vector3Stamped object) {
+			return createVector3StampedAdapter();
+		}
+
+		@Override
+		public Adapter caseQuaternion(Quaternion object) {
+			return createQuaternionAdapter();
+		}
+
+		@Override
+		public Adapter casePose(Pose object) {
+			return createPoseAdapter();
+		}
+
+		@Override
+		public Adapter casePoseStamped(PoseStamped object) {
+			return createPoseStampedAdapter();
+		}
+
+		@Override
+		public Adapter caseTwistWithCovariance(TwistWithCovariance object) {
+			return createTwistWithCovarianceAdapter();
+		}
+
+		@Override
+		public Adapter caseTwist(Twist object) {
+			return createTwistAdapter();
+		}
+
+		@Override
+		public Adapter caseTwistStamped(TwistStamped object) {
+			return createTwistStampedAdapter();
+		}
+
+		@Override
+		public Adapter casePoseWithCovariance(PoseWithCovariance object) {
+			return createPoseWithCovarianceAdapter();
+		}
+
+		@Override
+		public Adapter casePose2D(Pose2D object) {
+			return createPose2DAdapter();
+		}
+
+		@Override
+		public Adapter casePoseWithCovarianceStamped(PoseWithCovarianceStamped object) {
+			return createPoseWithCovarianceStampedAdapter();
+		}
+
+		@Override
+		public Adapter casePoseArray(PoseArray object) {
+			return createPoseArrayAdapter();
+		}
+
+		@Override
+		public Adapter caseQuaternionStamped(QuaternionStamped object) {
+			return createQuaternionStampedAdapter();
+		}
+
+		@Override
+		public Adapter caseTransform(Transform object) {
+			return createTransformAdapter();
+		}
+
+		@Override
+		public Adapter caseWrenchStamped(WrenchStamped object) {
+			return createWrenchStampedAdapter();
+		}
+
+		@Override
+		public Adapter caseWrench(Wrench object) {
+			return createWrenchAdapter();
+		}
+
+		@Override
+		public Adapter defaultCase(EObject object) {
+			return createEObjectAdapter();
+		}
+	};
+
+	/**
+	 * Creates an adapter for the <code>target</code>.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param target
+	 *        the object to adapt.
+	 * @return the adapter for the <code>target</code>.
+	 * @generated
+	 */
+	@Override
+	public Adapter createAdapter(Notifier target) {
+		return modelSwitch.doSwitch((EObject)target);
+	}
+
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point <em>Point</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point
+	 * @generated
+	 */
+	public Adapter createPointAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point32 <em>Point32</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point32
+	 * @generated
+	 */
+	public Adapter createPoint32Adapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PointStamped <em>Point Stamped</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PointStamped
+	 * @generated
+	 */
+	public Adapter createPointStampedAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Polygon <em>Polygon</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Polygon
+	 * @generated
+	 */
+	public Adapter createPolygonAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PolygonStamped <em>Polygon Stamped</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PolygonStamped
+	 * @generated
+	 */
+	public Adapter createPolygonStampedAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3 <em>Vector3</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3
+	 * @generated
+	 */
+	public Adapter createVector3Adapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3Stamped <em>Vector3 Stamped</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3Stamped
+	 * @generated
+	 */
+	public Adapter createVector3StampedAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Quaternion <em>Quaternion</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Quaternion
+	 * @generated
+	 */
+	public Adapter createQuaternionAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose <em>Pose</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose
+	 * @generated
+	 */
+	public Adapter createPoseAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseStamped <em>Pose Stamped</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseStamped
+	 * @generated
+	 */
+	public Adapter createPoseStampedAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.TwistWithCovariance
+	 * <em>Twist With Covariance</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.TwistWithCovariance
+	 * @generated
+	 */
+	public Adapter createTwistWithCovarianceAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Twist <em>Twist</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Twist
+	 * @generated
+	 */
+	public Adapter createTwistAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.TwistStamped <em>Twist Stamped</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.TwistStamped
+	 * @generated
+	 */
+	public Adapter createTwistStampedAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseWithCovariance
+	 * <em>Pose With Covariance</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseWithCovariance
+	 * @generated
+	 */
+	public Adapter createPoseWithCovarianceAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose2D <em>Pose2 D</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose2D
+	 * @generated
+	 */
+	public Adapter createPose2DAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseWithCovarianceStamped
+	 * <em>Pose With Covariance Stamped</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseWithCovarianceStamped
+	 * @generated
+	 */
+	public Adapter createPoseWithCovarianceStampedAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseArray <em>Pose Array</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseArray
+	 * @generated
+	 */
+	public Adapter createPoseArrayAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.QuaternionStamped
+	 * <em>Quaternion Stamped</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.QuaternionStamped
+	 * @generated
+	 */
+	public Adapter createQuaternionStampedAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Transform <em>Transform</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Transform
+	 * @generated
+	 */
+	public Adapter createTransformAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.WrenchStamped <em>Wrench Stamped</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.WrenchStamped
+	 * @generated
+	 */
+	public Adapter createWrenchStampedAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Wrench <em>Wrench</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Wrench
+	 * @generated
+	 */
+	public Adapter createWrenchAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for the default case.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @generated
+	 */
+	public Adapter createEObjectAdapter() {
+		return null;
+	}
+
+} //Geometry_datatypesAdapterFactory
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/util/Geometry_datatypesSwitch.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/util/Geometry_datatypesSwitch.java
new file mode 100644
index 00000000000..a7b81ab7870
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/geometry_datatypes/util/Geometry_datatypesSwitch.java
@@ -0,0 +1,650 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.util;
+
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.emf.ecore.EPackage;
+import org.eclipse.emf.ecore.util.Switch;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point32;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PointStamped;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Polygon;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PolygonStamped;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose2D;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseStamped;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseWithCovariance;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseWithCovarianceStamped;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Quaternion;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.QuaternionStamped;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Transform;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Twist;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.TwistStamped;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.TwistWithCovariance;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3Stamped;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Wrench;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.WrenchStamped;
+
+/**
+ * <!-- begin-user-doc -->
+ * The <b>Switch</b> for the model's inheritance hierarchy.
+ * It supports the call {@link #doSwitch(EObject) doSwitch(object)} to invoke the <code>caseXXX</code> method for each class of the model,
+ * starting with the actual class of the object
+ * and proceeding up the inheritance hierarchy
+ * until a non-null result is returned,
+ * which is the result of the switch.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage
+ * @generated
+ */
+public class Geometry_datatypesSwitch<T> extends Switch<T> {
+
+	/**
+	 * The cached model package
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected static Geometry_datatypesPackage modelPackage;
+
+	/**
+	 * Creates an instance of the switch.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Geometry_datatypesSwitch() {
+		if(modelPackage == null) {
+			modelPackage = Geometry_datatypesPackage.eINSTANCE;
+		}
+	}
+
+	/**
+	 * Checks whether this is a switch for the given package.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @parameter ePackage the package in question.
+	 * @return whether this is a switch for the given package.
+	 * @generated
+	 */
+	@Override
+	protected boolean isSwitchFor(EPackage ePackage) {
+		return ePackage == modelPackage;
+	}
+
+	/**
+	 * Calls <code>caseXXX</code> for each class of the model until one returns a non null result; it yields that result.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the first non-null result returned by a <code>caseXXX</code> call.
+	 * @generated
+	 */
+	@Override
+	protected T doSwitch(int classifierID, EObject theEObject) {
+		switch(classifierID) {
+		case Geometry_datatypesPackage.POINT:
+		{
+			Point point = (Point)theEObject;
+			T result = casePoint(point);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Geometry_datatypesPackage.POINT32:
+		{
+			Point32 point32 = (Point32)theEObject;
+			T result = casePoint32(point32);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Geometry_datatypesPackage.POINT_STAMPED:
+		{
+			PointStamped pointStamped = (PointStamped)theEObject;
+			T result = casePointStamped(pointStamped);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Geometry_datatypesPackage.POLYGON:
+		{
+			Polygon polygon = (Polygon)theEObject;
+			T result = casePolygon(polygon);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Geometry_datatypesPackage.POLYGON_STAMPED:
+		{
+			PolygonStamped polygonStamped = (PolygonStamped)theEObject;
+			T result = casePolygonStamped(polygonStamped);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Geometry_datatypesPackage.VECTOR3:
+		{
+			Vector3 vector3 = (Vector3)theEObject;
+			T result = caseVector3(vector3);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Geometry_datatypesPackage.VECTOR3_STAMPED:
+		{
+			Vector3Stamped vector3Stamped = (Vector3Stamped)theEObject;
+			T result = caseVector3Stamped(vector3Stamped);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Geometry_datatypesPackage.QUATERNION:
+		{
+			Quaternion quaternion = (Quaternion)theEObject;
+			T result = caseQuaternion(quaternion);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Geometry_datatypesPackage.POSE:
+		{
+			Pose pose = (Pose)theEObject;
+			T result = casePose(pose);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Geometry_datatypesPackage.POSE_STAMPED:
+		{
+			PoseStamped poseStamped = (PoseStamped)theEObject;
+			T result = casePoseStamped(poseStamped);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Geometry_datatypesPackage.TWIST_WITH_COVARIANCE:
+		{
+			TwistWithCovariance twistWithCovariance = (TwistWithCovariance)theEObject;
+			T result = caseTwistWithCovariance(twistWithCovariance);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Geometry_datatypesPackage.TWIST:
+		{
+			Twist twist = (Twist)theEObject;
+			T result = caseTwist(twist);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Geometry_datatypesPackage.TWIST_STAMPED:
+		{
+			TwistStamped twistStamped = (TwistStamped)theEObject;
+			T result = caseTwistStamped(twistStamped);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Geometry_datatypesPackage.POSE_WITH_COVARIANCE:
+		{
+			PoseWithCovariance poseWithCovariance = (PoseWithCovariance)theEObject;
+			T result = casePoseWithCovariance(poseWithCovariance);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Geometry_datatypesPackage.POSE2_D:
+		{
+			Pose2D pose2D = (Pose2D)theEObject;
+			T result = casePose2D(pose2D);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Geometry_datatypesPackage.POSE_WITH_COVARIANCE_STAMPED:
+		{
+			PoseWithCovarianceStamped poseWithCovarianceStamped = (PoseWithCovarianceStamped)theEObject;
+			T result = casePoseWithCovarianceStamped(poseWithCovarianceStamped);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Geometry_datatypesPackage.POSE_ARRAY:
+		{
+			PoseArray poseArray = (PoseArray)theEObject;
+			T result = casePoseArray(poseArray);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Geometry_datatypesPackage.QUATERNION_STAMPED:
+		{
+			QuaternionStamped quaternionStamped = (QuaternionStamped)theEObject;
+			T result = caseQuaternionStamped(quaternionStamped);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Geometry_datatypesPackage.TRANSFORM:
+		{
+			Transform transform = (Transform)theEObject;
+			T result = caseTransform(transform);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Geometry_datatypesPackage.WRENCH_STAMPED:
+		{
+			WrenchStamped wrenchStamped = (WrenchStamped)theEObject;
+			T result = caseWrenchStamped(wrenchStamped);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Geometry_datatypesPackage.WRENCH:
+		{
+			Wrench wrench = (Wrench)theEObject;
+			T result = caseWrench(wrench);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		default:
+			return defaultCase(theEObject);
+		}
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Point</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Point</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T casePoint(Point object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Point32</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Point32</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T casePoint32(Point32 object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Point Stamped</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Point Stamped</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T casePointStamped(PointStamped object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Polygon</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Polygon</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T casePolygon(Polygon object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Polygon Stamped</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Polygon Stamped</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T casePolygonStamped(PolygonStamped object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Vector3</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Vector3</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseVector3(Vector3 object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Vector3 Stamped</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Vector3 Stamped</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseVector3Stamped(Vector3Stamped object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Quaternion</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Quaternion</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseQuaternion(Quaternion object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Pose</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Pose</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T casePose(Pose object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Pose Stamped</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Pose Stamped</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T casePoseStamped(PoseStamped object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Twist With Covariance</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Twist With Covariance</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseTwistWithCovariance(TwistWithCovariance object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Twist</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Twist</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseTwist(Twist object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Twist Stamped</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Twist Stamped</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseTwistStamped(TwistStamped object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Pose With Covariance</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Pose With Covariance</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T casePoseWithCovariance(PoseWithCovariance object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Pose2 D</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Pose2 D</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T casePose2D(Pose2D object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Pose With Covariance Stamped</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Pose With Covariance Stamped</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T casePoseWithCovarianceStamped(PoseWithCovarianceStamped object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Pose Array</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Pose Array</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T casePoseArray(PoseArray object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Quaternion Stamped</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Quaternion Stamped</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseQuaternionStamped(QuaternionStamped object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Transform</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Transform</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseTransform(Transform object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Wrench Stamped</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Wrench Stamped</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseWrenchStamped(WrenchStamped object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Wrench</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Wrench</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseWrench(Wrench object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>EObject</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch, but this is the last case anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>EObject</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject)
+	 * @generated
+	 */
+	@Override
+	public T defaultCase(EObject object) {
+		return null;
+	}
+
+} //Geometry_datatypesSwitch
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/GridCells.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/GridCells.java
new file mode 100644
index 00000000000..2edf8dec177
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/GridCells.java
@@ -0,0 +1,148 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes;
+
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Grid Cells</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.GridCells#getHeader <em>Header</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.GridCells#getCell_width <em>Cell width</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.GridCells#getCell_height <em>Cell height</em>}
+ * </li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.GridCells#getCells <em>Cells</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage#getGridCells()
+ * @model
+ * @generated
+ */
+public interface GridCells extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Header</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Header</em>' containment reference.
+	 * @see #setHeader(Header)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage#getGridCells_Header()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Header getHeader();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.GridCells#getHeader
+	 * <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Header</em>' containment reference.
+	 * @see #getHeader()
+	 * @generated
+	 */
+	void setHeader(Header value);
+
+	/**
+	 * Returns the value of the '<em><b>Cell width</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Cell width</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Cell width</em>' attribute.
+	 * @see #setCell_width(float)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage#getGridCells_Cell_width()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getCell_width();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.GridCells#getCell_width <em>Cell width</em>}'
+	 * attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Cell width</em>' attribute.
+	 * @see #getCell_width()
+	 * @generated
+	 */
+	void setCell_width(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Cell height</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Cell height</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Cell height</em>' attribute.
+	 * @see #setCell_height(float)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage#getGridCells_Cell_height()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getCell_height();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.GridCells#getCell_height <em>Cell height</em>}
+	 * ' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Cell height</em>' attribute.
+	 * @see #getCell_height()
+	 * @generated
+	 */
+	void setCell_height(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Cells</b></em>' containment reference list.
+	 * The list contents are of type {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Cells</em>' containment reference list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Cells</em>' containment reference list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage#getGridCells_Cells()
+	 * @model containment="true" ordered="false"
+	 * @generated
+	 */
+	EList<Point> getCells();
+
+} // GridCells
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/MapMetaData.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/MapMetaData.java
new file mode 100644
index 00000000000..161dcf0cbd7
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/MapMetaData.java
@@ -0,0 +1,163 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes;
+
+import java.util.Date;
+
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Map Meta Data</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.MapMetaData#getMap_load_time <em>Map load time
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.MapMetaData#getResolution <em>Resolution</em>}
+ * </li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.MapMetaData#getWidth <em>Width</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.MapMetaData#getOrigin <em>Origin</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage#getMapMetaData()
+ * @model
+ * @generated
+ */
+public interface MapMetaData extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Map load time</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Map load time</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Map load time</em>' attribute.
+	 * @see #setMap_load_time(Date)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage#getMapMetaData_Map_load_time()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Time" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	Date getMap_load_time();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.MapMetaData#getMap_load_time
+	 * <em>Map load time</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Map load time</em>' attribute.
+	 * @see #getMap_load_time()
+	 * @generated
+	 */
+	void setMap_load_time(Date value);
+
+	/**
+	 * Returns the value of the '<em><b>Resolution</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Resolution</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Resolution</em>' attribute.
+	 * @see #setResolution(float)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage#getMapMetaData_Resolution()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getResolution();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.MapMetaData#getResolution <em>Resolution</em>}
+	 * ' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Resolution</em>' attribute.
+	 * @see #getResolution()
+	 * @generated
+	 */
+	void setResolution(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Width</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Width</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Width</em>' attribute.
+	 * @see #setWidth(long)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage#getMapMetaData_Width()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	long getWidth();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.MapMetaData#getWidth
+	 * <em>Width</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Width</em>' attribute.
+	 * @see #getWidth()
+	 * @generated
+	 */
+	void setWidth(long value);
+
+	/**
+	 * Returns the value of the '<em><b>Origin</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Origin</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Origin</em>' containment reference.
+	 * @see #setOrigin(Pose)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage#getMapMetaData_Origin()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Pose getOrigin();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.MapMetaData#getOrigin
+	 * <em>Origin</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Origin</em>' containment reference.
+	 * @see #getOrigin()
+	 * @generated
+	 */
+	void setOrigin(Pose value);
+
+} // MapMetaData
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/Nav_datatypesFactory.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/Nav_datatypesFactory.java
new file mode 100644
index 00000000000..690a0e25496
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/Nav_datatypesFactory.java
@@ -0,0 +1,96 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes;
+
+import org.eclipse.emf.ecore.EFactory;
+
+/**
+ * <!-- begin-user-doc -->
+ * The <b>Factory</b> for the model.
+ * It provides a create method for each non-abstract class of the model.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage
+ * @generated
+ */
+public interface Nav_datatypesFactory extends EFactory {
+
+	/**
+	 * The singleton instance of the factory.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	Nav_datatypesFactory eINSTANCE = org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.Nav_datatypesFactoryImpl.init();
+
+	/**
+	 * Returns a new object of class '<em>Path</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Path</em>'.
+	 * @generated
+	 */
+	Path createPath();
+
+	/**
+	 * Returns a new object of class '<em>Odometry</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Odometry</em>'.
+	 * @generated
+	 */
+	Odometry createOdometry();
+
+	/**
+	 * Returns a new object of class '<em>Map Meta Data</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Map Meta Data</em>'.
+	 * @generated
+	 */
+	MapMetaData createMapMetaData();
+
+	/**
+	 * Returns a new object of class '<em>Occupancy Grid</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Occupancy Grid</em>'.
+	 * @generated
+	 */
+	OccupancyGrid createOccupancyGrid();
+
+	/**
+	 * Returns a new object of class '<em>Grid Cells</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Grid Cells</em>'.
+	 * @generated
+	 */
+	GridCells createGridCells();
+
+	/**
+	 * Returns the package supported by this factory.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the package supported by this factory.
+	 * @generated
+	 */
+	Nav_datatypesPackage getNav_datatypesPackage();
+
+} //Nav_datatypesFactory
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/Nav_datatypesPackage.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/Nav_datatypesPackage.java
new file mode 100644
index 00000000000..2f4d3f347d0
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/Nav_datatypesPackage.java
@@ -0,0 +1,886 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes;
+
+import org.eclipse.emf.ecore.EAttribute;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.EPackage;
+import org.eclipse.emf.ecore.EReference;
+
+/**
+ * <!-- begin-user-doc -->
+ * The <b>Package</b> for the model.
+ * It contains accessors for the meta objects to represent
+ * <ul>
+ * <li>each class,</li>
+ * <li>each feature of each class,</li>
+ * <li>each enum,</li>
+ * <li>and each data type</li>
+ * </ul>
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesFactory
+ * @model kind="package"
+ * @generated
+ */
+public interface Nav_datatypesPackage extends EPackage {
+
+	/**
+	 * The package name.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	String eNAME = "nav_datatypes";
+
+	/**
+	 * The package namespace URI.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	String eNS_URI = "http:///RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes.ecore";
+
+	/**
+	 * The package namespace name.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	String eNS_PREFIX = "RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes";
+
+	/**
+	 * The singleton instance of the package.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	Nav_datatypesPackage eINSTANCE = org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.Nav_datatypesPackageImpl.init();
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.PathImpl
+	 * <em>Path</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.PathImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.Nav_datatypesPackageImpl#getPath()
+	 * @generated
+	 */
+	int PATH = 0;
+
+	/**
+	 * The feature id for the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PATH__HEADER = 0;
+
+	/**
+	 * The feature id for the '<em><b>Poses</b></em>' containment reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PATH__POSES = 1;
+
+	/**
+	 * The number of structural features of the '<em>Path</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PATH_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.OdometryImpl
+	 * <em>Odometry</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.OdometryImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.Nav_datatypesPackageImpl#getOdometry()
+	 * @generated
+	 */
+	int ODOMETRY = 1;
+
+	/**
+	 * The feature id for the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ODOMETRY__HEADER = 0;
+
+	/**
+	 * The feature id for the '<em><b>Child frame id</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ODOMETRY__CHILD_FRAME_ID = 1;
+
+	/**
+	 * The feature id for the '<em><b>Pose</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ODOMETRY__POSE = 2;
+
+	/**
+	 * The feature id for the '<em><b>Twist</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ODOMETRY__TWIST = 3;
+
+	/**
+	 * The number of structural features of the '<em>Odometry</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ODOMETRY_FEATURE_COUNT = 4;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.MapMetaDataImpl <em>Map Meta Data</em>}'
+	 * class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.MapMetaDataImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.Nav_datatypesPackageImpl#getMapMetaData()
+	 * @generated
+	 */
+	int MAP_META_DATA = 2;
+
+	/**
+	 * The feature id for the '<em><b>Map load time</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int MAP_META_DATA__MAP_LOAD_TIME = 0;
+
+	/**
+	 * The feature id for the '<em><b>Resolution</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int MAP_META_DATA__RESOLUTION = 1;
+
+	/**
+	 * The feature id for the '<em><b>Width</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int MAP_META_DATA__WIDTH = 2;
+
+	/**
+	 * The feature id for the '<em><b>Origin</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int MAP_META_DATA__ORIGIN = 3;
+
+	/**
+	 * The number of structural features of the '<em>Map Meta Data</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int MAP_META_DATA_FEATURE_COUNT = 4;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.OccupancyGridImpl
+	 * <em>Occupancy Grid</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.OccupancyGridImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.Nav_datatypesPackageImpl#getOccupancyGrid()
+	 * @generated
+	 */
+	int OCCUPANCY_GRID = 3;
+
+	/**
+	 * The feature id for the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int OCCUPANCY_GRID__HEADER = 0;
+
+	/**
+	 * The feature id for the '<em><b>Info</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int OCCUPANCY_GRID__INFO = 1;
+
+	/**
+	 * The feature id for the '<em><b>Data</b></em>' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int OCCUPANCY_GRID__DATA = 2;
+
+	/**
+	 * The number of structural features of the '<em>Occupancy Grid</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int OCCUPANCY_GRID_FEATURE_COUNT = 3;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.GridCellsImpl <em>Grid Cells</em>}'
+	 * class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.GridCellsImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.Nav_datatypesPackageImpl#getGridCells()
+	 * @generated
+	 */
+	int GRID_CELLS = 4;
+
+	/**
+	 * The feature id for the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GRID_CELLS__HEADER = 0;
+
+	/**
+	 * The feature id for the '<em><b>Cell width</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GRID_CELLS__CELL_WIDTH = 1;
+
+	/**
+	 * The feature id for the '<em><b>Cell height</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GRID_CELLS__CELL_HEIGHT = 2;
+
+	/**
+	 * The feature id for the '<em><b>Cells</b></em>' containment reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GRID_CELLS__CELLS = 3;
+
+	/**
+	 * The number of structural features of the '<em>Grid Cells</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int GRID_CELLS_FEATURE_COUNT = 4;
+
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Path
+	 * <em>Path</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Path</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Path
+	 * @generated
+	 */
+	EClass getPath();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Path#getHeader <em>Header</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Header</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Path#getHeader()
+	 * @see #getPath()
+	 * @generated
+	 */
+	EReference getPath_Header();
+
+	/**
+	 * Returns the meta object for the containment reference list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Path#getPoses <em>Poses</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference list '<em>Poses</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Path#getPoses()
+	 * @see #getPath()
+	 * @generated
+	 */
+	EReference getPath_Poses();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Odometry
+	 * <em>Odometry</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Odometry</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Odometry
+	 * @generated
+	 */
+	EClass getOdometry();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Odometry#getHeader <em>Header</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Header</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Odometry#getHeader()
+	 * @see #getOdometry()
+	 * @generated
+	 */
+	EReference getOdometry_Header();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Odometry#getChild_frame_id
+	 * <em>Child frame id</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Child frame id</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Odometry#getChild_frame_id()
+	 * @see #getOdometry()
+	 * @generated
+	 */
+	EAttribute getOdometry_Child_frame_id();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Odometry#getPose <em>Pose</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Pose</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Odometry#getPose()
+	 * @see #getOdometry()
+	 * @generated
+	 */
+	EReference getOdometry_Pose();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Odometry#getTwist <em>Twist</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Twist</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Odometry#getTwist()
+	 * @see #getOdometry()
+	 * @generated
+	 */
+	EReference getOdometry_Twist();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.MapMetaData <em>Map Meta Data</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Map Meta Data</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.MapMetaData
+	 * @generated
+	 */
+	EClass getMapMetaData();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.MapMetaData#getMap_load_time
+	 * <em>Map load time</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Map load time</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.MapMetaData#getMap_load_time()
+	 * @see #getMapMetaData()
+	 * @generated
+	 */
+	EAttribute getMapMetaData_Map_load_time();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.MapMetaData#getResolution <em>Resolution</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Resolution</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.MapMetaData#getResolution()
+	 * @see #getMapMetaData()
+	 * @generated
+	 */
+	EAttribute getMapMetaData_Resolution();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.MapMetaData#getWidth <em>Width</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Width</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.MapMetaData#getWidth()
+	 * @see #getMapMetaData()
+	 * @generated
+	 */
+	EAttribute getMapMetaData_Width();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.MapMetaData#getOrigin <em>Origin</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Origin</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.MapMetaData#getOrigin()
+	 * @see #getMapMetaData()
+	 * @generated
+	 */
+	EReference getMapMetaData_Origin();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.OccupancyGrid <em>Occupancy Grid</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Occupancy Grid</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.OccupancyGrid
+	 * @generated
+	 */
+	EClass getOccupancyGrid();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.OccupancyGrid#getHeader <em>Header</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Header</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.OccupancyGrid#getHeader()
+	 * @see #getOccupancyGrid()
+	 * @generated
+	 */
+	EReference getOccupancyGrid_Header();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.OccupancyGrid#getInfo <em>Info</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Info</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.OccupancyGrid#getInfo()
+	 * @see #getOccupancyGrid()
+	 * @generated
+	 */
+	EReference getOccupancyGrid_Info();
+
+	/**
+	 * Returns the meta object for the attribute list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.OccupancyGrid#getData <em>Data</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute list '<em>Data</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.OccupancyGrid#getData()
+	 * @see #getOccupancyGrid()
+	 * @generated
+	 */
+	EAttribute getOccupancyGrid_Data();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.GridCells
+	 * <em>Grid Cells</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Grid Cells</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.GridCells
+	 * @generated
+	 */
+	EClass getGridCells();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.GridCells#getHeader <em>Header</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Header</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.GridCells#getHeader()
+	 * @see #getGridCells()
+	 * @generated
+	 */
+	EReference getGridCells_Header();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.GridCells#getCell_width <em>Cell width</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Cell width</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.GridCells#getCell_width()
+	 * @see #getGridCells()
+	 * @generated
+	 */
+	EAttribute getGridCells_Cell_width();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.GridCells#getCell_height <em>Cell height</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Cell height</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.GridCells#getCell_height()
+	 * @see #getGridCells()
+	 * @generated
+	 */
+	EAttribute getGridCells_Cell_height();
+
+	/**
+	 * Returns the meta object for the containment reference list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.GridCells#getCells <em>Cells</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference list '<em>Cells</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.GridCells#getCells()
+	 * @see #getGridCells()
+	 * @generated
+	 */
+	EReference getGridCells_Cells();
+
+	/**
+	 * Returns the factory that creates the instances of the model.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the factory that creates the instances of the model.
+	 * @generated
+	 */
+	Nav_datatypesFactory getNav_datatypesFactory();
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * Defines literals for the meta objects that represent
+	 * <ul>
+	 * <li>each class,</li>
+	 * <li>each feature of each class,</li>
+	 * <li>each enum,</li>
+	 * <li>and each data type</li>
+	 * </ul>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	interface Literals {
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.PathImpl <em>Path</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.PathImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.Nav_datatypesPackageImpl#getPath()
+		 * @generated
+		 */
+		EClass PATH = eINSTANCE.getPath();
+
+		/**
+		 * The meta object literal for the '<em><b>Header</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference PATH__HEADER = eINSTANCE.getPath_Header();
+
+		/**
+		 * The meta object literal for the '<em><b>Poses</b></em>' containment reference list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference PATH__POSES = eINSTANCE.getPath_Poses();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.OdometryImpl <em>Odometry</em>}'
+		 * class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.OdometryImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.Nav_datatypesPackageImpl#getOdometry()
+		 * @generated
+		 */
+		EClass ODOMETRY = eINSTANCE.getOdometry();
+
+		/**
+		 * The meta object literal for the '<em><b>Header</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference ODOMETRY__HEADER = eINSTANCE.getOdometry_Header();
+
+		/**
+		 * The meta object literal for the '<em><b>Child frame id</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute ODOMETRY__CHILD_FRAME_ID = eINSTANCE.getOdometry_Child_frame_id();
+
+		/**
+		 * The meta object literal for the '<em><b>Pose</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference ODOMETRY__POSE = eINSTANCE.getOdometry_Pose();
+
+		/**
+		 * The meta object literal for the '<em><b>Twist</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference ODOMETRY__TWIST = eINSTANCE.getOdometry_Twist();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.MapMetaDataImpl
+		 * <em>Map Meta Data</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.MapMetaDataImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.Nav_datatypesPackageImpl#getMapMetaData()
+		 * @generated
+		 */
+		EClass MAP_META_DATA = eINSTANCE.getMapMetaData();
+
+		/**
+		 * The meta object literal for the '<em><b>Map load time</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute MAP_META_DATA__MAP_LOAD_TIME = eINSTANCE.getMapMetaData_Map_load_time();
+
+		/**
+		 * The meta object literal for the '<em><b>Resolution</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute MAP_META_DATA__RESOLUTION = eINSTANCE.getMapMetaData_Resolution();
+
+		/**
+		 * The meta object literal for the '<em><b>Width</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute MAP_META_DATA__WIDTH = eINSTANCE.getMapMetaData_Width();
+
+		/**
+		 * The meta object literal for the '<em><b>Origin</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference MAP_META_DATA__ORIGIN = eINSTANCE.getMapMetaData_Origin();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.OccupancyGridImpl
+		 * <em>Occupancy Grid</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.OccupancyGridImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.Nav_datatypesPackageImpl#getOccupancyGrid()
+		 * @generated
+		 */
+		EClass OCCUPANCY_GRID = eINSTANCE.getOccupancyGrid();
+
+		/**
+		 * The meta object literal for the '<em><b>Header</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference OCCUPANCY_GRID__HEADER = eINSTANCE.getOccupancyGrid_Header();
+
+		/**
+		 * The meta object literal for the '<em><b>Info</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference OCCUPANCY_GRID__INFO = eINSTANCE.getOccupancyGrid_Info();
+
+		/**
+		 * The meta object literal for the '<em><b>Data</b></em>' attribute list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute OCCUPANCY_GRID__DATA = eINSTANCE.getOccupancyGrid_Data();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.GridCellsImpl <em>Grid Cells</em>}'
+		 * class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.GridCellsImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.Nav_datatypesPackageImpl#getGridCells()
+		 * @generated
+		 */
+		EClass GRID_CELLS = eINSTANCE.getGridCells();
+
+		/**
+		 * The meta object literal for the '<em><b>Header</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference GRID_CELLS__HEADER = eINSTANCE.getGridCells_Header();
+
+		/**
+		 * The meta object literal for the '<em><b>Cell width</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute GRID_CELLS__CELL_WIDTH = eINSTANCE.getGridCells_Cell_width();
+
+		/**
+		 * The meta object literal for the '<em><b>Cell height</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute GRID_CELLS__CELL_HEIGHT = eINSTANCE.getGridCells_Cell_height();
+
+		/**
+		 * The meta object literal for the '<em><b>Cells</b></em>' containment reference list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference GRID_CELLS__CELLS = eINSTANCE.getGridCells_Cells();
+
+	}
+
+} //Nav_datatypesPackage
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/OccupancyGrid.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/OccupancyGrid.java
new file mode 100644
index 00000000000..24542142806
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/OccupancyGrid.java
@@ -0,0 +1,113 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes;
+
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Occupancy Grid</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.OccupancyGrid#getHeader <em>Header</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.OccupancyGrid#getInfo <em>Info</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.OccupancyGrid#getData <em>Data</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage#getOccupancyGrid()
+ * @model
+ * @generated
+ */
+public interface OccupancyGrid extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Header</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Header</em>' containment reference.
+	 * @see #setHeader(Header)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage#getOccupancyGrid_Header()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Header getHeader();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.OccupancyGrid#getHeader <em>Header</em>}'
+	 * containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Header</em>' containment reference.
+	 * @see #getHeader()
+	 * @generated
+	 */
+	void setHeader(Header value);
+
+	/**
+	 * Returns the value of the '<em><b>Info</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Info</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Info</em>' containment reference.
+	 * @see #setInfo(MapMetaData)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage#getOccupancyGrid_Info()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	MapMetaData getInfo();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.OccupancyGrid#getInfo
+	 * <em>Info</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Info</em>' containment reference.
+	 * @see #getInfo()
+	 * @generated
+	 */
+	void setInfo(MapMetaData value);
+
+	/**
+	 * Returns the value of the '<em><b>Data</b></em>' attribute list.
+	 * The list contents are of type {@link java.lang.Character}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Data</em>' attribute list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Data</em>' attribute list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage#getOccupancyGrid_Data()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int8" ordered="false"
+	 * @generated
+	 */
+	EList<Character> getData();
+
+} // OccupancyGrid
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/Odometry.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/Odometry.java
new file mode 100644
index 00000000000..78bcb0aceeb
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/Odometry.java
@@ -0,0 +1,159 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseWithCovariance;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.TwistWithCovariance;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Odometry</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Odometry#getHeader <em>Header</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Odometry#getChild_frame_id <em>Child frame id
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Odometry#getPose <em>Pose</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Odometry#getTwist <em>Twist</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage#getOdometry()
+ * @model
+ * @generated
+ */
+public interface Odometry extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Header</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Header</em>' containment reference.
+	 * @see #setHeader(Header)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage#getOdometry_Header()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Header getHeader();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Odometry#getHeader
+	 * <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Header</em>' containment reference.
+	 * @see #getHeader()
+	 * @generated
+	 */
+	void setHeader(Header value);
+
+	/**
+	 * Returns the value of the '<em><b>Child frame id</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Child frame id</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Child frame id</em>' attribute.
+	 * @see #setChild_frame_id(String)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage#getOdometry_Child_frame_id()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.String" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	String getChild_frame_id();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Odometry#getChild_frame_id
+	 * <em>Child frame id</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Child frame id</em>' attribute.
+	 * @see #getChild_frame_id()
+	 * @generated
+	 */
+	void setChild_frame_id(String value);
+
+	/**
+	 * Returns the value of the '<em><b>Pose</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Pose</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Pose</em>' containment reference.
+	 * @see #setPose(PoseWithCovariance)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage#getOdometry_Pose()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	PoseWithCovariance getPose();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Odometry#getPose
+	 * <em>Pose</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Pose</em>' containment reference.
+	 * @see #getPose()
+	 * @generated
+	 */
+	void setPose(PoseWithCovariance value);
+
+	/**
+	 * Returns the value of the '<em><b>Twist</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Twist</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Twist</em>' containment reference.
+	 * @see #setTwist(TwistWithCovariance)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage#getOdometry_Twist()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	TwistWithCovariance getTwist();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Odometry#getTwist
+	 * <em>Twist</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Twist</em>' containment reference.
+	 * @see #getTwist()
+	 * @generated
+	 */
+	void setTwist(TwistWithCovariance value);
+
+} // Odometry
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/Path.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/Path.java
new file mode 100644
index 00000000000..e9c338b9b12
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/Path.java
@@ -0,0 +1,84 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes;
+
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseStamped;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Path</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Path#getHeader <em>Header</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Path#getPoses <em>Poses</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage#getPath()
+ * @model
+ * @generated
+ */
+public interface Path extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Header</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Header</em>' containment reference.
+	 * @see #setHeader(Header)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage#getPath_Header()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Header getHeader();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Path#getHeader
+	 * <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Header</em>' containment reference.
+	 * @see #getHeader()
+	 * @generated
+	 */
+	void setHeader(Header value);
+
+	/**
+	 * Returns the value of the '<em><b>Poses</b></em>' containment reference list.
+	 * The list contents are of type
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseStamped}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Poses</em>' containment reference list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Poses</em>' containment reference list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage#getPath_Poses()
+	 * @model containment="true" ordered="false"
+	 * @generated
+	 */
+	EList<PoseStamped> getPoses();
+
+} // Path
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/impl/GridCellsImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/impl/GridCellsImpl.java
new file mode 100644
index 00000000000..312d5d2d2e5
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/impl/GridCellsImpl.java
@@ -0,0 +1,376 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl;
+
+import java.util.Collection;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.emf.ecore.util.EObjectContainmentEList;
+import org.eclipse.emf.ecore.util.InternalEList;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.GridCells;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Grid Cells</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.GridCellsImpl#getHeader <em>Header</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.GridCellsImpl#getCell_width <em>Cell
+ * width</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.GridCellsImpl#getCell_height <em>Cell
+ * height</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.GridCellsImpl#getCells <em>Cells</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class GridCellsImpl extends EObjectImpl implements GridCells {
+
+	/**
+	 * The cached value of the '{@link #getHeader() <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHeader()
+	 * @generated
+	 * @ordered
+	 */
+	protected Header header;
+
+	/**
+	 * The default value of the '{@link #getCell_width() <em>Cell width</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getCell_width()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float CELL_WIDTH_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getCell_width() <em>Cell width</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getCell_width()
+	 * @generated
+	 * @ordered
+	 */
+	protected float cell_width = CELL_WIDTH_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getCell_height() <em>Cell height</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getCell_height()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float CELL_HEIGHT_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getCell_height() <em>Cell height</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getCell_height()
+	 * @generated
+	 * @ordered
+	 */
+	protected float cell_height = CELL_HEIGHT_EDEFAULT;
+
+	/**
+	 * The cached value of the '{@link #getCells() <em>Cells</em>}' containment reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getCells()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Point> cells;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected GridCellsImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Nav_datatypesPackage.Literals.GRID_CELLS;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Header getHeader() {
+		return header;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetHeader(Header newHeader, NotificationChain msgs) {
+		Header oldHeader = header;
+		header = newHeader;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Nav_datatypesPackage.GRID_CELLS__HEADER, oldHeader, newHeader);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setHeader(Header newHeader) {
+		if(newHeader != header) {
+			NotificationChain msgs = null;
+			if(header != null)
+				msgs = ((InternalEObject)header).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Nav_datatypesPackage.GRID_CELLS__HEADER, null, msgs);
+			if(newHeader != null)
+				msgs = ((InternalEObject)newHeader).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Nav_datatypesPackage.GRID_CELLS__HEADER, null, msgs);
+			msgs = basicSetHeader(newHeader, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Nav_datatypesPackage.GRID_CELLS__HEADER, newHeader, newHeader));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getCell_width() {
+		return cell_width;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setCell_width(float newCell_width) {
+		float oldCell_width = cell_width;
+		cell_width = newCell_width;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Nav_datatypesPackage.GRID_CELLS__CELL_WIDTH, oldCell_width, cell_width));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getCell_height() {
+		return cell_height;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setCell_height(float newCell_height) {
+		float oldCell_height = cell_height;
+		cell_height = newCell_height;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Nav_datatypesPackage.GRID_CELLS__CELL_HEIGHT, oldCell_height, cell_height));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Point> getCells() {
+		if(cells == null) {
+			cells = new EObjectContainmentEList<Point>(Point.class, this, Nav_datatypesPackage.GRID_CELLS__CELLS);
+		}
+		return cells;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Nav_datatypesPackage.GRID_CELLS__HEADER:
+			return basicSetHeader(null, msgs);
+		case Nav_datatypesPackage.GRID_CELLS__CELLS:
+			return ((InternalEList<?>)getCells()).basicRemove(otherEnd, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Nav_datatypesPackage.GRID_CELLS__HEADER:
+			return getHeader();
+		case Nav_datatypesPackage.GRID_CELLS__CELL_WIDTH:
+			return getCell_width();
+		case Nav_datatypesPackage.GRID_CELLS__CELL_HEIGHT:
+			return getCell_height();
+		case Nav_datatypesPackage.GRID_CELLS__CELLS:
+			return getCells();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@SuppressWarnings("unchecked")
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Nav_datatypesPackage.GRID_CELLS__HEADER:
+			setHeader((Header)newValue);
+			return;
+		case Nav_datatypesPackage.GRID_CELLS__CELL_WIDTH:
+			setCell_width((Float)newValue);
+			return;
+		case Nav_datatypesPackage.GRID_CELLS__CELL_HEIGHT:
+			setCell_height((Float)newValue);
+			return;
+		case Nav_datatypesPackage.GRID_CELLS__CELLS:
+			getCells().clear();
+			getCells().addAll((Collection<? extends Point>)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Nav_datatypesPackage.GRID_CELLS__HEADER:
+			setHeader((Header)null);
+			return;
+		case Nav_datatypesPackage.GRID_CELLS__CELL_WIDTH:
+			setCell_width(CELL_WIDTH_EDEFAULT);
+			return;
+		case Nav_datatypesPackage.GRID_CELLS__CELL_HEIGHT:
+			setCell_height(CELL_HEIGHT_EDEFAULT);
+			return;
+		case Nav_datatypesPackage.GRID_CELLS__CELLS:
+			getCells().clear();
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Nav_datatypesPackage.GRID_CELLS__HEADER:
+			return header != null;
+		case Nav_datatypesPackage.GRID_CELLS__CELL_WIDTH:
+			return cell_width != CELL_WIDTH_EDEFAULT;
+		case Nav_datatypesPackage.GRID_CELLS__CELL_HEIGHT:
+			return cell_height != CELL_HEIGHT_EDEFAULT;
+		case Nav_datatypesPackage.GRID_CELLS__CELLS:
+			return cells != null && !cells.isEmpty();
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (cell_width: ");
+		result.append(cell_width);
+		result.append(", cell_height: ");
+		result.append(cell_height);
+		result.append(')');
+		return result.toString();
+	}
+
+} //GridCellsImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/impl/MapMetaDataImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/impl/MapMetaDataImpl.java
new file mode 100644
index 00000000000..416b22c8d12
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/impl/MapMetaDataImpl.java
@@ -0,0 +1,392 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl;
+
+import java.util.Date;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Pose;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.MapMetaData;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Map Meta Data</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.MapMetaDataImpl#getMap_load_time <em>Map
+ * load time</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.MapMetaDataImpl#getResolution <em>
+ * Resolution</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.MapMetaDataImpl#getWidth <em>Width</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.MapMetaDataImpl#getOrigin <em>Origin
+ * </em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class MapMetaDataImpl extends EObjectImpl implements MapMetaData {
+
+	/**
+	 * The default value of the '{@link #getMap_load_time() <em>Map load time</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getMap_load_time()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final Date MAP_LOAD_TIME_EDEFAULT = null;
+
+	/**
+	 * The cached value of the '{@link #getMap_load_time() <em>Map load time</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getMap_load_time()
+	 * @generated
+	 * @ordered
+	 */
+	protected Date map_load_time = MAP_LOAD_TIME_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getResolution() <em>Resolution</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getResolution()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float RESOLUTION_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getResolution() <em>Resolution</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getResolution()
+	 * @generated
+	 * @ordered
+	 */
+	protected float resolution = RESOLUTION_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getWidth() <em>Width</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWidth()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final long WIDTH_EDEFAULT = 0L;
+
+	/**
+	 * The cached value of the '{@link #getWidth() <em>Width</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWidth()
+	 * @generated
+	 * @ordered
+	 */
+	protected long width = WIDTH_EDEFAULT;
+
+	/**
+	 * The cached value of the '{@link #getOrigin() <em>Origin</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getOrigin()
+	 * @generated
+	 * @ordered
+	 */
+	protected Pose origin;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected MapMetaDataImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Nav_datatypesPackage.Literals.MAP_META_DATA;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Date getMap_load_time() {
+		return map_load_time;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setMap_load_time(Date newMap_load_time) {
+		Date oldMap_load_time = map_load_time;
+		map_load_time = newMap_load_time;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Nav_datatypesPackage.MAP_META_DATA__MAP_LOAD_TIME, oldMap_load_time, map_load_time));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getResolution() {
+		return resolution;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setResolution(float newResolution) {
+		float oldResolution = resolution;
+		resolution = newResolution;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Nav_datatypesPackage.MAP_META_DATA__RESOLUTION, oldResolution, resolution));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public long getWidth() {
+		return width;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setWidth(long newWidth) {
+		long oldWidth = width;
+		width = newWidth;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Nav_datatypesPackage.MAP_META_DATA__WIDTH, oldWidth, width));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Pose getOrigin() {
+		return origin;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetOrigin(Pose newOrigin, NotificationChain msgs) {
+		Pose oldOrigin = origin;
+		origin = newOrigin;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Nav_datatypesPackage.MAP_META_DATA__ORIGIN, oldOrigin, newOrigin);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setOrigin(Pose newOrigin) {
+		if(newOrigin != origin) {
+			NotificationChain msgs = null;
+			if(origin != null)
+				msgs = ((InternalEObject)origin).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Nav_datatypesPackage.MAP_META_DATA__ORIGIN, null, msgs);
+			if(newOrigin != null)
+				msgs = ((InternalEObject)newOrigin).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Nav_datatypesPackage.MAP_META_DATA__ORIGIN, null, msgs);
+			msgs = basicSetOrigin(newOrigin, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Nav_datatypesPackage.MAP_META_DATA__ORIGIN, newOrigin, newOrigin));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Nav_datatypesPackage.MAP_META_DATA__ORIGIN:
+			return basicSetOrigin(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Nav_datatypesPackage.MAP_META_DATA__MAP_LOAD_TIME:
+			return getMap_load_time();
+		case Nav_datatypesPackage.MAP_META_DATA__RESOLUTION:
+			return getResolution();
+		case Nav_datatypesPackage.MAP_META_DATA__WIDTH:
+			return getWidth();
+		case Nav_datatypesPackage.MAP_META_DATA__ORIGIN:
+			return getOrigin();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Nav_datatypesPackage.MAP_META_DATA__MAP_LOAD_TIME:
+			setMap_load_time((Date)newValue);
+			return;
+		case Nav_datatypesPackage.MAP_META_DATA__RESOLUTION:
+			setResolution((Float)newValue);
+			return;
+		case Nav_datatypesPackage.MAP_META_DATA__WIDTH:
+			setWidth((Long)newValue);
+			return;
+		case Nav_datatypesPackage.MAP_META_DATA__ORIGIN:
+			setOrigin((Pose)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Nav_datatypesPackage.MAP_META_DATA__MAP_LOAD_TIME:
+			setMap_load_time(MAP_LOAD_TIME_EDEFAULT);
+			return;
+		case Nav_datatypesPackage.MAP_META_DATA__RESOLUTION:
+			setResolution(RESOLUTION_EDEFAULT);
+			return;
+		case Nav_datatypesPackage.MAP_META_DATA__WIDTH:
+			setWidth(WIDTH_EDEFAULT);
+			return;
+		case Nav_datatypesPackage.MAP_META_DATA__ORIGIN:
+			setOrigin((Pose)null);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Nav_datatypesPackage.MAP_META_DATA__MAP_LOAD_TIME:
+			return MAP_LOAD_TIME_EDEFAULT == null ? map_load_time != null : !MAP_LOAD_TIME_EDEFAULT.equals(map_load_time);
+		case Nav_datatypesPackage.MAP_META_DATA__RESOLUTION:
+			return resolution != RESOLUTION_EDEFAULT;
+		case Nav_datatypesPackage.MAP_META_DATA__WIDTH:
+			return width != WIDTH_EDEFAULT;
+		case Nav_datatypesPackage.MAP_META_DATA__ORIGIN:
+			return origin != null;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (map_load_time: ");
+		result.append(map_load_time);
+		result.append(", resolution: ");
+		result.append(resolution);
+		result.append(", width: ");
+		result.append(width);
+		result.append(')');
+		return result.toString();
+	}
+
+} //MapMetaDataImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/impl/Nav_datatypesFactoryImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/impl/Nav_datatypesFactoryImpl.java
new file mode 100644
index 00000000000..38ed33be89b
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/impl/Nav_datatypesFactoryImpl.java
@@ -0,0 +1,167 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl;
+
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.emf.ecore.EPackage;
+import org.eclipse.emf.ecore.impl.EFactoryImpl;
+import org.eclipse.emf.ecore.plugin.EcorePlugin;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.GridCells;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.MapMetaData;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesFactory;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.OccupancyGrid;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Odometry;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Path;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model <b>Factory</b>.
+ * <!-- end-user-doc -->
+ * 
+ * @generated
+ */
+public class Nav_datatypesFactoryImpl extends EFactoryImpl implements Nav_datatypesFactory {
+
+	/**
+	 * Creates the default factory implementation.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static Nav_datatypesFactory init() {
+		try {
+			Nav_datatypesFactory theNav_datatypesFactory = (Nav_datatypesFactory)EPackage.Registry.INSTANCE.getEFactory("http:///RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes.ecore");
+			if(theNav_datatypesFactory != null) {
+				return theNav_datatypesFactory;
+			}
+		} catch (Exception exception) {
+			EcorePlugin.INSTANCE.log(exception);
+		}
+		return new Nav_datatypesFactoryImpl();
+	}
+
+	/**
+	 * Creates an instance of the factory.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Nav_datatypesFactoryImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public EObject create(EClass eClass) {
+		switch(eClass.getClassifierID()) {
+		case Nav_datatypesPackage.PATH:
+			return createPath();
+		case Nav_datatypesPackage.ODOMETRY:
+			return createOdometry();
+		case Nav_datatypesPackage.MAP_META_DATA:
+			return createMapMetaData();
+		case Nav_datatypesPackage.OCCUPANCY_GRID:
+			return createOccupancyGrid();
+		case Nav_datatypesPackage.GRID_CELLS:
+			return createGridCells();
+		default:
+			throw new IllegalArgumentException("The class '" + eClass.getName() + "' is not a valid classifier");
+		}
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Path createPath() {
+		PathImpl path = new PathImpl();
+		return path;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Odometry createOdometry() {
+		OdometryImpl odometry = new OdometryImpl();
+		return odometry;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public MapMetaData createMapMetaData() {
+		MapMetaDataImpl mapMetaData = new MapMetaDataImpl();
+		return mapMetaData;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public OccupancyGrid createOccupancyGrid() {
+		OccupancyGridImpl occupancyGrid = new OccupancyGridImpl();
+		return occupancyGrid;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public GridCells createGridCells() {
+		GridCellsImpl gridCells = new GridCellsImpl();
+		return gridCells;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Nav_datatypesPackage getNav_datatypesPackage() {
+		return (Nav_datatypesPackage)getEPackage();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @deprecated
+	 * @generated
+	 */
+	@Deprecated
+	public static Nav_datatypesPackage getPackage() {
+		return Nav_datatypesPackage.eINSTANCE;
+	}
+
+} //Nav_datatypesFactoryImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/impl/Nav_datatypesPackageImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/impl/Nav_datatypesPackageImpl.java
new file mode 100644
index 00000000000..d3a0ab9508d
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/impl/Nav_datatypesPackageImpl.java
@@ -0,0 +1,531 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl;
+
+import org.eclipse.emf.ecore.EAttribute;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.EPackage;
+import org.eclipse.emf.ecore.EReference;
+import org.eclipse.emf.ecore.impl.EPackageImpl;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.Actionlib_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.Diagnostic_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.GridCells;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.MapMetaData;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesFactory;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.OccupancyGrid;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Odometry;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Path;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.Oarp1_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl.Oarp1_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl;
+import org.eclipse.uml2.uml.UMLPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model <b>Package</b>.
+ * <!-- end-user-doc -->
+ * 
+ * @generated
+ */
+public class Nav_datatypesPackageImpl extends EPackageImpl implements Nav_datatypesPackage {
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass pathEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass odometryEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass mapMetaDataEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass occupancyGridEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass gridCellsEClass = null;
+
+	/**
+	 * Creates an instance of the model <b>Package</b>, registered with {@link org.eclipse.emf.ecore.EPackage.Registry EPackage.Registry} by the
+	 * package
+	 * package URI value.
+	 * <p>
+	 * Note: the correct way to create the package is via the static factory method {@link #init init()}, which also performs initialization of the
+	 * package, or returns the registered package, if one already exists. <!-- begin-user-doc --> <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.emf.ecore.EPackage.Registry
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage#eNS_URI
+	 * @see #init()
+	 * @generated
+	 */
+	private Nav_datatypesPackageImpl() {
+		super(eNS_URI, Nav_datatypesFactory.eINSTANCE);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private static boolean isInited = false;
+
+	/**
+	 * Creates, registers, and initializes the <b>Package</b> for this model, and for any others upon which it depends.
+	 * 
+	 * <p>
+	 * This method is used to initialize {@link Nav_datatypesPackage#eINSTANCE} when that field is accessed. Clients should not invoke it directly.
+	 * Instead, they should simply access that field to obtain the package. <!-- begin-user-doc --> <!-- end-user-doc -->
+	 * 
+	 * @see #eNS_URI
+	 * @see #createPackageContents()
+	 * @see #initializePackageContents()
+	 * @generated
+	 */
+	public static Nav_datatypesPackage init() {
+		if(isInited)
+			return (Nav_datatypesPackage)EPackage.Registry.INSTANCE.getEPackage(Nav_datatypesPackage.eNS_URI);
+
+		// Obtain or create and register package
+		Nav_datatypesPackageImpl theNav_datatypesPackage = (Nav_datatypesPackageImpl)(EPackage.Registry.INSTANCE.get(eNS_URI) instanceof Nav_datatypesPackageImpl ? EPackage.Registry.INSTANCE.get(eNS_URI) : new Nav_datatypesPackageImpl());
+
+		isInited = true;
+
+		// Initialize simple dependencies
+		UMLPackage.eINSTANCE.eClass();
+
+		// Obtain or create and register interdependencies
+		RobotMLPackageImpl theRobotMLPackage = (RobotMLPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(RobotMLPackage.eNS_URI) instanceof RobotMLPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(RobotMLPackage.eNS_URI) : RobotMLPackage.eINSTANCE);
+		Diagnostic_datatypesPackageImpl theDiagnostic_datatypesPackage = (Diagnostic_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Diagnostic_datatypesPackage.eNS_URI) instanceof Diagnostic_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Diagnostic_datatypesPackage.eNS_URI) : Diagnostic_datatypesPackage.eINSTANCE);
+		Geometry_datatypesPackageImpl theGeometry_datatypesPackage = (Geometry_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Geometry_datatypesPackage.eNS_URI) instanceof Geometry_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Geometry_datatypesPackage.eNS_URI) : Geometry_datatypesPackage.eINSTANCE);
+		Sensor_datatypesPackageImpl theSensor_datatypesPackage = (Sensor_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Sensor_datatypesPackage.eNS_URI) instanceof Sensor_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Sensor_datatypesPackage.eNS_URI) : Sensor_datatypesPackage.eINSTANCE);
+		Actionlib_datatypesPackageImpl theActionlib_datatypesPackage = (Actionlib_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Actionlib_datatypesPackage.eNS_URI) instanceof Actionlib_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Actionlib_datatypesPackage.eNS_URI) : Actionlib_datatypesPackage.eINSTANCE);
+		Oarp1_datatypesPackageImpl theOarp1_datatypesPackage = (Oarp1_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Oarp1_datatypesPackage.eNS_URI) instanceof Oarp1_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Oarp1_datatypesPackage.eNS_URI) : Oarp1_datatypesPackage.eINSTANCE);
+		Oarp4_datatypesPackageImpl theOarp4_datatypesPackage = (Oarp4_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Oarp4_datatypesPackage.eNS_URI) instanceof Oarp4_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Oarp4_datatypesPackage.eNS_URI) : Oarp4_datatypesPackage.eINSTANCE);
+		Std_datatypesPackageImpl theStd_datatypesPackage = (Std_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Std_datatypesPackage.eNS_URI) instanceof Std_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Std_datatypesPackage.eNS_URI) : Std_datatypesPackage.eINSTANCE);
+
+		// Create package meta-data objects
+		theNav_datatypesPackage.createPackageContents();
+		theRobotMLPackage.createPackageContents();
+		theDiagnostic_datatypesPackage.createPackageContents();
+		theGeometry_datatypesPackage.createPackageContents();
+		theSensor_datatypesPackage.createPackageContents();
+		theActionlib_datatypesPackage.createPackageContents();
+		theOarp1_datatypesPackage.createPackageContents();
+		theOarp4_datatypesPackage.createPackageContents();
+		theStd_datatypesPackage.createPackageContents();
+
+		// Initialize created meta-data
+		theNav_datatypesPackage.initializePackageContents();
+		theRobotMLPackage.initializePackageContents();
+		theDiagnostic_datatypesPackage.initializePackageContents();
+		theGeometry_datatypesPackage.initializePackageContents();
+		theSensor_datatypesPackage.initializePackageContents();
+		theActionlib_datatypesPackage.initializePackageContents();
+		theOarp1_datatypesPackage.initializePackageContents();
+		theOarp4_datatypesPackage.initializePackageContents();
+		theStd_datatypesPackage.initializePackageContents();
+
+		// Mark meta-data to indicate it can't be changed
+		theNav_datatypesPackage.freeze();
+
+
+		// Update the registry and return the package
+		EPackage.Registry.INSTANCE.put(Nav_datatypesPackage.eNS_URI, theNav_datatypesPackage);
+		return theNav_datatypesPackage;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getPath() {
+		return pathEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getPath_Header() {
+		return (EReference)pathEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getPath_Poses() {
+		return (EReference)pathEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getOdometry() {
+		return odometryEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getOdometry_Header() {
+		return (EReference)odometryEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getOdometry_Child_frame_id() {
+		return (EAttribute)odometryEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getOdometry_Pose() {
+		return (EReference)odometryEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getOdometry_Twist() {
+		return (EReference)odometryEClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getMapMetaData() {
+		return mapMetaDataEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getMapMetaData_Map_load_time() {
+		return (EAttribute)mapMetaDataEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getMapMetaData_Resolution() {
+		return (EAttribute)mapMetaDataEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getMapMetaData_Width() {
+		return (EAttribute)mapMetaDataEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getMapMetaData_Origin() {
+		return (EReference)mapMetaDataEClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getOccupancyGrid() {
+		return occupancyGridEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getOccupancyGrid_Header() {
+		return (EReference)occupancyGridEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getOccupancyGrid_Info() {
+		return (EReference)occupancyGridEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getOccupancyGrid_Data() {
+		return (EAttribute)occupancyGridEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getGridCells() {
+		return gridCellsEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getGridCells_Header() {
+		return (EReference)gridCellsEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getGridCells_Cell_width() {
+		return (EAttribute)gridCellsEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getGridCells_Cell_height() {
+		return (EAttribute)gridCellsEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getGridCells_Cells() {
+		return (EReference)gridCellsEClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Nav_datatypesFactory getNav_datatypesFactory() {
+		return (Nav_datatypesFactory)getEFactoryInstance();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private boolean isCreated = false;
+
+	/**
+	 * Creates the meta-model objects for the package. This method is
+	 * guarded to have no affect on any invocation but its first.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void createPackageContents() {
+		if(isCreated)
+			return;
+		isCreated = true;
+
+		// Create classes and their features
+		pathEClass = createEClass(PATH);
+		createEReference(pathEClass, PATH__HEADER);
+		createEReference(pathEClass, PATH__POSES);
+
+		odometryEClass = createEClass(ODOMETRY);
+		createEReference(odometryEClass, ODOMETRY__HEADER);
+		createEAttribute(odometryEClass, ODOMETRY__CHILD_FRAME_ID);
+		createEReference(odometryEClass, ODOMETRY__POSE);
+		createEReference(odometryEClass, ODOMETRY__TWIST);
+
+		mapMetaDataEClass = createEClass(MAP_META_DATA);
+		createEAttribute(mapMetaDataEClass, MAP_META_DATA__MAP_LOAD_TIME);
+		createEAttribute(mapMetaDataEClass, MAP_META_DATA__RESOLUTION);
+		createEAttribute(mapMetaDataEClass, MAP_META_DATA__WIDTH);
+		createEReference(mapMetaDataEClass, MAP_META_DATA__ORIGIN);
+
+		occupancyGridEClass = createEClass(OCCUPANCY_GRID);
+		createEReference(occupancyGridEClass, OCCUPANCY_GRID__HEADER);
+		createEReference(occupancyGridEClass, OCCUPANCY_GRID__INFO);
+		createEAttribute(occupancyGridEClass, OCCUPANCY_GRID__DATA);
+
+		gridCellsEClass = createEClass(GRID_CELLS);
+		createEReference(gridCellsEClass, GRID_CELLS__HEADER);
+		createEAttribute(gridCellsEClass, GRID_CELLS__CELL_WIDTH);
+		createEAttribute(gridCellsEClass, GRID_CELLS__CELL_HEIGHT);
+		createEReference(gridCellsEClass, GRID_CELLS__CELLS);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private boolean isInitialized = false;
+
+	/**
+	 * Complete the initialization of the package and its meta-model. This
+	 * method is guarded to have no affect on any invocation but its first.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void initializePackageContents() {
+		if(isInitialized)
+			return;
+		isInitialized = true;
+
+		// Initialize package
+		setName(eNAME);
+		setNsPrefix(eNS_PREFIX);
+		setNsURI(eNS_URI);
+
+		// Obtain other dependent packages
+		Std_datatypesPackage theStd_datatypesPackage = (Std_datatypesPackage)EPackage.Registry.INSTANCE.getEPackage(Std_datatypesPackage.eNS_URI);
+		Geometry_datatypesPackage theGeometry_datatypesPackage = (Geometry_datatypesPackage)EPackage.Registry.INSTANCE.getEPackage(Geometry_datatypesPackage.eNS_URI);
+
+		// Create type parameters
+
+		// Set bounds for type parameters
+
+		// Add supertypes to classes
+
+		// Initialize classes and features; add operations and parameters
+		initEClass(pathEClass, Path.class, "Path", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getPath_Header(), theStd_datatypesPackage.getHeader(), null, "header", null, 1, 1, Path.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getPath_Poses(), theGeometry_datatypesPackage.getPoseStamped(), null, "poses", null, 0, -1, Path.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(odometryEClass, Odometry.class, "Odometry", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getOdometry_Header(), theStd_datatypesPackage.getHeader(), null, "header", null, 1, 1, Odometry.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getOdometry_Child_frame_id(), theStd_datatypesPackage.getString(), "child_frame_id", null, 1, 1, Odometry.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getOdometry_Pose(), theGeometry_datatypesPackage.getPoseWithCovariance(), null, "pose", null, 1, 1, Odometry.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getOdometry_Twist(), theGeometry_datatypesPackage.getTwistWithCovariance(), null, "twist", null, 1, 1, Odometry.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(mapMetaDataEClass, MapMetaData.class, "MapMetaData", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getMapMetaData_Map_load_time(), theStd_datatypesPackage.getTime(), "map_load_time", null, 1, 1, MapMetaData.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getMapMetaData_Resolution(), theStd_datatypesPackage.getFloat32(), "resolution", null, 1, 1, MapMetaData.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getMapMetaData_Width(), theStd_datatypesPackage.getUInt32(), "width", null, 1, 1, MapMetaData.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getMapMetaData_Origin(), theGeometry_datatypesPackage.getPose(), null, "origin", null, 1, 1, MapMetaData.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(occupancyGridEClass, OccupancyGrid.class, "OccupancyGrid", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getOccupancyGrid_Header(), theStd_datatypesPackage.getHeader(), null, "header", null, 1, 1, OccupancyGrid.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getOccupancyGrid_Info(), this.getMapMetaData(), null, "info", null, 1, 1, OccupancyGrid.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getOccupancyGrid_Data(), theStd_datatypesPackage.getInt8(), "data", null, 0, -1, OccupancyGrid.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(gridCellsEClass, GridCells.class, "GridCells", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getGridCells_Header(), theStd_datatypesPackage.getHeader(), null, "header", null, 1, 1, GridCells.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getGridCells_Cell_width(), theStd_datatypesPackage.getFloat32(), "cell_width", null, 1, 1, GridCells.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getGridCells_Cell_height(), theStd_datatypesPackage.getFloat32(), "cell_height", null, 1, 1, GridCells.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getGridCells_Cells(), theGeometry_datatypesPackage.getPoint(), null, "cells", null, 0, -1, GridCells.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		// Create resource
+		createResource(eNS_URI);
+	}
+
+} //Nav_datatypesPackageImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/impl/OccupancyGridImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/impl/OccupancyGridImpl.java
new file mode 100644
index 00000000000..60e9a5e4861
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/impl/OccupancyGridImpl.java
@@ -0,0 +1,331 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl;
+
+import java.util.Collection;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.emf.ecore.util.EDataTypeUniqueEList;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.MapMetaData;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.OccupancyGrid;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Occupancy Grid</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.OccupancyGridImpl#getHeader <em>Header
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.OccupancyGridImpl#getInfo <em>Info</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.OccupancyGridImpl#getData <em>Data</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class OccupancyGridImpl extends EObjectImpl implements OccupancyGrid {
+
+	/**
+	 * The cached value of the '{@link #getHeader() <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHeader()
+	 * @generated
+	 * @ordered
+	 */
+	protected Header header;
+
+	/**
+	 * The cached value of the '{@link #getInfo() <em>Info</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getInfo()
+	 * @generated
+	 * @ordered
+	 */
+	protected MapMetaData info;
+
+	/**
+	 * The cached value of the '{@link #getData() <em>Data</em>}' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getData()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Character> data;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected OccupancyGridImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Nav_datatypesPackage.Literals.OCCUPANCY_GRID;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Header getHeader() {
+		return header;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetHeader(Header newHeader, NotificationChain msgs) {
+		Header oldHeader = header;
+		header = newHeader;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Nav_datatypesPackage.OCCUPANCY_GRID__HEADER, oldHeader, newHeader);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setHeader(Header newHeader) {
+		if(newHeader != header) {
+			NotificationChain msgs = null;
+			if(header != null)
+				msgs = ((InternalEObject)header).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Nav_datatypesPackage.OCCUPANCY_GRID__HEADER, null, msgs);
+			if(newHeader != null)
+				msgs = ((InternalEObject)newHeader).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Nav_datatypesPackage.OCCUPANCY_GRID__HEADER, null, msgs);
+			msgs = basicSetHeader(newHeader, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Nav_datatypesPackage.OCCUPANCY_GRID__HEADER, newHeader, newHeader));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public MapMetaData getInfo() {
+		return info;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetInfo(MapMetaData newInfo, NotificationChain msgs) {
+		MapMetaData oldInfo = info;
+		info = newInfo;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Nav_datatypesPackage.OCCUPANCY_GRID__INFO, oldInfo, newInfo);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setInfo(MapMetaData newInfo) {
+		if(newInfo != info) {
+			NotificationChain msgs = null;
+			if(info != null)
+				msgs = ((InternalEObject)info).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Nav_datatypesPackage.OCCUPANCY_GRID__INFO, null, msgs);
+			if(newInfo != null)
+				msgs = ((InternalEObject)newInfo).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Nav_datatypesPackage.OCCUPANCY_GRID__INFO, null, msgs);
+			msgs = basicSetInfo(newInfo, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Nav_datatypesPackage.OCCUPANCY_GRID__INFO, newInfo, newInfo));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Character> getData() {
+		if(data == null) {
+			data = new EDataTypeUniqueEList<Character>(Character.class, this, Nav_datatypesPackage.OCCUPANCY_GRID__DATA);
+		}
+		return data;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Nav_datatypesPackage.OCCUPANCY_GRID__HEADER:
+			return basicSetHeader(null, msgs);
+		case Nav_datatypesPackage.OCCUPANCY_GRID__INFO:
+			return basicSetInfo(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Nav_datatypesPackage.OCCUPANCY_GRID__HEADER:
+			return getHeader();
+		case Nav_datatypesPackage.OCCUPANCY_GRID__INFO:
+			return getInfo();
+		case Nav_datatypesPackage.OCCUPANCY_GRID__DATA:
+			return getData();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@SuppressWarnings("unchecked")
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Nav_datatypesPackage.OCCUPANCY_GRID__HEADER:
+			setHeader((Header)newValue);
+			return;
+		case Nav_datatypesPackage.OCCUPANCY_GRID__INFO:
+			setInfo((MapMetaData)newValue);
+			return;
+		case Nav_datatypesPackage.OCCUPANCY_GRID__DATA:
+			getData().clear();
+			getData().addAll((Collection<? extends Character>)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Nav_datatypesPackage.OCCUPANCY_GRID__HEADER:
+			setHeader((Header)null);
+			return;
+		case Nav_datatypesPackage.OCCUPANCY_GRID__INFO:
+			setInfo((MapMetaData)null);
+			return;
+		case Nav_datatypesPackage.OCCUPANCY_GRID__DATA:
+			getData().clear();
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Nav_datatypesPackage.OCCUPANCY_GRID__HEADER:
+			return header != null;
+		case Nav_datatypesPackage.OCCUPANCY_GRID__INFO:
+			return info != null;
+		case Nav_datatypesPackage.OCCUPANCY_GRID__DATA:
+			return data != null && !data.isEmpty();
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (data: ");
+		result.append(data);
+		result.append(')');
+		return result.toString();
+	}
+
+} //OccupancyGridImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/impl/OdometryImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/impl/OdometryImpl.java
new file mode 100644
index 00000000000..f992f000cdb
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/impl/OdometryImpl.java
@@ -0,0 +1,420 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseWithCovariance;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.TwistWithCovariance;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Odometry;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Odometry</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.OdometryImpl#getHeader <em>Header</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.OdometryImpl#getChild_frame_id <em>Child
+ * frame id</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.OdometryImpl#getPose <em>Pose</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.OdometryImpl#getTwist <em>Twist</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class OdometryImpl extends EObjectImpl implements Odometry {
+
+	/**
+	 * The cached value of the '{@link #getHeader() <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHeader()
+	 * @generated
+	 * @ordered
+	 */
+	protected Header header;
+
+	/**
+	 * The default value of the '{@link #getChild_frame_id() <em>Child frame id</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getChild_frame_id()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final String CHILD_FRAME_ID_EDEFAULT = null;
+
+	/**
+	 * The cached value of the '{@link #getChild_frame_id() <em>Child frame id</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getChild_frame_id()
+	 * @generated
+	 * @ordered
+	 */
+	protected String child_frame_id = CHILD_FRAME_ID_EDEFAULT;
+
+	/**
+	 * The cached value of the '{@link #getPose() <em>Pose</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getPose()
+	 * @generated
+	 * @ordered
+	 */
+	protected PoseWithCovariance pose;
+
+	/**
+	 * The cached value of the '{@link #getTwist() <em>Twist</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getTwist()
+	 * @generated
+	 * @ordered
+	 */
+	protected TwistWithCovariance twist;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected OdometryImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Nav_datatypesPackage.Literals.ODOMETRY;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Header getHeader() {
+		return header;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetHeader(Header newHeader, NotificationChain msgs) {
+		Header oldHeader = header;
+		header = newHeader;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Nav_datatypesPackage.ODOMETRY__HEADER, oldHeader, newHeader);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setHeader(Header newHeader) {
+		if(newHeader != header) {
+			NotificationChain msgs = null;
+			if(header != null)
+				msgs = ((InternalEObject)header).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Nav_datatypesPackage.ODOMETRY__HEADER, null, msgs);
+			if(newHeader != null)
+				msgs = ((InternalEObject)newHeader).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Nav_datatypesPackage.ODOMETRY__HEADER, null, msgs);
+			msgs = basicSetHeader(newHeader, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Nav_datatypesPackage.ODOMETRY__HEADER, newHeader, newHeader));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getChild_frame_id() {
+		return child_frame_id;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setChild_frame_id(String newChild_frame_id) {
+		String oldChild_frame_id = child_frame_id;
+		child_frame_id = newChild_frame_id;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Nav_datatypesPackage.ODOMETRY__CHILD_FRAME_ID, oldChild_frame_id, child_frame_id));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public PoseWithCovariance getPose() {
+		return pose;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetPose(PoseWithCovariance newPose, NotificationChain msgs) {
+		PoseWithCovariance oldPose = pose;
+		pose = newPose;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Nav_datatypesPackage.ODOMETRY__POSE, oldPose, newPose);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setPose(PoseWithCovariance newPose) {
+		if(newPose != pose) {
+			NotificationChain msgs = null;
+			if(pose != null)
+				msgs = ((InternalEObject)pose).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Nav_datatypesPackage.ODOMETRY__POSE, null, msgs);
+			if(newPose != null)
+				msgs = ((InternalEObject)newPose).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Nav_datatypesPackage.ODOMETRY__POSE, null, msgs);
+			msgs = basicSetPose(newPose, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Nav_datatypesPackage.ODOMETRY__POSE, newPose, newPose));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public TwistWithCovariance getTwist() {
+		return twist;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetTwist(TwistWithCovariance newTwist, NotificationChain msgs) {
+		TwistWithCovariance oldTwist = twist;
+		twist = newTwist;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Nav_datatypesPackage.ODOMETRY__TWIST, oldTwist, newTwist);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setTwist(TwistWithCovariance newTwist) {
+		if(newTwist != twist) {
+			NotificationChain msgs = null;
+			if(twist != null)
+				msgs = ((InternalEObject)twist).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Nav_datatypesPackage.ODOMETRY__TWIST, null, msgs);
+			if(newTwist != null)
+				msgs = ((InternalEObject)newTwist).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Nav_datatypesPackage.ODOMETRY__TWIST, null, msgs);
+			msgs = basicSetTwist(newTwist, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Nav_datatypesPackage.ODOMETRY__TWIST, newTwist, newTwist));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Nav_datatypesPackage.ODOMETRY__HEADER:
+			return basicSetHeader(null, msgs);
+		case Nav_datatypesPackage.ODOMETRY__POSE:
+			return basicSetPose(null, msgs);
+		case Nav_datatypesPackage.ODOMETRY__TWIST:
+			return basicSetTwist(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Nav_datatypesPackage.ODOMETRY__HEADER:
+			return getHeader();
+		case Nav_datatypesPackage.ODOMETRY__CHILD_FRAME_ID:
+			return getChild_frame_id();
+		case Nav_datatypesPackage.ODOMETRY__POSE:
+			return getPose();
+		case Nav_datatypesPackage.ODOMETRY__TWIST:
+			return getTwist();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Nav_datatypesPackage.ODOMETRY__HEADER:
+			setHeader((Header)newValue);
+			return;
+		case Nav_datatypesPackage.ODOMETRY__CHILD_FRAME_ID:
+			setChild_frame_id((String)newValue);
+			return;
+		case Nav_datatypesPackage.ODOMETRY__POSE:
+			setPose((PoseWithCovariance)newValue);
+			return;
+		case Nav_datatypesPackage.ODOMETRY__TWIST:
+			setTwist((TwistWithCovariance)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Nav_datatypesPackage.ODOMETRY__HEADER:
+			setHeader((Header)null);
+			return;
+		case Nav_datatypesPackage.ODOMETRY__CHILD_FRAME_ID:
+			setChild_frame_id(CHILD_FRAME_ID_EDEFAULT);
+			return;
+		case Nav_datatypesPackage.ODOMETRY__POSE:
+			setPose((PoseWithCovariance)null);
+			return;
+		case Nav_datatypesPackage.ODOMETRY__TWIST:
+			setTwist((TwistWithCovariance)null);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Nav_datatypesPackage.ODOMETRY__HEADER:
+			return header != null;
+		case Nav_datatypesPackage.ODOMETRY__CHILD_FRAME_ID:
+			return CHILD_FRAME_ID_EDEFAULT == null ? child_frame_id != null : !CHILD_FRAME_ID_EDEFAULT.equals(child_frame_id);
+		case Nav_datatypesPackage.ODOMETRY__POSE:
+			return pose != null;
+		case Nav_datatypesPackage.ODOMETRY__TWIST:
+			return twist != null;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (child_frame_id: ");
+		result.append(child_frame_id);
+		result.append(')');
+		return result.toString();
+	}
+
+} //OdometryImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/impl/PathImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/impl/PathImpl.java
new file mode 100644
index 00000000000..4da0ae6ab86
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/impl/PathImpl.java
@@ -0,0 +1,242 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl;
+
+import java.util.Collection;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.emf.ecore.util.EObjectContainmentEList;
+import org.eclipse.emf.ecore.util.InternalEList;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.PoseStamped;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Path;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Path</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.PathImpl#getHeader <em>Header</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.PathImpl#getPoses <em>Poses</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class PathImpl extends EObjectImpl implements Path {
+
+	/**
+	 * The cached value of the '{@link #getHeader() <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHeader()
+	 * @generated
+	 * @ordered
+	 */
+	protected Header header;
+
+	/**
+	 * The cached value of the '{@link #getPoses() <em>Poses</em>}' containment reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getPoses()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<PoseStamped> poses;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected PathImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Nav_datatypesPackage.Literals.PATH;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Header getHeader() {
+		return header;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetHeader(Header newHeader, NotificationChain msgs) {
+		Header oldHeader = header;
+		header = newHeader;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Nav_datatypesPackage.PATH__HEADER, oldHeader, newHeader);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setHeader(Header newHeader) {
+		if(newHeader != header) {
+			NotificationChain msgs = null;
+			if(header != null)
+				msgs = ((InternalEObject)header).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Nav_datatypesPackage.PATH__HEADER, null, msgs);
+			if(newHeader != null)
+				msgs = ((InternalEObject)newHeader).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Nav_datatypesPackage.PATH__HEADER, null, msgs);
+			msgs = basicSetHeader(newHeader, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Nav_datatypesPackage.PATH__HEADER, newHeader, newHeader));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<PoseStamped> getPoses() {
+		if(poses == null) {
+			poses = new EObjectContainmentEList<PoseStamped>(PoseStamped.class, this, Nav_datatypesPackage.PATH__POSES);
+		}
+		return poses;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Nav_datatypesPackage.PATH__HEADER:
+			return basicSetHeader(null, msgs);
+		case Nav_datatypesPackage.PATH__POSES:
+			return ((InternalEList<?>)getPoses()).basicRemove(otherEnd, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Nav_datatypesPackage.PATH__HEADER:
+			return getHeader();
+		case Nav_datatypesPackage.PATH__POSES:
+			return getPoses();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@SuppressWarnings("unchecked")
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Nav_datatypesPackage.PATH__HEADER:
+			setHeader((Header)newValue);
+			return;
+		case Nav_datatypesPackage.PATH__POSES:
+			getPoses().clear();
+			getPoses().addAll((Collection<? extends PoseStamped>)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Nav_datatypesPackage.PATH__HEADER:
+			setHeader((Header)null);
+			return;
+		case Nav_datatypesPackage.PATH__POSES:
+			getPoses().clear();
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Nav_datatypesPackage.PATH__HEADER:
+			return header != null;
+		case Nav_datatypesPackage.PATH__POSES:
+			return poses != null && !poses.isEmpty();
+		}
+		return super.eIsSet(featureID);
+	}
+
+} //PathImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/util/Nav_datatypesAdapterFactory.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/util/Nav_datatypesAdapterFactory.java
new file mode 100644
index 00000000000..e7a88969bd7
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/util/Nav_datatypesAdapterFactory.java
@@ -0,0 +1,227 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.util;
+
+import org.eclipse.emf.common.notify.Adapter;
+import org.eclipse.emf.common.notify.Notifier;
+import org.eclipse.emf.common.notify.impl.AdapterFactoryImpl;
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.GridCells;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.MapMetaData;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.OccupancyGrid;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Odometry;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Path;
+
+/**
+ * <!-- begin-user-doc -->
+ * The <b>Adapter Factory</b> for the model.
+ * It provides an adapter <code>createXXX</code> method for each class of the model.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage
+ * @generated
+ */
+public class Nav_datatypesAdapterFactory extends AdapterFactoryImpl {
+
+	/**
+	 * The cached model package.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected static Nav_datatypesPackage modelPackage;
+
+	/**
+	 * Creates an instance of the adapter factory.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Nav_datatypesAdapterFactory() {
+		if(modelPackage == null) {
+			modelPackage = Nav_datatypesPackage.eINSTANCE;
+		}
+	}
+
+	/**
+	 * Returns whether this factory is applicable for the type of the object.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns <code>true</code> if the object is either the model's package or is an instance object of the model.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return whether this factory is applicable for the type of the object.
+	 * @generated
+	 */
+	@Override
+	public boolean isFactoryForType(Object object) {
+		if(object == modelPackage) {
+			return true;
+		}
+		if(object instanceof EObject) {
+			return ((EObject)object).eClass().getEPackage() == modelPackage;
+		}
+		return false;
+	}
+
+	/**
+	 * The switch that delegates to the <code>createXXX</code> methods.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected Nav_datatypesSwitch<Adapter> modelSwitch = new Nav_datatypesSwitch<Adapter>() {
+
+		@Override
+		public Adapter casePath(Path object) {
+			return createPathAdapter();
+		}
+
+		@Override
+		public Adapter caseOdometry(Odometry object) {
+			return createOdometryAdapter();
+		}
+
+		@Override
+		public Adapter caseMapMetaData(MapMetaData object) {
+			return createMapMetaDataAdapter();
+		}
+
+		@Override
+		public Adapter caseOccupancyGrid(OccupancyGrid object) {
+			return createOccupancyGridAdapter();
+		}
+
+		@Override
+		public Adapter caseGridCells(GridCells object) {
+			return createGridCellsAdapter();
+		}
+
+		@Override
+		public Adapter defaultCase(EObject object) {
+			return createEObjectAdapter();
+		}
+	};
+
+	/**
+	 * Creates an adapter for the <code>target</code>.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param target
+	 *        the object to adapt.
+	 * @return the adapter for the <code>target</code>.
+	 * @generated
+	 */
+	@Override
+	public Adapter createAdapter(Notifier target) {
+		return modelSwitch.doSwitch((EObject)target);
+	}
+
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Path <em>Path</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Path
+	 * @generated
+	 */
+	public Adapter createPathAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Odometry <em>Odometry</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Odometry
+	 * @generated
+	 */
+	public Adapter createOdometryAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.MapMetaData <em>Map Meta Data</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.MapMetaData
+	 * @generated
+	 */
+	public Adapter createMapMetaDataAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.OccupancyGrid <em>Occupancy Grid</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.OccupancyGrid
+	 * @generated
+	 */
+	public Adapter createOccupancyGridAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.GridCells <em>Grid Cells</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.GridCells
+	 * @generated
+	 */
+	public Adapter createGridCellsAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for the default case.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @generated
+	 */
+	public Adapter createEObjectAdapter() {
+		return null;
+	}
+
+} //Nav_datatypesAdapterFactory
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/util/Nav_datatypesSwitch.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/util/Nav_datatypesSwitch.java
new file mode 100644
index 00000000000..0d58a7a532b
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/nav_datatypes/util/Nav_datatypesSwitch.java
@@ -0,0 +1,234 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.util;
+
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.emf.ecore.EPackage;
+import org.eclipse.emf.ecore.util.Switch;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.GridCells;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.MapMetaData;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.OccupancyGrid;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Odometry;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Path;
+
+/**
+ * <!-- begin-user-doc -->
+ * The <b>Switch</b> for the model's inheritance hierarchy.
+ * It supports the call {@link #doSwitch(EObject) doSwitch(object)} to invoke the <code>caseXXX</code> method for each class of the model,
+ * starting with the actual class of the object
+ * and proceeding up the inheritance hierarchy
+ * until a non-null result is returned,
+ * which is the result of the switch.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage
+ * @generated
+ */
+public class Nav_datatypesSwitch<T> extends Switch<T> {
+
+	/**
+	 * The cached model package
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected static Nav_datatypesPackage modelPackage;
+
+	/**
+	 * Creates an instance of the switch.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Nav_datatypesSwitch() {
+		if(modelPackage == null) {
+			modelPackage = Nav_datatypesPackage.eINSTANCE;
+		}
+	}
+
+	/**
+	 * Checks whether this is a switch for the given package.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @parameter ePackage the package in question.
+	 * @return whether this is a switch for the given package.
+	 * @generated
+	 */
+	@Override
+	protected boolean isSwitchFor(EPackage ePackage) {
+		return ePackage == modelPackage;
+	}
+
+	/**
+	 * Calls <code>caseXXX</code> for each class of the model until one returns a non null result; it yields that result.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the first non-null result returned by a <code>caseXXX</code> call.
+	 * @generated
+	 */
+	@Override
+	protected T doSwitch(int classifierID, EObject theEObject) {
+		switch(classifierID) {
+		case Nav_datatypesPackage.PATH:
+		{
+			Path path = (Path)theEObject;
+			T result = casePath(path);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Nav_datatypesPackage.ODOMETRY:
+		{
+			Odometry odometry = (Odometry)theEObject;
+			T result = caseOdometry(odometry);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Nav_datatypesPackage.MAP_META_DATA:
+		{
+			MapMetaData mapMetaData = (MapMetaData)theEObject;
+			T result = caseMapMetaData(mapMetaData);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Nav_datatypesPackage.OCCUPANCY_GRID:
+		{
+			OccupancyGrid occupancyGrid = (OccupancyGrid)theEObject;
+			T result = caseOccupancyGrid(occupancyGrid);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Nav_datatypesPackage.GRID_CELLS:
+		{
+			GridCells gridCells = (GridCells)theEObject;
+			T result = caseGridCells(gridCells);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		default:
+			return defaultCase(theEObject);
+		}
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Path</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Path</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T casePath(Path object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Odometry</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Odometry</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseOdometry(Odometry object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Map Meta Data</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Map Meta Data</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseMapMetaData(MapMetaData object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Occupancy Grid</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Occupancy Grid</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseOccupancyGrid(OccupancyGrid object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Grid Cells</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Grid Cells</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseGridCells(GridCells object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>EObject</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch, but this is the last case anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>EObject</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject)
+	 * @generated
+	 */
+	@Override
+	public T defaultCase(EObject object) {
+		return null;
+	}
+
+} //Nav_datatypesSwitch
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp1_datatypes/CarLikeCommand.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp1_datatypes/CarLikeCommand.java
new file mode 100644
index 00000000000..0f26ea1197f
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp1_datatypes/CarLikeCommand.java
@@ -0,0 +1,102 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Car Like Command</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.CarLikeCommand#getVelocity
+ * <em>Velocity</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.CarLikeCommand#getSteeringAngle
+ * <em>Steering Angle</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.Oarp1_datatypesPackage#getCarLikeCommand()
+ * @model
+ * @generated
+ */
+public interface CarLikeCommand extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Velocity</b></em>' attribute.
+	 * The default value is <code>"0"</code>.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Velocity</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Velocity</em>' attribute.
+	 * @see #setVelocity(double)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.Oarp1_datatypesPackage#getCarLikeCommand_Velocity()
+	 * @model default="0" dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	double getVelocity();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.CarLikeCommand#getVelocity
+	 * <em>Velocity</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Velocity</em>' attribute.
+	 * @see #getVelocity()
+	 * @generated
+	 */
+	void setVelocity(double value);
+
+	/**
+	 * Returns the value of the '<em><b>Steering Angle</b></em>' attribute.
+	 * The default value is <code>"0"</code>.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Steering Angle</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Steering Angle</em>' attribute.
+	 * @see #setSteeringAngle(double)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.Oarp1_datatypesPackage#getCarLikeCommand_SteeringAngle()
+	 * @model default="0" dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	double getSteeringAngle();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.CarLikeCommand#getSteeringAngle
+	 * <em>Steering Angle</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Steering Angle</em>' attribute.
+	 * @see #getSteeringAngle()
+	 * @generated
+	 */
+	void setSteeringAngle(double value);
+
+} // CarLikeCommand
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp1_datatypes/ExtentedLidarScan.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp1_datatypes/ExtentedLidarScan.java
new file mode 100644
index 00000000000..bba2693dd9f
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp1_datatypes/ExtentedLidarScan.java
@@ -0,0 +1,134 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Extented Lidar Scan</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.ExtentedLidarScan#getScan
+ * <em>Scan</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.ExtentedLidarScan#getLayerId
+ * <em>Layer Id</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.ExtentedLidarScan#getLayerAngle
+ * <em>Layer Angle</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.Oarp1_datatypesPackage#getExtentedLidarScan()
+ * @model
+ * @generated
+ */
+public interface ExtentedLidarScan extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Scan</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Scan</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Scan</em>' containment reference.
+	 * @see #setScan(LaserScan)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.Oarp1_datatypesPackage#getExtentedLidarScan_Scan()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	LaserScan getScan();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.ExtentedLidarScan#getScan
+	 * <em>Scan</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Scan</em>' containment reference.
+	 * @see #getScan()
+	 * @generated
+	 */
+	void setScan(LaserScan value);
+
+	/**
+	 * Returns the value of the '<em><b>Layer Id</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Layer Id</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Layer Id</em>' attribute.
+	 * @see #setLayerId(char)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.Oarp1_datatypesPackage#getExtentedLidarScan_LayerId()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	char getLayerId();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.ExtentedLidarScan#getLayerId
+	 * <em>Layer Id</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Layer Id</em>' attribute.
+	 * @see #getLayerId()
+	 * @generated
+	 */
+	void setLayerId(char value);
+
+	/**
+	 * Returns the value of the '<em><b>Layer Angle</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Layer Angle</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Layer Angle</em>' attribute.
+	 * @see #setLayerAngle(float)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.Oarp1_datatypesPackage#getExtentedLidarScan_LayerAngle()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getLayerAngle();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.ExtentedLidarScan#getLayerAngle
+	 * <em>Layer Angle</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Layer Angle</em>' attribute.
+	 * @see #getLayerAngle()
+	 * @generated
+	 */
+	void setLayerAngle(float value);
+
+} // ExtentedLidarScan
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp1_datatypes/MultiLayerLidarScan.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp1_datatypes/MultiLayerLidarScan.java
new file mode 100644
index 00000000000..9e9d8b03495
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp1_datatypes/MultiLayerLidarScan.java
@@ -0,0 +1,100 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Multi Layer Lidar Scan</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.MultiLayerLidarScan#getLayers
+ * <em>Layers</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.MultiLayerLidarScan#getNbLayer
+ * <em>Nb Layer</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.Oarp1_datatypesPackage#getMultiLayerLidarScan()
+ * @model
+ * @generated
+ */
+public interface MultiLayerLidarScan extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Layers</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Layers</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Layers</em>' containment reference.
+	 * @see #setLayers(ExtentedLidarScan)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.Oarp1_datatypesPackage#getMultiLayerLidarScan_Layers()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	ExtentedLidarScan getLayers();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.MultiLayerLidarScan#getLayers
+	 * <em>Layers</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Layers</em>' containment reference.
+	 * @see #getLayers()
+	 * @generated
+	 */
+	void setLayers(ExtentedLidarScan value);
+
+	/**
+	 * Returns the value of the '<em><b>Nb Layer</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Nb Layer</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Nb Layer</em>' attribute.
+	 * @see #setNbLayer(char)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.Oarp1_datatypesPackage#getMultiLayerLidarScan_NbLayer()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	char getNbLayer();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.MultiLayerLidarScan#getNbLayer
+	 * <em>Nb Layer</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Nb Layer</em>' attribute.
+	 * @see #getNbLayer()
+	 * @generated
+	 */
+	void setNbLayer(char value);
+
+} // MultiLayerLidarScan
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp1_datatypes/Oarp1_datatypesFactory.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp1_datatypes/Oarp1_datatypesFactory.java
new file mode 100644
index 00000000000..7b701668afc
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp1_datatypes/Oarp1_datatypesFactory.java
@@ -0,0 +1,76 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes;
+
+import org.eclipse.emf.ecore.EFactory;
+
+/**
+ * <!-- begin-user-doc -->
+ * The <b>Factory</b> for the model.
+ * It provides a create method for each non-abstract class of the model.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.Oarp1_datatypesPackage
+ * @generated
+ */
+public interface Oarp1_datatypesFactory extends EFactory {
+
+	/**
+	 * The singleton instance of the factory.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	Oarp1_datatypesFactory eINSTANCE = org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl.Oarp1_datatypesFactoryImpl.init();
+
+	/**
+	 * Returns a new object of class '<em>Car Like Command</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Car Like Command</em>'.
+	 * @generated
+	 */
+	CarLikeCommand createCarLikeCommand();
+
+	/**
+	 * Returns a new object of class '<em>Multi Layer Lidar Scan</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Multi Layer Lidar Scan</em>'.
+	 * @generated
+	 */
+	MultiLayerLidarScan createMultiLayerLidarScan();
+
+	/**
+	 * Returns a new object of class '<em>Extented Lidar Scan</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Extented Lidar Scan</em>'.
+	 * @generated
+	 */
+	ExtentedLidarScan createExtentedLidarScan();
+
+	/**
+	 * Returns the package supported by this factory.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the package supported by this factory.
+	 * @generated
+	 */
+	Oarp1_datatypesPackage getOarp1_datatypesPackage();
+
+} //Oarp1_datatypesFactory
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp1_datatypes/Oarp1_datatypesPackage.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp1_datatypes/Oarp1_datatypesPackage.java
new file mode 100644
index 00000000000..c78aac48779
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp1_datatypes/Oarp1_datatypesPackage.java
@@ -0,0 +1,479 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes;
+
+import org.eclipse.emf.ecore.EAttribute;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.EPackage;
+import org.eclipse.emf.ecore.EReference;
+
+/**
+ * <!-- begin-user-doc -->
+ * The <b>Package</b> for the model.
+ * It contains accessors for the meta objects to represent
+ * <ul>
+ * <li>each class,</li>
+ * <li>each feature of each class,</li>
+ * <li>each enum,</li>
+ * <li>and each data type</li>
+ * </ul>
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.Oarp1_datatypesFactory
+ * @model kind="package"
+ * @generated
+ */
+public interface Oarp1_datatypesPackage extends EPackage {
+
+	/**
+	 * The package name.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	String eNAME = "oarp1_datatypes";
+
+	/**
+	 * The package namespace URI.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	String eNS_URI = "http:///RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp1_datatypes.ecore";
+
+	/**
+	 * The package namespace name.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	String eNS_PREFIX = "RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes";
+
+	/**
+	 * The singleton instance of the package.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	Oarp1_datatypesPackage eINSTANCE = org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl.Oarp1_datatypesPackageImpl.init();
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl.CarLikeCommandImpl
+	 * <em>Car Like Command</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl.CarLikeCommandImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl.Oarp1_datatypesPackageImpl#getCarLikeCommand()
+	 * @generated
+	 */
+	int CAR_LIKE_COMMAND = 0;
+
+	/**
+	 * The feature id for the '<em><b>Velocity</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAR_LIKE_COMMAND__VELOCITY = 0;
+
+	/**
+	 * The feature id for the '<em><b>Steering Angle</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAR_LIKE_COMMAND__STEERING_ANGLE = 1;
+
+	/**
+	 * The number of structural features of the '<em>Car Like Command</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAR_LIKE_COMMAND_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl.MultiLayerLidarScanImpl
+	 * <em>Multi Layer Lidar Scan</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl.MultiLayerLidarScanImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl.Oarp1_datatypesPackageImpl#getMultiLayerLidarScan()
+	 * @generated
+	 */
+	int MULTI_LAYER_LIDAR_SCAN = 1;
+
+	/**
+	 * The feature id for the '<em><b>Layers</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int MULTI_LAYER_LIDAR_SCAN__LAYERS = 0;
+
+	/**
+	 * The feature id for the '<em><b>Nb Layer</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int MULTI_LAYER_LIDAR_SCAN__NB_LAYER = 1;
+
+	/**
+	 * The number of structural features of the '<em>Multi Layer Lidar Scan</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int MULTI_LAYER_LIDAR_SCAN_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl.ExtentedLidarScanImpl
+	 * <em>Extented Lidar Scan</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl.ExtentedLidarScanImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl.Oarp1_datatypesPackageImpl#getExtentedLidarScan()
+	 * @generated
+	 */
+	int EXTENTED_LIDAR_SCAN = 2;
+
+	/**
+	 * The feature id for the '<em><b>Scan</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int EXTENTED_LIDAR_SCAN__SCAN = 0;
+
+	/**
+	 * The feature id for the '<em><b>Layer Id</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int EXTENTED_LIDAR_SCAN__LAYER_ID = 1;
+
+	/**
+	 * The feature id for the '<em><b>Layer Angle</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int EXTENTED_LIDAR_SCAN__LAYER_ANGLE = 2;
+
+	/**
+	 * The number of structural features of the '<em>Extented Lidar Scan</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int EXTENTED_LIDAR_SCAN_FEATURE_COUNT = 3;
+
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.CarLikeCommand
+	 * <em>Car Like Command</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Car Like Command</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.CarLikeCommand
+	 * @generated
+	 */
+	EClass getCarLikeCommand();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.CarLikeCommand#getVelocity
+	 * <em>Velocity</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Velocity</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.CarLikeCommand#getVelocity()
+	 * @see #getCarLikeCommand()
+	 * @generated
+	 */
+	EAttribute getCarLikeCommand_Velocity();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.CarLikeCommand#getSteeringAngle
+	 * <em>Steering Angle</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Steering Angle</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.CarLikeCommand#getSteeringAngle()
+	 * @see #getCarLikeCommand()
+	 * @generated
+	 */
+	EAttribute getCarLikeCommand_SteeringAngle();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.MultiLayerLidarScan
+	 * <em>Multi Layer Lidar Scan</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Multi Layer Lidar Scan</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.MultiLayerLidarScan
+	 * @generated
+	 */
+	EClass getMultiLayerLidarScan();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.MultiLayerLidarScan#getLayers
+	 * <em>Layers</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Layers</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.MultiLayerLidarScan#getLayers()
+	 * @see #getMultiLayerLidarScan()
+	 * @generated
+	 */
+	EReference getMultiLayerLidarScan_Layers();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.MultiLayerLidarScan#getNbLayer
+	 * <em>Nb Layer</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Nb Layer</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.MultiLayerLidarScan#getNbLayer()
+	 * @see #getMultiLayerLidarScan()
+	 * @generated
+	 */
+	EAttribute getMultiLayerLidarScan_NbLayer();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.ExtentedLidarScan
+	 * <em>Extented Lidar Scan</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Extented Lidar Scan</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.ExtentedLidarScan
+	 * @generated
+	 */
+	EClass getExtentedLidarScan();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.ExtentedLidarScan#getScan
+	 * <em>Scan</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Scan</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.ExtentedLidarScan#getScan()
+	 * @see #getExtentedLidarScan()
+	 * @generated
+	 */
+	EReference getExtentedLidarScan_Scan();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.ExtentedLidarScan#getLayerId
+	 * <em>Layer Id</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Layer Id</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.ExtentedLidarScan#getLayerId()
+	 * @see #getExtentedLidarScan()
+	 * @generated
+	 */
+	EAttribute getExtentedLidarScan_LayerId();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.ExtentedLidarScan#getLayerAngle
+	 * <em>Layer Angle</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Layer Angle</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.ExtentedLidarScan#getLayerAngle()
+	 * @see #getExtentedLidarScan()
+	 * @generated
+	 */
+	EAttribute getExtentedLidarScan_LayerAngle();
+
+	/**
+	 * Returns the factory that creates the instances of the model.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the factory that creates the instances of the model.
+	 * @generated
+	 */
+	Oarp1_datatypesFactory getOarp1_datatypesFactory();
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * Defines literals for the meta objects that represent
+	 * <ul>
+	 * <li>each class,</li>
+	 * <li>each feature of each class,</li>
+	 * <li>each enum,</li>
+	 * <li>and each data type</li>
+	 * </ul>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	interface Literals {
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl.CarLikeCommandImpl
+		 * <em>Car Like Command</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl.CarLikeCommandImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl.Oarp1_datatypesPackageImpl#getCarLikeCommand()
+		 * @generated
+		 */
+		EClass CAR_LIKE_COMMAND = eINSTANCE.getCarLikeCommand();
+
+		/**
+		 * The meta object literal for the '<em><b>Velocity</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute CAR_LIKE_COMMAND__VELOCITY = eINSTANCE.getCarLikeCommand_Velocity();
+
+		/**
+		 * The meta object literal for the '<em><b>Steering Angle</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute CAR_LIKE_COMMAND__STEERING_ANGLE = eINSTANCE.getCarLikeCommand_SteeringAngle();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl.MultiLayerLidarScanImpl
+		 * <em>Multi Layer Lidar Scan</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl.MultiLayerLidarScanImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl.Oarp1_datatypesPackageImpl#getMultiLayerLidarScan()
+		 * @generated
+		 */
+		EClass MULTI_LAYER_LIDAR_SCAN = eINSTANCE.getMultiLayerLidarScan();
+
+		/**
+		 * The meta object literal for the '<em><b>Layers</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference MULTI_LAYER_LIDAR_SCAN__LAYERS = eINSTANCE.getMultiLayerLidarScan_Layers();
+
+		/**
+		 * The meta object literal for the '<em><b>Nb Layer</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute MULTI_LAYER_LIDAR_SCAN__NB_LAYER = eINSTANCE.getMultiLayerLidarScan_NbLayer();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl.ExtentedLidarScanImpl
+		 * <em>Extented Lidar Scan</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl.ExtentedLidarScanImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl.Oarp1_datatypesPackageImpl#getExtentedLidarScan()
+		 * @generated
+		 */
+		EClass EXTENTED_LIDAR_SCAN = eINSTANCE.getExtentedLidarScan();
+
+		/**
+		 * The meta object literal for the '<em><b>Scan</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference EXTENTED_LIDAR_SCAN__SCAN = eINSTANCE.getExtentedLidarScan_Scan();
+
+		/**
+		 * The meta object literal for the '<em><b>Layer Id</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute EXTENTED_LIDAR_SCAN__LAYER_ID = eINSTANCE.getExtentedLidarScan_LayerId();
+
+		/**
+		 * The meta object literal for the '<em><b>Layer Angle</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute EXTENTED_LIDAR_SCAN__LAYER_ANGLE = eINSTANCE.getExtentedLidarScan_LayerAngle();
+
+	}
+
+} //Oarp1_datatypesPackage
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp1_datatypes/impl/CarLikeCommandImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp1_datatypes/impl/CarLikeCommandImpl.java
new file mode 100644
index 00000000000..b88d0a4a909
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp1_datatypes/impl/CarLikeCommandImpl.java
@@ -0,0 +1,244 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.CarLikeCommand;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.Oarp1_datatypesPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Car Like Command</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl.CarLikeCommandImpl#getVelocity
+ * <em>Velocity</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl.CarLikeCommandImpl#getSteeringAngle
+ * <em>Steering Angle</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class CarLikeCommandImpl extends EObjectImpl implements CarLikeCommand {
+
+	/**
+	 * The default value of the '{@link #getVelocity() <em>Velocity</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getVelocity()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final double VELOCITY_EDEFAULT = 0.0;
+
+	/**
+	 * The cached value of the '{@link #getVelocity() <em>Velocity</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getVelocity()
+	 * @generated
+	 * @ordered
+	 */
+	protected double velocity = VELOCITY_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getSteeringAngle() <em>Steering Angle</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSteeringAngle()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final double STEERING_ANGLE_EDEFAULT = 0.0;
+
+	/**
+	 * The cached value of the '{@link #getSteeringAngle() <em>Steering Angle</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSteeringAngle()
+	 * @generated
+	 * @ordered
+	 */
+	protected double steeringAngle = STEERING_ANGLE_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected CarLikeCommandImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Oarp1_datatypesPackage.Literals.CAR_LIKE_COMMAND;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public double getVelocity() {
+		return velocity;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setVelocity(double newVelocity) {
+		double oldVelocity = velocity;
+		velocity = newVelocity;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Oarp1_datatypesPackage.CAR_LIKE_COMMAND__VELOCITY, oldVelocity, velocity));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public double getSteeringAngle() {
+		return steeringAngle;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setSteeringAngle(double newSteeringAngle) {
+		double oldSteeringAngle = steeringAngle;
+		steeringAngle = newSteeringAngle;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Oarp1_datatypesPackage.CAR_LIKE_COMMAND__STEERING_ANGLE, oldSteeringAngle, steeringAngle));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Oarp1_datatypesPackage.CAR_LIKE_COMMAND__VELOCITY:
+			return getVelocity();
+		case Oarp1_datatypesPackage.CAR_LIKE_COMMAND__STEERING_ANGLE:
+			return getSteeringAngle();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Oarp1_datatypesPackage.CAR_LIKE_COMMAND__VELOCITY:
+			setVelocity((Double)newValue);
+			return;
+		case Oarp1_datatypesPackage.CAR_LIKE_COMMAND__STEERING_ANGLE:
+			setSteeringAngle((Double)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Oarp1_datatypesPackage.CAR_LIKE_COMMAND__VELOCITY:
+			setVelocity(VELOCITY_EDEFAULT);
+			return;
+		case Oarp1_datatypesPackage.CAR_LIKE_COMMAND__STEERING_ANGLE:
+			setSteeringAngle(STEERING_ANGLE_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Oarp1_datatypesPackage.CAR_LIKE_COMMAND__VELOCITY:
+			return velocity != VELOCITY_EDEFAULT;
+		case Oarp1_datatypesPackage.CAR_LIKE_COMMAND__STEERING_ANGLE:
+			return steeringAngle != STEERING_ANGLE_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (velocity: ");
+		result.append(velocity);
+		result.append(", steeringAngle: ");
+		result.append(steeringAngle);
+		result.append(')');
+		return result.toString();
+	}
+
+} //CarLikeCommandImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp1_datatypes/impl/ExtentedLidarScanImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp1_datatypes/impl/ExtentedLidarScanImpl.java
new file mode 100644
index 00000000000..e410419fd2c
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp1_datatypes/impl/ExtentedLidarScanImpl.java
@@ -0,0 +1,335 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.ExtentedLidarScan;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.Oarp1_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Extented Lidar Scan</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl.ExtentedLidarScanImpl#getScan
+ * <em>Scan</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl.ExtentedLidarScanImpl#getLayerId
+ * <em>Layer Id</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl.ExtentedLidarScanImpl#getLayerAngle
+ * <em>Layer Angle</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class ExtentedLidarScanImpl extends EObjectImpl implements ExtentedLidarScan {
+
+	/**
+	 * The cached value of the '{@link #getScan() <em>Scan</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getScan()
+	 * @generated
+	 * @ordered
+	 */
+	protected LaserScan scan;
+
+	/**
+	 * The default value of the '{@link #getLayerId() <em>Layer Id</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLayerId()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final char LAYER_ID_EDEFAULT = '\u0000';
+
+	/**
+	 * The cached value of the '{@link #getLayerId() <em>Layer Id</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLayerId()
+	 * @generated
+	 * @ordered
+	 */
+	protected char layerId = LAYER_ID_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getLayerAngle() <em>Layer Angle</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLayerAngle()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float LAYER_ANGLE_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getLayerAngle() <em>Layer Angle</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLayerAngle()
+	 * @generated
+	 * @ordered
+	 */
+	protected float layerAngle = LAYER_ANGLE_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected ExtentedLidarScanImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Oarp1_datatypesPackage.Literals.EXTENTED_LIDAR_SCAN;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public LaserScan getScan() {
+		return scan;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetScan(LaserScan newScan, NotificationChain msgs) {
+		LaserScan oldScan = scan;
+		scan = newScan;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Oarp1_datatypesPackage.EXTENTED_LIDAR_SCAN__SCAN, oldScan, newScan);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setScan(LaserScan newScan) {
+		if(newScan != scan) {
+			NotificationChain msgs = null;
+			if(scan != null)
+				msgs = ((InternalEObject)scan).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Oarp1_datatypesPackage.EXTENTED_LIDAR_SCAN__SCAN, null, msgs);
+			if(newScan != null)
+				msgs = ((InternalEObject)newScan).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Oarp1_datatypesPackage.EXTENTED_LIDAR_SCAN__SCAN, null, msgs);
+			msgs = basicSetScan(newScan, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Oarp1_datatypesPackage.EXTENTED_LIDAR_SCAN__SCAN, newScan, newScan));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public char getLayerId() {
+		return layerId;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setLayerId(char newLayerId) {
+		char oldLayerId = layerId;
+		layerId = newLayerId;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Oarp1_datatypesPackage.EXTENTED_LIDAR_SCAN__LAYER_ID, oldLayerId, layerId));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getLayerAngle() {
+		return layerAngle;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setLayerAngle(float newLayerAngle) {
+		float oldLayerAngle = layerAngle;
+		layerAngle = newLayerAngle;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Oarp1_datatypesPackage.EXTENTED_LIDAR_SCAN__LAYER_ANGLE, oldLayerAngle, layerAngle));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Oarp1_datatypesPackage.EXTENTED_LIDAR_SCAN__SCAN:
+			return basicSetScan(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Oarp1_datatypesPackage.EXTENTED_LIDAR_SCAN__SCAN:
+			return getScan();
+		case Oarp1_datatypesPackage.EXTENTED_LIDAR_SCAN__LAYER_ID:
+			return getLayerId();
+		case Oarp1_datatypesPackage.EXTENTED_LIDAR_SCAN__LAYER_ANGLE:
+			return getLayerAngle();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Oarp1_datatypesPackage.EXTENTED_LIDAR_SCAN__SCAN:
+			setScan((LaserScan)newValue);
+			return;
+		case Oarp1_datatypesPackage.EXTENTED_LIDAR_SCAN__LAYER_ID:
+			setLayerId((Character)newValue);
+			return;
+		case Oarp1_datatypesPackage.EXTENTED_LIDAR_SCAN__LAYER_ANGLE:
+			setLayerAngle((Float)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Oarp1_datatypesPackage.EXTENTED_LIDAR_SCAN__SCAN:
+			setScan((LaserScan)null);
+			return;
+		case Oarp1_datatypesPackage.EXTENTED_LIDAR_SCAN__LAYER_ID:
+			setLayerId(LAYER_ID_EDEFAULT);
+			return;
+		case Oarp1_datatypesPackage.EXTENTED_LIDAR_SCAN__LAYER_ANGLE:
+			setLayerAngle(LAYER_ANGLE_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Oarp1_datatypesPackage.EXTENTED_LIDAR_SCAN__SCAN:
+			return scan != null;
+		case Oarp1_datatypesPackage.EXTENTED_LIDAR_SCAN__LAYER_ID:
+			return layerId != LAYER_ID_EDEFAULT;
+		case Oarp1_datatypesPackage.EXTENTED_LIDAR_SCAN__LAYER_ANGLE:
+			return layerAngle != LAYER_ANGLE_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (layerId: ");
+		result.append(layerId);
+		result.append(", layerAngle: ");
+		result.append(layerAngle);
+		result.append(')');
+		return result.toString();
+	}
+
+} //ExtentedLidarScanImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp1_datatypes/impl/MultiLayerLidarScanImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp1_datatypes/impl/MultiLayerLidarScanImpl.java
new file mode 100644
index 00000000000..a8e091a0289
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp1_datatypes/impl/MultiLayerLidarScanImpl.java
@@ -0,0 +1,275 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.ExtentedLidarScan;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.MultiLayerLidarScan;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.Oarp1_datatypesPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Multi Layer Lidar Scan</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl.MultiLayerLidarScanImpl#getLayers
+ * <em>Layers</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl.MultiLayerLidarScanImpl#getNbLayer
+ * <em>Nb Layer</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class MultiLayerLidarScanImpl extends EObjectImpl implements MultiLayerLidarScan {
+
+	/**
+	 * The cached value of the '{@link #getLayers() <em>Layers</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLayers()
+	 * @generated
+	 * @ordered
+	 */
+	protected ExtentedLidarScan layers;
+
+	/**
+	 * The default value of the '{@link #getNbLayer() <em>Nb Layer</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getNbLayer()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final char NB_LAYER_EDEFAULT = '\u0000';
+
+	/**
+	 * The cached value of the '{@link #getNbLayer() <em>Nb Layer</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getNbLayer()
+	 * @generated
+	 * @ordered
+	 */
+	protected char nbLayer = NB_LAYER_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected MultiLayerLidarScanImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Oarp1_datatypesPackage.Literals.MULTI_LAYER_LIDAR_SCAN;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public ExtentedLidarScan getLayers() {
+		return layers;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetLayers(ExtentedLidarScan newLayers, NotificationChain msgs) {
+		ExtentedLidarScan oldLayers = layers;
+		layers = newLayers;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Oarp1_datatypesPackage.MULTI_LAYER_LIDAR_SCAN__LAYERS, oldLayers, newLayers);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setLayers(ExtentedLidarScan newLayers) {
+		if(newLayers != layers) {
+			NotificationChain msgs = null;
+			if(layers != null)
+				msgs = ((InternalEObject)layers).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Oarp1_datatypesPackage.MULTI_LAYER_LIDAR_SCAN__LAYERS, null, msgs);
+			if(newLayers != null)
+				msgs = ((InternalEObject)newLayers).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Oarp1_datatypesPackage.MULTI_LAYER_LIDAR_SCAN__LAYERS, null, msgs);
+			msgs = basicSetLayers(newLayers, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Oarp1_datatypesPackage.MULTI_LAYER_LIDAR_SCAN__LAYERS, newLayers, newLayers));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public char getNbLayer() {
+		return nbLayer;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setNbLayer(char newNbLayer) {
+		char oldNbLayer = nbLayer;
+		nbLayer = newNbLayer;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Oarp1_datatypesPackage.MULTI_LAYER_LIDAR_SCAN__NB_LAYER, oldNbLayer, nbLayer));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Oarp1_datatypesPackage.MULTI_LAYER_LIDAR_SCAN__LAYERS:
+			return basicSetLayers(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Oarp1_datatypesPackage.MULTI_LAYER_LIDAR_SCAN__LAYERS:
+			return getLayers();
+		case Oarp1_datatypesPackage.MULTI_LAYER_LIDAR_SCAN__NB_LAYER:
+			return getNbLayer();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Oarp1_datatypesPackage.MULTI_LAYER_LIDAR_SCAN__LAYERS:
+			setLayers((ExtentedLidarScan)newValue);
+			return;
+		case Oarp1_datatypesPackage.MULTI_LAYER_LIDAR_SCAN__NB_LAYER:
+			setNbLayer((Character)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Oarp1_datatypesPackage.MULTI_LAYER_LIDAR_SCAN__LAYERS:
+			setLayers((ExtentedLidarScan)null);
+			return;
+		case Oarp1_datatypesPackage.MULTI_LAYER_LIDAR_SCAN__NB_LAYER:
+			setNbLayer(NB_LAYER_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Oarp1_datatypesPackage.MULTI_LAYER_LIDAR_SCAN__LAYERS:
+			return layers != null;
+		case Oarp1_datatypesPackage.MULTI_LAYER_LIDAR_SCAN__NB_LAYER:
+			return nbLayer != NB_LAYER_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (nbLayer: ");
+		result.append(nbLayer);
+		result.append(')');
+		return result.toString();
+	}
+
+} //MultiLayerLidarScanImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp1_datatypes/impl/Oarp1_datatypesFactoryImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp1_datatypes/impl/Oarp1_datatypesFactoryImpl.java
new file mode 100644
index 00000000000..01372e928b4
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp1_datatypes/impl/Oarp1_datatypesFactoryImpl.java
@@ -0,0 +1,139 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl;
+
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.emf.ecore.EPackage;
+import org.eclipse.emf.ecore.impl.EFactoryImpl;
+import org.eclipse.emf.ecore.plugin.EcorePlugin;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.CarLikeCommand;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.ExtentedLidarScan;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.MultiLayerLidarScan;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.Oarp1_datatypesFactory;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.Oarp1_datatypesPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model <b>Factory</b>.
+ * <!-- end-user-doc -->
+ * 
+ * @generated
+ */
+public class Oarp1_datatypesFactoryImpl extends EFactoryImpl implements Oarp1_datatypesFactory {
+
+	/**
+	 * Creates the default factory implementation.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static Oarp1_datatypesFactory init() {
+		try {
+			Oarp1_datatypesFactory theOarp1_datatypesFactory = (Oarp1_datatypesFactory)EPackage.Registry.INSTANCE.getEFactory("http:///RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp1_datatypes.ecore");
+			if(theOarp1_datatypesFactory != null) {
+				return theOarp1_datatypesFactory;
+			}
+		} catch (Exception exception) {
+			EcorePlugin.INSTANCE.log(exception);
+		}
+		return new Oarp1_datatypesFactoryImpl();
+	}
+
+	/**
+	 * Creates an instance of the factory.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Oarp1_datatypesFactoryImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public EObject create(EClass eClass) {
+		switch(eClass.getClassifierID()) {
+		case Oarp1_datatypesPackage.CAR_LIKE_COMMAND:
+			return createCarLikeCommand();
+		case Oarp1_datatypesPackage.MULTI_LAYER_LIDAR_SCAN:
+			return createMultiLayerLidarScan();
+		case Oarp1_datatypesPackage.EXTENTED_LIDAR_SCAN:
+			return createExtentedLidarScan();
+		default:
+			throw new IllegalArgumentException("The class '" + eClass.getName() + "' is not a valid classifier");
+		}
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public CarLikeCommand createCarLikeCommand() {
+		CarLikeCommandImpl carLikeCommand = new CarLikeCommandImpl();
+		return carLikeCommand;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public MultiLayerLidarScan createMultiLayerLidarScan() {
+		MultiLayerLidarScanImpl multiLayerLidarScan = new MultiLayerLidarScanImpl();
+		return multiLayerLidarScan;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public ExtentedLidarScan createExtentedLidarScan() {
+		ExtentedLidarScanImpl extentedLidarScan = new ExtentedLidarScanImpl();
+		return extentedLidarScan;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Oarp1_datatypesPackage getOarp1_datatypesPackage() {
+		return (Oarp1_datatypesPackage)getEPackage();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @deprecated
+	 * @generated
+	 */
+	@Deprecated
+	public static Oarp1_datatypesPackage getPackage() {
+		return Oarp1_datatypesPackage.eINSTANCE;
+	}
+
+} //Oarp1_datatypesFactoryImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp1_datatypes/impl/Oarp1_datatypesPackageImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp1_datatypes/impl/Oarp1_datatypesPackageImpl.java
new file mode 100644
index 00000000000..57dcd9a60ab
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp1_datatypes/impl/Oarp1_datatypesPackageImpl.java
@@ -0,0 +1,365 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl;
+
+import org.eclipse.emf.ecore.EAttribute;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.EPackage;
+import org.eclipse.emf.ecore.EReference;
+import org.eclipse.emf.ecore.impl.EPackageImpl;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.Actionlib_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.Diagnostic_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.Nav_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.CarLikeCommand;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.ExtentedLidarScan;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.MultiLayerLidarScan;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.Oarp1_datatypesFactory;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.Oarp1_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl;
+import org.eclipse.uml2.uml.UMLPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model <b>Package</b>.
+ * <!-- end-user-doc -->
+ * 
+ * @generated
+ */
+public class Oarp1_datatypesPackageImpl extends EPackageImpl implements Oarp1_datatypesPackage {
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass carLikeCommandEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass multiLayerLidarScanEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass extentedLidarScanEClass = null;
+
+	/**
+	 * Creates an instance of the model <b>Package</b>, registered with {@link org.eclipse.emf.ecore.EPackage.Registry EPackage.Registry} by the
+	 * package
+	 * package URI value.
+	 * <p>
+	 * Note: the correct way to create the package is via the static factory method {@link #init init()}, which also performs initialization of the
+	 * package, or returns the registered package, if one already exists. <!-- begin-user-doc --> <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.emf.ecore.EPackage.Registry
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.Oarp1_datatypesPackage#eNS_URI
+	 * @see #init()
+	 * @generated
+	 */
+	private Oarp1_datatypesPackageImpl() {
+		super(eNS_URI, Oarp1_datatypesFactory.eINSTANCE);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private static boolean isInited = false;
+
+	/**
+	 * Creates, registers, and initializes the <b>Package</b> for this model, and for any others upon which it depends.
+	 * 
+	 * <p>
+	 * This method is used to initialize {@link Oarp1_datatypesPackage#eINSTANCE} when that field is accessed. Clients should not invoke it directly.
+	 * Instead, they should simply access that field to obtain the package. <!-- begin-user-doc --> <!-- end-user-doc -->
+	 * 
+	 * @see #eNS_URI
+	 * @see #createPackageContents()
+	 * @see #initializePackageContents()
+	 * @generated
+	 */
+	public static Oarp1_datatypesPackage init() {
+		if(isInited)
+			return (Oarp1_datatypesPackage)EPackage.Registry.INSTANCE.getEPackage(Oarp1_datatypesPackage.eNS_URI);
+
+		// Obtain or create and register package
+		Oarp1_datatypesPackageImpl theOarp1_datatypesPackage = (Oarp1_datatypesPackageImpl)(EPackage.Registry.INSTANCE.get(eNS_URI) instanceof Oarp1_datatypesPackageImpl ? EPackage.Registry.INSTANCE.get(eNS_URI) : new Oarp1_datatypesPackageImpl());
+
+		isInited = true;
+
+		// Initialize simple dependencies
+		UMLPackage.eINSTANCE.eClass();
+
+		// Obtain or create and register interdependencies
+		RobotMLPackageImpl theRobotMLPackage = (RobotMLPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(RobotMLPackage.eNS_URI) instanceof RobotMLPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(RobotMLPackage.eNS_URI) : RobotMLPackage.eINSTANCE);
+		Diagnostic_datatypesPackageImpl theDiagnostic_datatypesPackage = (Diagnostic_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Diagnostic_datatypesPackage.eNS_URI) instanceof Diagnostic_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Diagnostic_datatypesPackage.eNS_URI) : Diagnostic_datatypesPackage.eINSTANCE);
+		Geometry_datatypesPackageImpl theGeometry_datatypesPackage = (Geometry_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Geometry_datatypesPackage.eNS_URI) instanceof Geometry_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Geometry_datatypesPackage.eNS_URI) : Geometry_datatypesPackage.eINSTANCE);
+		Nav_datatypesPackageImpl theNav_datatypesPackage = (Nav_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Nav_datatypesPackage.eNS_URI) instanceof Nav_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Nav_datatypesPackage.eNS_URI) : Nav_datatypesPackage.eINSTANCE);
+		Sensor_datatypesPackageImpl theSensor_datatypesPackage = (Sensor_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Sensor_datatypesPackage.eNS_URI) instanceof Sensor_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Sensor_datatypesPackage.eNS_URI) : Sensor_datatypesPackage.eINSTANCE);
+		Actionlib_datatypesPackageImpl theActionlib_datatypesPackage = (Actionlib_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Actionlib_datatypesPackage.eNS_URI) instanceof Actionlib_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Actionlib_datatypesPackage.eNS_URI) : Actionlib_datatypesPackage.eINSTANCE);
+		Oarp4_datatypesPackageImpl theOarp4_datatypesPackage = (Oarp4_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Oarp4_datatypesPackage.eNS_URI) instanceof Oarp4_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Oarp4_datatypesPackage.eNS_URI) : Oarp4_datatypesPackage.eINSTANCE);
+		Std_datatypesPackageImpl theStd_datatypesPackage = (Std_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Std_datatypesPackage.eNS_URI) instanceof Std_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Std_datatypesPackage.eNS_URI) : Std_datatypesPackage.eINSTANCE);
+
+		// Create package meta-data objects
+		theOarp1_datatypesPackage.createPackageContents();
+		theRobotMLPackage.createPackageContents();
+		theDiagnostic_datatypesPackage.createPackageContents();
+		theGeometry_datatypesPackage.createPackageContents();
+		theNav_datatypesPackage.createPackageContents();
+		theSensor_datatypesPackage.createPackageContents();
+		theActionlib_datatypesPackage.createPackageContents();
+		theOarp4_datatypesPackage.createPackageContents();
+		theStd_datatypesPackage.createPackageContents();
+
+		// Initialize created meta-data
+		theOarp1_datatypesPackage.initializePackageContents();
+		theRobotMLPackage.initializePackageContents();
+		theDiagnostic_datatypesPackage.initializePackageContents();
+		theGeometry_datatypesPackage.initializePackageContents();
+		theNav_datatypesPackage.initializePackageContents();
+		theSensor_datatypesPackage.initializePackageContents();
+		theActionlib_datatypesPackage.initializePackageContents();
+		theOarp4_datatypesPackage.initializePackageContents();
+		theStd_datatypesPackage.initializePackageContents();
+
+		// Mark meta-data to indicate it can't be changed
+		theOarp1_datatypesPackage.freeze();
+
+
+		// Update the registry and return the package
+		EPackage.Registry.INSTANCE.put(Oarp1_datatypesPackage.eNS_URI, theOarp1_datatypesPackage);
+		return theOarp1_datatypesPackage;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getCarLikeCommand() {
+		return carLikeCommandEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getCarLikeCommand_Velocity() {
+		return (EAttribute)carLikeCommandEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getCarLikeCommand_SteeringAngle() {
+		return (EAttribute)carLikeCommandEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getMultiLayerLidarScan() {
+		return multiLayerLidarScanEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getMultiLayerLidarScan_Layers() {
+		return (EReference)multiLayerLidarScanEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getMultiLayerLidarScan_NbLayer() {
+		return (EAttribute)multiLayerLidarScanEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getExtentedLidarScan() {
+		return extentedLidarScanEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getExtentedLidarScan_Scan() {
+		return (EReference)extentedLidarScanEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getExtentedLidarScan_LayerId() {
+		return (EAttribute)extentedLidarScanEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getExtentedLidarScan_LayerAngle() {
+		return (EAttribute)extentedLidarScanEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Oarp1_datatypesFactory getOarp1_datatypesFactory() {
+		return (Oarp1_datatypesFactory)getEFactoryInstance();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private boolean isCreated = false;
+
+	/**
+	 * Creates the meta-model objects for the package. This method is
+	 * guarded to have no affect on any invocation but its first.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void createPackageContents() {
+		if(isCreated)
+			return;
+		isCreated = true;
+
+		// Create classes and their features
+		carLikeCommandEClass = createEClass(CAR_LIKE_COMMAND);
+		createEAttribute(carLikeCommandEClass, CAR_LIKE_COMMAND__VELOCITY);
+		createEAttribute(carLikeCommandEClass, CAR_LIKE_COMMAND__STEERING_ANGLE);
+
+		multiLayerLidarScanEClass = createEClass(MULTI_LAYER_LIDAR_SCAN);
+		createEReference(multiLayerLidarScanEClass, MULTI_LAYER_LIDAR_SCAN__LAYERS);
+		createEAttribute(multiLayerLidarScanEClass, MULTI_LAYER_LIDAR_SCAN__NB_LAYER);
+
+		extentedLidarScanEClass = createEClass(EXTENTED_LIDAR_SCAN);
+		createEReference(extentedLidarScanEClass, EXTENTED_LIDAR_SCAN__SCAN);
+		createEAttribute(extentedLidarScanEClass, EXTENTED_LIDAR_SCAN__LAYER_ID);
+		createEAttribute(extentedLidarScanEClass, EXTENTED_LIDAR_SCAN__LAYER_ANGLE);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private boolean isInitialized = false;
+
+	/**
+	 * Complete the initialization of the package and its meta-model. This
+	 * method is guarded to have no affect on any invocation but its first.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void initializePackageContents() {
+		if(isInitialized)
+			return;
+		isInitialized = true;
+
+		// Initialize package
+		setName(eNAME);
+		setNsPrefix(eNS_PREFIX);
+		setNsURI(eNS_URI);
+
+		// Obtain other dependent packages
+		Std_datatypesPackage theStd_datatypesPackage = (Std_datatypesPackage)EPackage.Registry.INSTANCE.getEPackage(Std_datatypesPackage.eNS_URI);
+		Sensor_datatypesPackage theSensor_datatypesPackage = (Sensor_datatypesPackage)EPackage.Registry.INSTANCE.getEPackage(Sensor_datatypesPackage.eNS_URI);
+
+		// Create type parameters
+
+		// Set bounds for type parameters
+
+		// Add supertypes to classes
+
+		// Initialize classes and features; add operations and parameters
+		initEClass(carLikeCommandEClass, CarLikeCommand.class, "CarLikeCommand", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getCarLikeCommand_Velocity(), theStd_datatypesPackage.getFloat64(), "velocity", "0", 1, 1, CarLikeCommand.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getCarLikeCommand_SteeringAngle(), theStd_datatypesPackage.getFloat64(), "steeringAngle", "0", 1, 1, CarLikeCommand.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(multiLayerLidarScanEClass, MultiLayerLidarScan.class, "MultiLayerLidarScan", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getMultiLayerLidarScan_Layers(), this.getExtentedLidarScan(), null, "layers", null, 1, 1, MultiLayerLidarScan.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getMultiLayerLidarScan_NbLayer(), theStd_datatypesPackage.getUInt8(), "nbLayer", null, 1, 1, MultiLayerLidarScan.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(extentedLidarScanEClass, ExtentedLidarScan.class, "ExtentedLidarScan", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getExtentedLidarScan_Scan(), theSensor_datatypesPackage.getLaserScan(), null, "scan", null, 1, 1, ExtentedLidarScan.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getExtentedLidarScan_LayerId(), theStd_datatypesPackage.getUInt8(), "layerId", null, 1, 1, ExtentedLidarScan.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getExtentedLidarScan_LayerAngle(), theStd_datatypesPackage.getFloat32(), "layerAngle", null, 1, 1, ExtentedLidarScan.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		// Create resource
+		createResource(eNS_URI);
+	}
+
+} //Oarp1_datatypesPackageImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp1_datatypes/util/Oarp1_datatypesAdapterFactory.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp1_datatypes/util/Oarp1_datatypesAdapterFactory.java
new file mode 100644
index 00000000000..d78f40c2541
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp1_datatypes/util/Oarp1_datatypesAdapterFactory.java
@@ -0,0 +1,186 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.util;
+
+import org.eclipse.emf.common.notify.Adapter;
+import org.eclipse.emf.common.notify.Notifier;
+import org.eclipse.emf.common.notify.impl.AdapterFactoryImpl;
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.CarLikeCommand;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.ExtentedLidarScan;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.MultiLayerLidarScan;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.Oarp1_datatypesPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * The <b>Adapter Factory</b> for the model.
+ * It provides an adapter <code>createXXX</code> method for each class of the model.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.Oarp1_datatypesPackage
+ * @generated
+ */
+public class Oarp1_datatypesAdapterFactory extends AdapterFactoryImpl {
+
+	/**
+	 * The cached model package.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected static Oarp1_datatypesPackage modelPackage;
+
+	/**
+	 * Creates an instance of the adapter factory.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Oarp1_datatypesAdapterFactory() {
+		if(modelPackage == null) {
+			modelPackage = Oarp1_datatypesPackage.eINSTANCE;
+		}
+	}
+
+	/**
+	 * Returns whether this factory is applicable for the type of the object.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns <code>true</code> if the object is either the model's package or is an instance object of the model.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return whether this factory is applicable for the type of the object.
+	 * @generated
+	 */
+	@Override
+	public boolean isFactoryForType(Object object) {
+		if(object == modelPackage) {
+			return true;
+		}
+		if(object instanceof EObject) {
+			return ((EObject)object).eClass().getEPackage() == modelPackage;
+		}
+		return false;
+	}
+
+	/**
+	 * The switch that delegates to the <code>createXXX</code> methods.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected Oarp1_datatypesSwitch<Adapter> modelSwitch = new Oarp1_datatypesSwitch<Adapter>() {
+
+		@Override
+		public Adapter caseCarLikeCommand(CarLikeCommand object) {
+			return createCarLikeCommandAdapter();
+		}
+
+		@Override
+		public Adapter caseMultiLayerLidarScan(MultiLayerLidarScan object) {
+			return createMultiLayerLidarScanAdapter();
+		}
+
+		@Override
+		public Adapter caseExtentedLidarScan(ExtentedLidarScan object) {
+			return createExtentedLidarScanAdapter();
+		}
+
+		@Override
+		public Adapter defaultCase(EObject object) {
+			return createEObjectAdapter();
+		}
+	};
+
+	/**
+	 * Creates an adapter for the <code>target</code>.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param target
+	 *        the object to adapt.
+	 * @return the adapter for the <code>target</code>.
+	 * @generated
+	 */
+	@Override
+	public Adapter createAdapter(Notifier target) {
+		return modelSwitch.doSwitch((EObject)target);
+	}
+
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.CarLikeCommand
+	 * <em>Car Like Command</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.CarLikeCommand
+	 * @generated
+	 */
+	public Adapter createCarLikeCommandAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.MultiLayerLidarScan
+	 * <em>Multi Layer Lidar Scan</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.MultiLayerLidarScan
+	 * @generated
+	 */
+	public Adapter createMultiLayerLidarScanAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.ExtentedLidarScan
+	 * <em>Extented Lidar Scan</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.ExtentedLidarScan
+	 * @generated
+	 */
+	public Adapter createExtentedLidarScanAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for the default case.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @generated
+	 */
+	public Adapter createEObjectAdapter() {
+		return null;
+	}
+
+} //Oarp1_datatypesAdapterFactory
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp1_datatypes/util/Oarp1_datatypesSwitch.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp1_datatypes/util/Oarp1_datatypesSwitch.java
new file mode 100644
index 00000000000..94af7cc977d
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp1_datatypes/util/Oarp1_datatypesSwitch.java
@@ -0,0 +1,182 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.util;
+
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.emf.ecore.EPackage;
+import org.eclipse.emf.ecore.util.Switch;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.CarLikeCommand;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.ExtentedLidarScan;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.MultiLayerLidarScan;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.Oarp1_datatypesPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * The <b>Switch</b> for the model's inheritance hierarchy.
+ * It supports the call {@link #doSwitch(EObject) doSwitch(object)} to invoke the <code>caseXXX</code> method for each class of the model,
+ * starting with the actual class of the object
+ * and proceeding up the inheritance hierarchy
+ * until a non-null result is returned,
+ * which is the result of the switch.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.Oarp1_datatypesPackage
+ * @generated
+ */
+public class Oarp1_datatypesSwitch<T> extends Switch<T> {
+
+	/**
+	 * The cached model package
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected static Oarp1_datatypesPackage modelPackage;
+
+	/**
+	 * Creates an instance of the switch.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Oarp1_datatypesSwitch() {
+		if(modelPackage == null) {
+			modelPackage = Oarp1_datatypesPackage.eINSTANCE;
+		}
+	}
+
+	/**
+	 * Checks whether this is a switch for the given package.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @parameter ePackage the package in question.
+	 * @return whether this is a switch for the given package.
+	 * @generated
+	 */
+	@Override
+	protected boolean isSwitchFor(EPackage ePackage) {
+		return ePackage == modelPackage;
+	}
+
+	/**
+	 * Calls <code>caseXXX</code> for each class of the model until one returns a non null result; it yields that result.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the first non-null result returned by a <code>caseXXX</code> call.
+	 * @generated
+	 */
+	@Override
+	protected T doSwitch(int classifierID, EObject theEObject) {
+		switch(classifierID) {
+		case Oarp1_datatypesPackage.CAR_LIKE_COMMAND:
+		{
+			CarLikeCommand carLikeCommand = (CarLikeCommand)theEObject;
+			T result = caseCarLikeCommand(carLikeCommand);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Oarp1_datatypesPackage.MULTI_LAYER_LIDAR_SCAN:
+		{
+			MultiLayerLidarScan multiLayerLidarScan = (MultiLayerLidarScan)theEObject;
+			T result = caseMultiLayerLidarScan(multiLayerLidarScan);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Oarp1_datatypesPackage.EXTENTED_LIDAR_SCAN:
+		{
+			ExtentedLidarScan extentedLidarScan = (ExtentedLidarScan)theEObject;
+			T result = caseExtentedLidarScan(extentedLidarScan);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		default:
+			return defaultCase(theEObject);
+		}
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Car Like Command</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Car Like Command</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseCarLikeCommand(CarLikeCommand object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Multi Layer Lidar Scan</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Multi Layer Lidar Scan</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseMultiLayerLidarScan(MultiLayerLidarScan object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Extented Lidar Scan</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Extented Lidar Scan</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseExtentedLidarScan(ExtentedLidarScan object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>EObject</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch, but this is the last case anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>EObject</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject)
+	 * @generated
+	 */
+	@Override
+	public T defaultCase(EObject object) {
+		return null;
+	}
+
+} //Oarp1_datatypesSwitch
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Angular.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Angular.java
new file mode 100644
index 00000000000..e10791bb6de
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Angular.java
@@ -0,0 +1,66 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Angular</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Angular#getValue <em>Value
+ * </em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getAngular()
+ * @model
+ * @generated
+ */
+public interface Angular extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Value</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Value</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Value</em>' attribute.
+	 * @see #setValue(long)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getAngular_Value()
+	 * @model unique="false" dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32"
+	 *        required="true" ordered="false"
+	 * @generated
+	 */
+	long getValue();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Angular#getValue
+	 * <em>Value</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Value</em>' attribute.
+	 * @see #getValue()
+	 * @generated
+	 */
+	void setValue(long value);
+
+} // Angular
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Art_Set_Point.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Art_Set_Point.java
new file mode 100644
index 00000000000..75a1ec0331d
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Art_Set_Point.java
@@ -0,0 +1,98 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Art Set Point</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Art_Set_Point#getOmega_left
+ * <em>Omega left</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Art_Set_Point#getOmega_right
+ * <em>Omega right</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getArt_Set_Point()
+ * @model
+ * @generated
+ */
+public interface Art_Set_Point extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Omega left</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Omega left</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Omega left</em>' containment reference.
+	 * @see #setOmega_left(Velocity_Angular)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getArt_Set_Point_Omega_left()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Velocity_Angular getOmega_left();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Art_Set_Point#getOmega_left
+	 * <em>Omega left</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Omega left</em>' containment reference.
+	 * @see #getOmega_left()
+	 * @generated
+	 */
+	void setOmega_left(Velocity_Angular value);
+
+	/**
+	 * Returns the value of the '<em><b>Omega right</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Omega right</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Omega right</em>' containment reference.
+	 * @see #setOmega_right(Velocity_Angular)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getArt_Set_Point_Omega_right()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Velocity_Angular getOmega_right();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Art_Set_Point#getOmega_right
+	 * <em>Omega right</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Omega right</em>' containment reference.
+	 * @see #getOmega_right()
+	 * @generated
+	 */
+	void setOmega_right(Velocity_Angular value);
+
+} // Art_Set_Point
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Distance.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Distance.java
new file mode 100644
index 00000000000..db2d22440f7
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Distance.java
@@ -0,0 +1,66 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Distance</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Distance#getValue <em>Value
+ * </em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getDistance()
+ * @model
+ * @generated
+ */
+public interface Distance extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Value</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Value</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Value</em>' attribute.
+	 * @see #setValue(long)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getDistance_Value()
+	 * @model unique="false" dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32"
+	 *        required="true" ordered="false"
+	 * @generated
+	 */
+	long getValue();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Distance#getValue
+	 * <em>Value</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Value</em>' attribute.
+	 * @see #getValue()
+	 * @generated
+	 */
+	void setValue(long value);
+
+} // Distance
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Metric.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Metric.java
new file mode 100644
index 00000000000..ac05dd63d41
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Metric.java
@@ -0,0 +1,66 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Metric</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Metric#getValue <em>Value
+ * </em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getMetric()
+ * @model
+ * @generated
+ */
+public interface Metric extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Value</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Value</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Value</em>' attribute.
+	 * @see #setValue(double)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getMetric_Value()
+	 * @model unique="false" dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64"
+	 *        required="true" ordered="false"
+	 * @generated
+	 */
+	double getValue();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Metric#getValue
+	 * <em>Value</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Value</em>' attribute.
+	 * @see #getValue()
+	 * @generated
+	 */
+	void setValue(double value);
+
+} // Metric
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Milli_Amp.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Milli_Amp.java
new file mode 100644
index 00000000000..3f752afbcc3
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Milli_Amp.java
@@ -0,0 +1,66 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Milli Amp</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Milli_Amp#getValue <em>Value
+ * </em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getMilli_Amp()
+ * @model
+ * @generated
+ */
+public interface Milli_Amp extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Value</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Value</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Value</em>' attribute.
+	 * @see #setValue(long)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getMilli_Amp_Value()
+	 * @model unique="false" dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32"
+	 *        required="true" ordered="false"
+	 * @generated
+	 */
+	long getValue();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Milli_Amp#getValue
+	 * <em>Value</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Value</em>' attribute.
+	 * @see #getValue()
+	 * @generated
+	 */
+	void setValue(long value);
+
+} // Milli_Amp
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Oarp4_datatypesFactory.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Oarp4_datatypesFactory.java
new file mode 100644
index 00000000000..70ab800af67
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Oarp4_datatypesFactory.java
@@ -0,0 +1,206 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes;
+
+import org.eclipse.emf.ecore.EFactory;
+
+/**
+ * <!-- begin-user-doc -->
+ * The <b>Factory</b> for the model.
+ * It provides a create method for each non-abstract class of the model.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage
+ * @generated
+ */
+public interface Oarp4_datatypesFactory extends EFactory {
+
+	/**
+	 * The singleton instance of the factory.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	Oarp4_datatypesFactory eINSTANCE = org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesFactoryImpl.init();
+
+	/**
+	 * Returns a new object of class '<em>Velocity Linear</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Velocity Linear</em>'.
+	 * @generated
+	 */
+	Velocity_Linear createVelocity_Linear();
+
+	/**
+	 * Returns a new object of class '<em>Art Set Point</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Art Set Point</em>'.
+	 * @generated
+	 */
+	Art_Set_Point createArt_Set_Point();
+
+	/**
+	 * Returns a new object of class '<em>Velocity Angular</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Velocity Angular</em>'.
+	 * @generated
+	 */
+	Velocity_Angular createVelocity_Angular();
+
+	/**
+	 * Returns a new object of class '<em>Distance</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Distance</em>'.
+	 * @generated
+	 */
+	Distance createDistance();
+
+	/**
+	 * Returns a new object of class '<em>Metric</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Metric</em>'.
+	 * @generated
+	 */
+	Metric createMetric();
+
+	/**
+	 * Returns a new object of class '<em>Angular</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Angular</em>'.
+	 * @generated
+	 */
+	Angular createAngular();
+
+	/**
+	 * Returns a new object of class '<em>Op Set Point</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Op Set Point</em>'.
+	 * @generated
+	 */
+	Op_Set_Point createOp_Set_Point();
+
+	/**
+	 * Returns a new object of class '<em>Speed Tics Left Right</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Speed Tics Left Right</em>'.
+	 * @generated
+	 */
+	Speed_Tics_Left_Right createSpeed_Tics_Left_Right();
+
+	/**
+	 * Returns a new object of class '<em>Speed Tics</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Speed Tics</em>'.
+	 * @generated
+	 */
+	Speed_Tics createSpeed_Tics();
+
+	/**
+	 * Returns a new object of class '<em>Odometer Tics</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Odometer Tics</em>'.
+	 * @generated
+	 */
+	Odometer_Tics createOdometer_Tics();
+
+	/**
+	 * Returns a new object of class '<em>Odometer Tics Left Right</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Odometer Tics Left Right</em>'.
+	 * @generated
+	 */
+	Odometer_Tics_Left_Right createOdometer_Tics_Left_Right();
+
+	/**
+	 * Returns a new object of class '<em>Proxi Left Right</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Proxi Left Right</em>'.
+	 * @generated
+	 */
+	Proxi_Left_Right createProxi_Left_Right();
+
+	/**
+	 * Returns a new object of class '<em>Milli Amp</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Milli Amp</em>'.
+	 * @generated
+	 */
+	Milli_Amp createMilli_Amp();
+
+	/**
+	 * Returns a new object of class '<em>Odometer Linear Left Right</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Odometer Linear Left Right</em>'.
+	 * @generated
+	 */
+	Odometer_Linear_Left_Right createOdometer_Linear_Left_Right();
+
+	/**
+	 * Returns a new object of class '<em>Velocity Angular Left Right</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Velocity Angular Left Right</em>'.
+	 * @generated
+	 */
+	Velocity_Angular_Left_Right createVelocity_Angular_Left_Right();
+
+	/**
+	 * Returns a new object of class '<em>Velocity</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Velocity</em>'.
+	 * @generated
+	 */
+	Velocity createVelocity();
+
+	/**
+	 * Returns the package supported by this factory.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the package supported by this factory.
+	 * @generated
+	 */
+	Oarp4_datatypesPackage getOarp4_datatypesPackage();
+
+} //Oarp4_datatypesFactory
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Oarp4_datatypesPackage.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Oarp4_datatypesPackage.java
new file mode 100644
index 00000000000..2e9f8a9b1d1
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Oarp4_datatypesPackage.java
@@ -0,0 +1,1675 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes;
+
+import org.eclipse.emf.ecore.EAttribute;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.EPackage;
+import org.eclipse.emf.ecore.EReference;
+
+/**
+ * <!-- begin-user-doc -->
+ * The <b>Package</b> for the model.
+ * It contains accessors for the meta objects to represent
+ * <ul>
+ * <li>each class,</li>
+ * <li>each feature of each class,</li>
+ * <li>each enum,</li>
+ * <li>and each data type</li>
+ * </ul>
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesFactory
+ * @model kind="package"
+ * @generated
+ */
+public interface Oarp4_datatypesPackage extends EPackage {
+
+	/**
+	 * The package name.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	String eNAME = "oarp4_datatypes";
+
+	/**
+	 * The package namespace URI.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	String eNS_URI = "http:///RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes.ecore";
+
+	/**
+	 * The package namespace name.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	String eNS_PREFIX = "RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes";
+
+	/**
+	 * The singleton instance of the package.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	Oarp4_datatypesPackage eINSTANCE = org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl.init();
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Velocity_LinearImpl
+	 * <em>Velocity Linear</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Velocity_LinearImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl#getVelocity_Linear()
+	 * @generated
+	 */
+	int VELOCITY_LINEAR = 0;
+
+	/**
+	 * The feature id for the '<em><b>Value</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int VELOCITY_LINEAR__VALUE = 0;
+
+	/**
+	 * The number of structural features of the '<em>Velocity Linear</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int VELOCITY_LINEAR_FEATURE_COUNT = 1;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Art_Set_PointImpl
+	 * <em>Art Set Point</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Art_Set_PointImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl#getArt_Set_Point()
+	 * @generated
+	 */
+	int ART_SET_POINT = 1;
+
+	/**
+	 * The feature id for the '<em><b>Omega left</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ART_SET_POINT__OMEGA_LEFT = 0;
+
+	/**
+	 * The feature id for the '<em><b>Omega right</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ART_SET_POINT__OMEGA_RIGHT = 1;
+
+	/**
+	 * The number of structural features of the '<em>Art Set Point</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ART_SET_POINT_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Velocity_AngularImpl
+	 * <em>Velocity Angular</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Velocity_AngularImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl#getVelocity_Angular()
+	 * @generated
+	 */
+	int VELOCITY_ANGULAR = 2;
+
+	/**
+	 * The feature id for the '<em><b>Value</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int VELOCITY_ANGULAR__VALUE = 0;
+
+	/**
+	 * The number of structural features of the '<em>Velocity Angular</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int VELOCITY_ANGULAR_FEATURE_COUNT = 1;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.DistanceImpl
+	 * <em>Distance</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.DistanceImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl#getDistance()
+	 * @generated
+	 */
+	int DISTANCE = 3;
+
+	/**
+	 * The feature id for the '<em><b>Value</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int DISTANCE__VALUE = 0;
+
+	/**
+	 * The number of structural features of the '<em>Distance</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int DISTANCE_FEATURE_COUNT = 1;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.MetricImpl
+	 * <em>Metric</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.MetricImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl#getMetric()
+	 * @generated
+	 */
+	int METRIC = 4;
+
+	/**
+	 * The feature id for the '<em><b>Value</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int METRIC__VALUE = 0;
+
+	/**
+	 * The number of structural features of the '<em>Metric</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int METRIC_FEATURE_COUNT = 1;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.AngularImpl
+	 * <em>Angular</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.AngularImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl#getAngular()
+	 * @generated
+	 */
+	int ANGULAR = 5;
+
+	/**
+	 * The feature id for the '<em><b>Value</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ANGULAR__VALUE = 0;
+
+	/**
+	 * The number of structural features of the '<em>Angular</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ANGULAR_FEATURE_COUNT = 1;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Op_Set_PointImpl
+	 * <em>Op Set Point</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Op_Set_PointImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl#getOp_Set_Point()
+	 * @generated
+	 */
+	int OP_SET_POINT = 6;
+
+	/**
+	 * The feature id for the '<em><b>Velocity</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int OP_SET_POINT__VELOCITY = 0;
+
+	/**
+	 * The feature id for the '<em><b>Orientation</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int OP_SET_POINT__ORIENTATION = 1;
+
+	/**
+	 * The number of structural features of the '<em>Op Set Point</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int OP_SET_POINT_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Speed_Tics_Left_RightImpl
+	 * <em>Speed Tics Left Right</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Speed_Tics_Left_RightImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl#getSpeed_Tics_Left_Right()
+	 * @generated
+	 */
+	int SPEED_TICS_LEFT_RIGHT = 7;
+
+	/**
+	 * The feature id for the '<em><b>Speed tics left</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SPEED_TICS_LEFT_RIGHT__SPEED_TICS_LEFT = 0;
+
+	/**
+	 * The feature id for the '<em><b>Speed tics right</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SPEED_TICS_LEFT_RIGHT__SPEED_TICS_RIGHT = 1;
+
+	/**
+	 * The number of structural features of the '<em>Speed Tics Left Right</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SPEED_TICS_LEFT_RIGHT_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Speed_TicsImpl
+	 * <em>Speed Tics</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Speed_TicsImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl#getSpeed_Tics()
+	 * @generated
+	 */
+	int SPEED_TICS = 8;
+
+	/**
+	 * The feature id for the '<em><b>Value</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SPEED_TICS__VALUE = 0;
+
+	/**
+	 * The number of structural features of the '<em>Speed Tics</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int SPEED_TICS_FEATURE_COUNT = 1;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Odometer_TicsImpl
+	 * <em>Odometer Tics</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Odometer_TicsImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl#getOdometer_Tics()
+	 * @generated
+	 */
+	int ODOMETER_TICS = 9;
+
+	/**
+	 * The feature id for the '<em><b>Value</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ODOMETER_TICS__VALUE = 0;
+
+	/**
+	 * The number of structural features of the '<em>Odometer Tics</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ODOMETER_TICS_FEATURE_COUNT = 1;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Odometer_Tics_Left_RightImpl
+	 * <em>Odometer Tics Left Right</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Odometer_Tics_Left_RightImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl#getOdometer_Tics_Left_Right()
+	 * @generated
+	 */
+	int ODOMETER_TICS_LEFT_RIGHT = 10;
+
+	/**
+	 * The feature id for the '<em><b>Odometer tics left</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ODOMETER_TICS_LEFT_RIGHT__ODOMETER_TICS_LEFT = 0;
+
+	/**
+	 * The feature id for the '<em><b>Odometer tics right</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ODOMETER_TICS_LEFT_RIGHT__ODOMETER_TICS_RIGHT = 1;
+
+	/**
+	 * The number of structural features of the '<em>Odometer Tics Left Right</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ODOMETER_TICS_LEFT_RIGHT_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Proxi_Left_RightImpl
+	 * <em>Proxi Left Right</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Proxi_Left_RightImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl#getProxi_Left_Right()
+	 * @generated
+	 */
+	int PROXI_LEFT_RIGHT = 11;
+
+	/**
+	 * The feature id for the '<em><b>Proxi left</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PROXI_LEFT_RIGHT__PROXI_LEFT = 0;
+
+	/**
+	 * The feature id for the '<em><b>Proxi right</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PROXI_LEFT_RIGHT__PROXI_RIGHT = 1;
+
+	/**
+	 * The number of structural features of the '<em>Proxi Left Right</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int PROXI_LEFT_RIGHT_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Milli_AmpImpl
+	 * <em>Milli Amp</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Milli_AmpImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl#getMilli_Amp()
+	 * @generated
+	 */
+	int MILLI_AMP = 12;
+
+	/**
+	 * The feature id for the '<em><b>Value</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int MILLI_AMP__VALUE = 0;
+
+	/**
+	 * The number of structural features of the '<em>Milli Amp</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int MILLI_AMP_FEATURE_COUNT = 1;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Odometer_Linear_Left_RightImpl
+	 * <em>Odometer Linear Left Right</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Odometer_Linear_Left_RightImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl#getOdometer_Linear_Left_Right()
+	 * @generated
+	 */
+	int ODOMETER_LINEAR_LEFT_RIGHT = 13;
+
+	/**
+	 * The feature id for the '<em><b>Odometer linear left</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ODOMETER_LINEAR_LEFT_RIGHT__ODOMETER_LINEAR_LEFT = 0;
+
+	/**
+	 * The feature id for the '<em><b>Odometer linear right</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ODOMETER_LINEAR_LEFT_RIGHT__ODOMETER_LINEAR_RIGHT = 1;
+
+	/**
+	 * The number of structural features of the '<em>Odometer Linear Left Right</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int ODOMETER_LINEAR_LEFT_RIGHT_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Velocity_Angular_Left_RightImpl
+	 * <em>Velocity Angular Left Right</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Velocity_Angular_Left_RightImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl#getVelocity_Angular_Left_Right()
+	 * @generated
+	 */
+	int VELOCITY_ANGULAR_LEFT_RIGHT = 14;
+
+	/**
+	 * The feature id for the '<em><b>Velocity angular left</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int VELOCITY_ANGULAR_LEFT_RIGHT__VELOCITY_ANGULAR_LEFT = 0;
+
+	/**
+	 * The feature id for the '<em><b>Velocity angular right</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int VELOCITY_ANGULAR_LEFT_RIGHT__VELOCITY_ANGULAR_RIGHT = 1;
+
+	/**
+	 * The number of structural features of the '<em>Velocity Angular Left Right</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int VELOCITY_ANGULAR_LEFT_RIGHT_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.VelocityImpl
+	 * <em>Velocity</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.VelocityImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl#getVelocity()
+	 * @generated
+	 */
+	int VELOCITY = 15;
+
+	/**
+	 * The feature id for the '<em><b>Velocity linear</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int VELOCITY__VELOCITY_LINEAR = 0;
+
+	/**
+	 * The feature id for the '<em><b>Velocity angular</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int VELOCITY__VELOCITY_ANGULAR = 1;
+
+	/**
+	 * The number of structural features of the '<em>Velocity</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int VELOCITY_FEATURE_COUNT = 2;
+
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Linear
+	 * <em>Velocity Linear</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Velocity Linear</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Linear
+	 * @generated
+	 */
+	EClass getVelocity_Linear();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Linear#getValue
+	 * <em>Value</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Value</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Linear#getValue()
+	 * @see #getVelocity_Linear()
+	 * @generated
+	 */
+	EAttribute getVelocity_Linear_Value();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Art_Set_Point
+	 * <em>Art Set Point</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Art Set Point</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Art_Set_Point
+	 * @generated
+	 */
+	EClass getArt_Set_Point();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Art_Set_Point#getOmega_left
+	 * <em>Omega left</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Omega left</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Art_Set_Point#getOmega_left()
+	 * @see #getArt_Set_Point()
+	 * @generated
+	 */
+	EReference getArt_Set_Point_Omega_left();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Art_Set_Point#getOmega_right
+	 * <em>Omega right</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Omega right</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Art_Set_Point#getOmega_right()
+	 * @see #getArt_Set_Point()
+	 * @generated
+	 */
+	EReference getArt_Set_Point_Omega_right();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Angular
+	 * <em>Velocity Angular</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Velocity Angular</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Angular
+	 * @generated
+	 */
+	EClass getVelocity_Angular();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Angular#getValue
+	 * <em>Value</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Value</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Angular#getValue()
+	 * @see #getVelocity_Angular()
+	 * @generated
+	 */
+	EAttribute getVelocity_Angular_Value();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Distance <em>Distance</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Distance</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Distance
+	 * @generated
+	 */
+	EClass getDistance();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Distance#getValue
+	 * <em>Value</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Value</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Distance#getValue()
+	 * @see #getDistance()
+	 * @generated
+	 */
+	EAttribute getDistance_Value();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Metric <em>Metric</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Metric</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Metric
+	 * @generated
+	 */
+	EClass getMetric();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Metric#getValue
+	 * <em>Value</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Value</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Metric#getValue()
+	 * @see #getMetric()
+	 * @generated
+	 */
+	EAttribute getMetric_Value();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Angular <em>Angular</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Angular</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Angular
+	 * @generated
+	 */
+	EClass getAngular();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Angular#getValue
+	 * <em>Value</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Value</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Angular#getValue()
+	 * @see #getAngular()
+	 * @generated
+	 */
+	EAttribute getAngular_Value();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Op_Set_Point
+	 * <em>Op Set Point</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Op Set Point</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Op_Set_Point
+	 * @generated
+	 */
+	EClass getOp_Set_Point();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Op_Set_Point#getVelocity
+	 * <em>Velocity</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Velocity</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Op_Set_Point#getVelocity()
+	 * @see #getOp_Set_Point()
+	 * @generated
+	 */
+	EReference getOp_Set_Point_Velocity();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Op_Set_Point#getOrientation
+	 * <em>Orientation</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Orientation</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Op_Set_Point#getOrientation()
+	 * @see #getOp_Set_Point()
+	 * @generated
+	 */
+	EReference getOp_Set_Point_Orientation();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Speed_Tics_Left_Right
+	 * <em>Speed Tics Left Right</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Speed Tics Left Right</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Speed_Tics_Left_Right
+	 * @generated
+	 */
+	EClass getSpeed_Tics_Left_Right();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Speed_Tics_Left_Right#getSpeed_tics_left
+	 * <em>Speed tics left</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Speed tics left</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Speed_Tics_Left_Right#getSpeed_tics_left()
+	 * @see #getSpeed_Tics_Left_Right()
+	 * @generated
+	 */
+	EReference getSpeed_Tics_Left_Right_Speed_tics_left();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Speed_Tics_Left_Right#getSpeed_tics_right
+	 * <em>Speed tics right</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Speed tics right</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Speed_Tics_Left_Right#getSpeed_tics_right()
+	 * @see #getSpeed_Tics_Left_Right()
+	 * @generated
+	 */
+	EReference getSpeed_Tics_Left_Right_Speed_tics_right();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Speed_Tics
+	 * <em>Speed Tics</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Speed Tics</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Speed_Tics
+	 * @generated
+	 */
+	EClass getSpeed_Tics();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Speed_Tics#getValue
+	 * <em>Value</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Value</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Speed_Tics#getValue()
+	 * @see #getSpeed_Tics()
+	 * @generated
+	 */
+	EAttribute getSpeed_Tics_Value();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Tics
+	 * <em>Odometer Tics</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Odometer Tics</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Tics
+	 * @generated
+	 */
+	EClass getOdometer_Tics();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Tics#getValue
+	 * <em>Value</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Value</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Tics#getValue()
+	 * @see #getOdometer_Tics()
+	 * @generated
+	 */
+	EAttribute getOdometer_Tics_Value();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Tics_Left_Right
+	 * <em>Odometer Tics Left Right</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Odometer Tics Left Right</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Tics_Left_Right
+	 * @generated
+	 */
+	EClass getOdometer_Tics_Left_Right();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Tics_Left_Right#getOdometer_tics_left
+	 * <em>Odometer tics left</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Odometer tics left</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Tics_Left_Right#getOdometer_tics_left()
+	 * @see #getOdometer_Tics_Left_Right()
+	 * @generated
+	 */
+	EReference getOdometer_Tics_Left_Right_Odometer_tics_left();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Tics_Left_Right#getOdometer_tics_right
+	 * <em>Odometer tics right</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Odometer tics right</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Tics_Left_Right#getOdometer_tics_right()
+	 * @see #getOdometer_Tics_Left_Right()
+	 * @generated
+	 */
+	EReference getOdometer_Tics_Left_Right_Odometer_tics_right();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Proxi_Left_Right
+	 * <em>Proxi Left Right</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Proxi Left Right</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Proxi_Left_Right
+	 * @generated
+	 */
+	EClass getProxi_Left_Right();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Proxi_Left_Right#getProxi_left
+	 * <em>Proxi left</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Proxi left</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Proxi_Left_Right#getProxi_left()
+	 * @see #getProxi_Left_Right()
+	 * @generated
+	 */
+	EReference getProxi_Left_Right_Proxi_left();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Proxi_Left_Right#getProxi_right
+	 * <em>Proxi right</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Proxi right</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Proxi_Left_Right#getProxi_right()
+	 * @see #getProxi_Left_Right()
+	 * @generated
+	 */
+	EReference getProxi_Left_Right_Proxi_right();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Milli_Amp
+	 * <em>Milli Amp</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Milli Amp</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Milli_Amp
+	 * @generated
+	 */
+	EClass getMilli_Amp();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Milli_Amp#getValue
+	 * <em>Value</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Value</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Milli_Amp#getValue()
+	 * @see #getMilli_Amp()
+	 * @generated
+	 */
+	EAttribute getMilli_Amp_Value();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Linear_Left_Right
+	 * <em>Odometer Linear Left Right</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Odometer Linear Left Right</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Linear_Left_Right
+	 * @generated
+	 */
+	EClass getOdometer_Linear_Left_Right();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Linear_Left_Right#getOdometer_linear_left
+	 * <em>Odometer linear left</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Odometer linear left</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Linear_Left_Right#getOdometer_linear_left()
+	 * @see #getOdometer_Linear_Left_Right()
+	 * @generated
+	 */
+	EReference getOdometer_Linear_Left_Right_Odometer_linear_left();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Linear_Left_Right#getOdometer_linear_right
+	 * <em>Odometer linear right</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Odometer linear right</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Linear_Left_Right#getOdometer_linear_right()
+	 * @see #getOdometer_Linear_Left_Right()
+	 * @generated
+	 */
+	EReference getOdometer_Linear_Left_Right_Odometer_linear_right();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Angular_Left_Right
+	 * <em>Velocity Angular Left Right</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Velocity Angular Left Right</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Angular_Left_Right
+	 * @generated
+	 */
+	EClass getVelocity_Angular_Left_Right();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Angular_Left_Right#getVelocity_angular_left
+	 * <em>Velocity angular left</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Velocity angular left</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Angular_Left_Right#getVelocity_angular_left()
+	 * @see #getVelocity_Angular_Left_Right()
+	 * @generated
+	 */
+	EReference getVelocity_Angular_Left_Right_Velocity_angular_left();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Angular_Left_Right#getVelocity_angular_right
+	 * <em>Velocity angular right</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Velocity angular right</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Angular_Left_Right#getVelocity_angular_right()
+	 * @see #getVelocity_Angular_Left_Right()
+	 * @generated
+	 */
+	EReference getVelocity_Angular_Left_Right_Velocity_angular_right();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity <em>Velocity</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Velocity</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity
+	 * @generated
+	 */
+	EClass getVelocity();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity#getVelocity_linear
+	 * <em>Velocity linear</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Velocity linear</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity#getVelocity_linear()
+	 * @see #getVelocity()
+	 * @generated
+	 */
+	EReference getVelocity_Velocity_linear();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity#getVelocity_angular
+	 * <em>Velocity angular</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Velocity angular</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity#getVelocity_angular()
+	 * @see #getVelocity()
+	 * @generated
+	 */
+	EReference getVelocity_Velocity_angular();
+
+	/**
+	 * Returns the factory that creates the instances of the model.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the factory that creates the instances of the model.
+	 * @generated
+	 */
+	Oarp4_datatypesFactory getOarp4_datatypesFactory();
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * Defines literals for the meta objects that represent
+	 * <ul>
+	 * <li>each class,</li>
+	 * <li>each feature of each class,</li>
+	 * <li>each enum,</li>
+	 * <li>and each data type</li>
+	 * </ul>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	interface Literals {
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Velocity_LinearImpl
+		 * <em>Velocity Linear</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Velocity_LinearImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl#getVelocity_Linear()
+		 * @generated
+		 */
+		EClass VELOCITY_LINEAR = eINSTANCE.getVelocity_Linear();
+
+		/**
+		 * The meta object literal for the '<em><b>Value</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute VELOCITY_LINEAR__VALUE = eINSTANCE.getVelocity_Linear_Value();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Art_Set_PointImpl
+		 * <em>Art Set Point</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Art_Set_PointImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl#getArt_Set_Point()
+		 * @generated
+		 */
+		EClass ART_SET_POINT = eINSTANCE.getArt_Set_Point();
+
+		/**
+		 * The meta object literal for the '<em><b>Omega left</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference ART_SET_POINT__OMEGA_LEFT = eINSTANCE.getArt_Set_Point_Omega_left();
+
+		/**
+		 * The meta object literal for the '<em><b>Omega right</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference ART_SET_POINT__OMEGA_RIGHT = eINSTANCE.getArt_Set_Point_Omega_right();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Velocity_AngularImpl
+		 * <em>Velocity Angular</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Velocity_AngularImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl#getVelocity_Angular()
+		 * @generated
+		 */
+		EClass VELOCITY_ANGULAR = eINSTANCE.getVelocity_Angular();
+
+		/**
+		 * The meta object literal for the '<em><b>Value</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute VELOCITY_ANGULAR__VALUE = eINSTANCE.getVelocity_Angular_Value();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.DistanceImpl
+		 * <em>Distance</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.DistanceImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl#getDistance()
+		 * @generated
+		 */
+		EClass DISTANCE = eINSTANCE.getDistance();
+
+		/**
+		 * The meta object literal for the '<em><b>Value</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute DISTANCE__VALUE = eINSTANCE.getDistance_Value();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.MetricImpl
+		 * <em>Metric</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.MetricImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl#getMetric()
+		 * @generated
+		 */
+		EClass METRIC = eINSTANCE.getMetric();
+
+		/**
+		 * The meta object literal for the '<em><b>Value</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute METRIC__VALUE = eINSTANCE.getMetric_Value();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.AngularImpl
+		 * <em>Angular</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.AngularImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl#getAngular()
+		 * @generated
+		 */
+		EClass ANGULAR = eINSTANCE.getAngular();
+
+		/**
+		 * The meta object literal for the '<em><b>Value</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute ANGULAR__VALUE = eINSTANCE.getAngular_Value();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Op_Set_PointImpl
+		 * <em>Op Set Point</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Op_Set_PointImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl#getOp_Set_Point()
+		 * @generated
+		 */
+		EClass OP_SET_POINT = eINSTANCE.getOp_Set_Point();
+
+		/**
+		 * The meta object literal for the '<em><b>Velocity</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference OP_SET_POINT__VELOCITY = eINSTANCE.getOp_Set_Point_Velocity();
+
+		/**
+		 * The meta object literal for the '<em><b>Orientation</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference OP_SET_POINT__ORIENTATION = eINSTANCE.getOp_Set_Point_Orientation();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Speed_Tics_Left_RightImpl
+		 * <em>Speed Tics Left Right</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Speed_Tics_Left_RightImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl#getSpeed_Tics_Left_Right()
+		 * @generated
+		 */
+		EClass SPEED_TICS_LEFT_RIGHT = eINSTANCE.getSpeed_Tics_Left_Right();
+
+		/**
+		 * The meta object literal for the '<em><b>Speed tics left</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference SPEED_TICS_LEFT_RIGHT__SPEED_TICS_LEFT = eINSTANCE.getSpeed_Tics_Left_Right_Speed_tics_left();
+
+		/**
+		 * The meta object literal for the '<em><b>Speed tics right</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference SPEED_TICS_LEFT_RIGHT__SPEED_TICS_RIGHT = eINSTANCE.getSpeed_Tics_Left_Right_Speed_tics_right();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Speed_TicsImpl
+		 * <em>Speed Tics</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Speed_TicsImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl#getSpeed_Tics()
+		 * @generated
+		 */
+		EClass SPEED_TICS = eINSTANCE.getSpeed_Tics();
+
+		/**
+		 * The meta object literal for the '<em><b>Value</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute SPEED_TICS__VALUE = eINSTANCE.getSpeed_Tics_Value();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Odometer_TicsImpl
+		 * <em>Odometer Tics</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Odometer_TicsImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl#getOdometer_Tics()
+		 * @generated
+		 */
+		EClass ODOMETER_TICS = eINSTANCE.getOdometer_Tics();
+
+		/**
+		 * The meta object literal for the '<em><b>Value</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute ODOMETER_TICS__VALUE = eINSTANCE.getOdometer_Tics_Value();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Odometer_Tics_Left_RightImpl
+		 * <em>Odometer Tics Left Right</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Odometer_Tics_Left_RightImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl#getOdometer_Tics_Left_Right()
+		 * @generated
+		 */
+		EClass ODOMETER_TICS_LEFT_RIGHT = eINSTANCE.getOdometer_Tics_Left_Right();
+
+		/**
+		 * The meta object literal for the '<em><b>Odometer tics left</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference ODOMETER_TICS_LEFT_RIGHT__ODOMETER_TICS_LEFT = eINSTANCE.getOdometer_Tics_Left_Right_Odometer_tics_left();
+
+		/**
+		 * The meta object literal for the '<em><b>Odometer tics right</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference ODOMETER_TICS_LEFT_RIGHT__ODOMETER_TICS_RIGHT = eINSTANCE.getOdometer_Tics_Left_Right_Odometer_tics_right();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Proxi_Left_RightImpl
+		 * <em>Proxi Left Right</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Proxi_Left_RightImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl#getProxi_Left_Right()
+		 * @generated
+		 */
+		EClass PROXI_LEFT_RIGHT = eINSTANCE.getProxi_Left_Right();
+
+		/**
+		 * The meta object literal for the '<em><b>Proxi left</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference PROXI_LEFT_RIGHT__PROXI_LEFT = eINSTANCE.getProxi_Left_Right_Proxi_left();
+
+		/**
+		 * The meta object literal for the '<em><b>Proxi right</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference PROXI_LEFT_RIGHT__PROXI_RIGHT = eINSTANCE.getProxi_Left_Right_Proxi_right();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Milli_AmpImpl
+		 * <em>Milli Amp</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Milli_AmpImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl#getMilli_Amp()
+		 * @generated
+		 */
+		EClass MILLI_AMP = eINSTANCE.getMilli_Amp();
+
+		/**
+		 * The meta object literal for the '<em><b>Value</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute MILLI_AMP__VALUE = eINSTANCE.getMilli_Amp_Value();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Odometer_Linear_Left_RightImpl
+		 * <em>Odometer Linear Left Right</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Odometer_Linear_Left_RightImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl#getOdometer_Linear_Left_Right()
+		 * @generated
+		 */
+		EClass ODOMETER_LINEAR_LEFT_RIGHT = eINSTANCE.getOdometer_Linear_Left_Right();
+
+		/**
+		 * The meta object literal for the '<em><b>Odometer linear left</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference ODOMETER_LINEAR_LEFT_RIGHT__ODOMETER_LINEAR_LEFT = eINSTANCE.getOdometer_Linear_Left_Right_Odometer_linear_left();
+
+		/**
+		 * The meta object literal for the '<em><b>Odometer linear right</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference ODOMETER_LINEAR_LEFT_RIGHT__ODOMETER_LINEAR_RIGHT = eINSTANCE.getOdometer_Linear_Left_Right_Odometer_linear_right();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Velocity_Angular_Left_RightImpl
+		 * <em>Velocity Angular Left Right</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Velocity_Angular_Left_RightImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl#getVelocity_Angular_Left_Right()
+		 * @generated
+		 */
+		EClass VELOCITY_ANGULAR_LEFT_RIGHT = eINSTANCE.getVelocity_Angular_Left_Right();
+
+		/**
+		 * The meta object literal for the '<em><b>Velocity angular left</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference VELOCITY_ANGULAR_LEFT_RIGHT__VELOCITY_ANGULAR_LEFT = eINSTANCE.getVelocity_Angular_Left_Right_Velocity_angular_left();
+
+		/**
+		 * The meta object literal for the '<em><b>Velocity angular right</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference VELOCITY_ANGULAR_LEFT_RIGHT__VELOCITY_ANGULAR_RIGHT = eINSTANCE.getVelocity_Angular_Left_Right_Velocity_angular_right();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.VelocityImpl
+		 * <em>Velocity</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.VelocityImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl#getVelocity()
+		 * @generated
+		 */
+		EClass VELOCITY = eINSTANCE.getVelocity();
+
+		/**
+		 * The meta object literal for the '<em><b>Velocity linear</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference VELOCITY__VELOCITY_LINEAR = eINSTANCE.getVelocity_Velocity_linear();
+
+		/**
+		 * The meta object literal for the '<em><b>Velocity angular</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference VELOCITY__VELOCITY_ANGULAR = eINSTANCE.getVelocity_Velocity_angular();
+
+	}
+
+} //Oarp4_datatypesPackage
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Odometer_Linear_Left_Right.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Odometer_Linear_Left_Right.java
new file mode 100644
index 00000000000..f0870ce7761
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Odometer_Linear_Left_Right.java
@@ -0,0 +1,99 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Odometer Linear Left Right</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Linear_Left_Right#getOdometer_linear_left
+ * <em>Odometer linear left</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Linear_Left_Right#getOdometer_linear_right
+ * <em>Odometer linear right</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getOdometer_Linear_Left_Right()
+ * @model
+ * @generated
+ */
+public interface Odometer_Linear_Left_Right extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Odometer linear left</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Odometer linear left</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Odometer linear left</em>' containment reference.
+	 * @see #setOdometer_linear_left(Metric)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getOdometer_Linear_Left_Right_Odometer_linear_left()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Metric getOdometer_linear_left();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Linear_Left_Right#getOdometer_linear_left
+	 * <em>Odometer linear left</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Odometer linear left</em>' containment reference.
+	 * @see #getOdometer_linear_left()
+	 * @generated
+	 */
+	void setOdometer_linear_left(Metric value);
+
+	/**
+	 * Returns the value of the '<em><b>Odometer linear right</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Odometer linear right</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Odometer linear right</em>' containment reference.
+	 * @see #setOdometer_linear_right(Metric)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getOdometer_Linear_Left_Right_Odometer_linear_right()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Metric getOdometer_linear_right();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Linear_Left_Right#getOdometer_linear_right
+	 * <em>Odometer linear right</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Odometer linear right</em>' containment reference.
+	 * @see #getOdometer_linear_right()
+	 * @generated
+	 */
+	void setOdometer_linear_right(Metric value);
+
+} // Odometer_Linear_Left_Right
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Odometer_Tics.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Odometer_Tics.java
new file mode 100644
index 00000000000..9f45ea5bac1
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Odometer_Tics.java
@@ -0,0 +1,66 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Odometer Tics</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Tics#getValue <em>
+ * Value</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getOdometer_Tics()
+ * @model
+ * @generated
+ */
+public interface Odometer_Tics extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Value</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Value</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Value</em>' attribute.
+	 * @see #setValue(int)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getOdometer_Tics_Value()
+	 * @model unique="false" dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int32"
+	 *        required="true" ordered="false"
+	 * @generated
+	 */
+	int getValue();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Tics#getValue
+	 * <em>Value</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Value</em>' attribute.
+	 * @see #getValue()
+	 * @generated
+	 */
+	void setValue(int value);
+
+} // Odometer_Tics
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Odometer_Tics_Left_Right.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Odometer_Tics_Left_Right.java
new file mode 100644
index 00000000000..c572adfd444
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Odometer_Tics_Left_Right.java
@@ -0,0 +1,99 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Odometer Tics Left Right</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Tics_Left_Right#getOdometer_tics_left
+ * <em>Odometer tics left</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Tics_Left_Right#getOdometer_tics_right
+ * <em>Odometer tics right</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getOdometer_Tics_Left_Right()
+ * @model
+ * @generated
+ */
+public interface Odometer_Tics_Left_Right extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Odometer tics left</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Odometer tics left</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Odometer tics left</em>' containment reference.
+	 * @see #setOdometer_tics_left(Odometer_Tics)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getOdometer_Tics_Left_Right_Odometer_tics_left()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Odometer_Tics getOdometer_tics_left();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Tics_Left_Right#getOdometer_tics_left
+	 * <em>Odometer tics left</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Odometer tics left</em>' containment reference.
+	 * @see #getOdometer_tics_left()
+	 * @generated
+	 */
+	void setOdometer_tics_left(Odometer_Tics value);
+
+	/**
+	 * Returns the value of the '<em><b>Odometer tics right</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Odometer tics right</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Odometer tics right</em>' containment reference.
+	 * @see #setOdometer_tics_right(Odometer_Tics)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getOdometer_Tics_Left_Right_Odometer_tics_right()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Odometer_Tics getOdometer_tics_right();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Tics_Left_Right#getOdometer_tics_right
+	 * <em>Odometer tics right</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Odometer tics right</em>' containment reference.
+	 * @see #getOdometer_tics_right()
+	 * @generated
+	 */
+	void setOdometer_tics_right(Odometer_Tics value);
+
+} // Odometer_Tics_Left_Right
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Op_Set_Point.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Op_Set_Point.java
new file mode 100644
index 00000000000..08ec2760d25
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Op_Set_Point.java
@@ -0,0 +1,97 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Op Set Point</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Op_Set_Point#getVelocity
+ * <em>Velocity</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Op_Set_Point#getOrientation
+ * <em>Orientation</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getOp_Set_Point()
+ * @model
+ * @generated
+ */
+public interface Op_Set_Point extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Velocity</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Velocity</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Velocity</em>' containment reference.
+	 * @see #setVelocity(Velocity_Linear)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getOp_Set_Point_Velocity()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Velocity_Linear getVelocity();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Op_Set_Point#getVelocity
+	 * <em>Velocity</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Velocity</em>' containment reference.
+	 * @see #getVelocity()
+	 * @generated
+	 */
+	void setVelocity(Velocity_Linear value);
+
+	/**
+	 * Returns the value of the '<em><b>Orientation</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Orientation</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Orientation</em>' containment reference.
+	 * @see #setOrientation(Angular)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getOp_Set_Point_Orientation()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Angular getOrientation();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Op_Set_Point#getOrientation
+	 * <em>Orientation</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Orientation</em>' containment reference.
+	 * @see #getOrientation()
+	 * @generated
+	 */
+	void setOrientation(Angular value);
+
+} // Op_Set_Point
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Proxi_Left_Right.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Proxi_Left_Right.java
new file mode 100644
index 00000000000..cedb7ceddf7
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Proxi_Left_Right.java
@@ -0,0 +1,99 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Proxi Left Right</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Proxi_Left_Right#getProxi_left
+ * <em>Proxi left</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Proxi_Left_Right#getProxi_right
+ * <em>Proxi right</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getProxi_Left_Right()
+ * @model
+ * @generated
+ */
+public interface Proxi_Left_Right extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Proxi left</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Proxi left</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Proxi left</em>' containment reference.
+	 * @see #setProxi_left(Distance)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getProxi_Left_Right_Proxi_left()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Distance getProxi_left();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Proxi_Left_Right#getProxi_left
+	 * <em>Proxi left</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Proxi left</em>' containment reference.
+	 * @see #getProxi_left()
+	 * @generated
+	 */
+	void setProxi_left(Distance value);
+
+	/**
+	 * Returns the value of the '<em><b>Proxi right</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Proxi right</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Proxi right</em>' containment reference.
+	 * @see #setProxi_right(Distance)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getProxi_Left_Right_Proxi_right()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Distance getProxi_right();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Proxi_Left_Right#getProxi_right
+	 * <em>Proxi right</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Proxi right</em>' containment reference.
+	 * @see #getProxi_right()
+	 * @generated
+	 */
+	void setProxi_right(Distance value);
+
+} // Proxi_Left_Right
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Speed_Tics.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Speed_Tics.java
new file mode 100644
index 00000000000..ed18990cb67
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Speed_Tics.java
@@ -0,0 +1,66 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Speed Tics</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Speed_Tics#getValue <em>
+ * Value</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getSpeed_Tics()
+ * @model
+ * @generated
+ */
+public interface Speed_Tics extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Value</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Value</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Value</em>' attribute.
+	 * @see #setValue(int)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getSpeed_Tics_Value()
+	 * @model unique="false" dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int32"
+	 *        required="true" ordered="false"
+	 * @generated
+	 */
+	int getValue();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Speed_Tics#getValue
+	 * <em>Value</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Value</em>' attribute.
+	 * @see #getValue()
+	 * @generated
+	 */
+	void setValue(int value);
+
+} // Speed_Tics
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Speed_Tics_Left_Right.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Speed_Tics_Left_Right.java
new file mode 100644
index 00000000000..31aeeca7a9f
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Speed_Tics_Left_Right.java
@@ -0,0 +1,99 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Speed Tics Left Right</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Speed_Tics_Left_Right#getSpeed_tics_left
+ * <em>Speed tics left</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Speed_Tics_Left_Right#getSpeed_tics_right
+ * <em>Speed tics right</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getSpeed_Tics_Left_Right()
+ * @model
+ * @generated
+ */
+public interface Speed_Tics_Left_Right extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Speed tics left</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Speed tics left</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Speed tics left</em>' containment reference.
+	 * @see #setSpeed_tics_left(Speed_Tics)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getSpeed_Tics_Left_Right_Speed_tics_left()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Speed_Tics getSpeed_tics_left();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Speed_Tics_Left_Right#getSpeed_tics_left
+	 * <em>Speed tics left</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Speed tics left</em>' containment reference.
+	 * @see #getSpeed_tics_left()
+	 * @generated
+	 */
+	void setSpeed_tics_left(Speed_Tics value);
+
+	/**
+	 * Returns the value of the '<em><b>Speed tics right</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Speed tics right</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Speed tics right</em>' containment reference.
+	 * @see #setSpeed_tics_right(Speed_Tics)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getSpeed_Tics_Left_Right_Speed_tics_right()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Speed_Tics getSpeed_tics_right();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Speed_Tics_Left_Right#getSpeed_tics_right
+	 * <em>Speed tics right</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Speed tics right</em>' containment reference.
+	 * @see #getSpeed_tics_right()
+	 * @generated
+	 */
+	void setSpeed_tics_right(Speed_Tics value);
+
+} // Speed_Tics_Left_Right
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Velocity.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Velocity.java
new file mode 100644
index 00000000000..5f3142838e6
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Velocity.java
@@ -0,0 +1,98 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Velocity</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity#getVelocity_linear
+ * <em>Velocity linear</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity#getVelocity_angular
+ * <em>Velocity angular</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getVelocity()
+ * @model
+ * @generated
+ */
+public interface Velocity extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Velocity linear</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Velocity linear</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Velocity linear</em>' containment reference.
+	 * @see #setVelocity_linear(Velocity_Linear)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getVelocity_Velocity_linear()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Velocity_Linear getVelocity_linear();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity#getVelocity_linear
+	 * <em>Velocity linear</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Velocity linear</em>' containment reference.
+	 * @see #getVelocity_linear()
+	 * @generated
+	 */
+	void setVelocity_linear(Velocity_Linear value);
+
+	/**
+	 * Returns the value of the '<em><b>Velocity angular</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Velocity angular</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Velocity angular</em>' containment reference.
+	 * @see #setVelocity_angular(Velocity_Angular)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getVelocity_Velocity_angular()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Velocity_Angular getVelocity_angular();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity#getVelocity_angular
+	 * <em>Velocity angular</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Velocity angular</em>' containment reference.
+	 * @see #getVelocity_angular()
+	 * @generated
+	 */
+	void setVelocity_angular(Velocity_Angular value);
+
+} // Velocity
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Velocity_Angular.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Velocity_Angular.java
new file mode 100644
index 00000000000..8c5965f93a2
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Velocity_Angular.java
@@ -0,0 +1,66 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Velocity Angular</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Angular#getValue
+ * <em>Value</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getVelocity_Angular()
+ * @model
+ * @generated
+ */
+public interface Velocity_Angular extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Value</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Value</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Value</em>' attribute.
+	 * @see #setValue(double)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getVelocity_Angular_Value()
+	 * @model unique="false" dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64"
+	 *        required="true" ordered="false"
+	 * @generated
+	 */
+	double getValue();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Angular#getValue
+	 * <em>Value</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Value</em>' attribute.
+	 * @see #getValue()
+	 * @generated
+	 */
+	void setValue(double value);
+
+} // Velocity_Angular
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Velocity_Angular_Left_Right.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Velocity_Angular_Left_Right.java
new file mode 100644
index 00000000000..608603f6a30
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Velocity_Angular_Left_Right.java
@@ -0,0 +1,99 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Velocity Angular Left Right</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Angular_Left_Right#getVelocity_angular_left
+ * <em>Velocity angular left</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Angular_Left_Right#getVelocity_angular_right
+ * <em>Velocity angular right</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getVelocity_Angular_Left_Right()
+ * @model
+ * @generated
+ */
+public interface Velocity_Angular_Left_Right extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Velocity angular left</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Velocity angular left</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Velocity angular left</em>' containment reference.
+	 * @see #setVelocity_angular_left(Velocity_Angular)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getVelocity_Angular_Left_Right_Velocity_angular_left()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Velocity_Angular getVelocity_angular_left();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Angular_Left_Right#getVelocity_angular_left
+	 * <em>Velocity angular left</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Velocity angular left</em>' containment reference.
+	 * @see #getVelocity_angular_left()
+	 * @generated
+	 */
+	void setVelocity_angular_left(Velocity_Angular value);
+
+	/**
+	 * Returns the value of the '<em><b>Velocity angular right</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Velocity angular right</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Velocity angular right</em>' containment reference.
+	 * @see #setVelocity_angular_right(Velocity_Angular)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getVelocity_Angular_Left_Right_Velocity_angular_right()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Velocity_Angular getVelocity_angular_right();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Angular_Left_Right#getVelocity_angular_right
+	 * <em>Velocity angular right</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Velocity angular right</em>' containment reference.
+	 * @see #getVelocity_angular_right()
+	 * @generated
+	 */
+	void setVelocity_angular_right(Velocity_Angular value);
+
+} // Velocity_Angular_Left_Right
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Velocity_Linear.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Velocity_Linear.java
new file mode 100644
index 00000000000..4f20dad34f5
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/Velocity_Linear.java
@@ -0,0 +1,66 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Velocity Linear</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Linear#getValue
+ * <em>Value</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getVelocity_Linear()
+ * @model
+ * @generated
+ */
+public interface Velocity_Linear extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Value</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Value</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Value</em>' attribute.
+	 * @see #setValue(int)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#getVelocity_Linear_Value()
+	 * @model unique="false" dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int32"
+	 *        required="true" ordered="false"
+	 * @generated
+	 */
+	int getValue();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Linear#getValue
+	 * <em>Value</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Value</em>' attribute.
+	 * @see #getValue()
+	 * @generated
+	 */
+	void setValue(int value);
+
+} // Velocity_Linear
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/AngularImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/AngularImpl.java
new file mode 100644
index 00000000000..363ec4f2250
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/AngularImpl.java
@@ -0,0 +1,183 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Angular;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Angular</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.AngularImpl#getValue
+ * <em>Value</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class AngularImpl extends EObjectImpl implements Angular {
+
+	/**
+	 * The default value of the '{@link #getValue() <em>Value</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getValue()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final long VALUE_EDEFAULT = 0L;
+
+	/**
+	 * The cached value of the '{@link #getValue() <em>Value</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getValue()
+	 * @generated
+	 * @ordered
+	 */
+	protected long value = VALUE_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected AngularImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Oarp4_datatypesPackage.Literals.ANGULAR;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public long getValue() {
+		return value;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setValue(long newValue) {
+		long oldValue = value;
+		value = newValue;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.ANGULAR__VALUE, oldValue, value));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.ANGULAR__VALUE:
+			return getValue();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.ANGULAR__VALUE:
+			setValue((Long)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.ANGULAR__VALUE:
+			setValue(VALUE_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.ANGULAR__VALUE:
+			return value != VALUE_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (value: ");
+		result.append(value);
+		result.append(')');
+		return result.toString();
+	}
+
+} //AngularImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Art_Set_PointImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Art_Set_PointImpl.java
new file mode 100644
index 00000000000..cef5f9ce2f8
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Art_Set_PointImpl.java
@@ -0,0 +1,274 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Art_Set_Point;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Angular;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Art Set Point</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Art_Set_PointImpl#getOmega_left
+ * <em>Omega left</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Art_Set_PointImpl#getOmega_right
+ * <em>Omega right</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class Art_Set_PointImpl extends EObjectImpl implements Art_Set_Point {
+
+	/**
+	 * The cached value of the '{@link #getOmega_left() <em>Omega left</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getOmega_left()
+	 * @generated
+	 * @ordered
+	 */
+	protected Velocity_Angular omega_left;
+
+	/**
+	 * The cached value of the '{@link #getOmega_right() <em>Omega right</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getOmega_right()
+	 * @generated
+	 * @ordered
+	 */
+	protected Velocity_Angular omega_right;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected Art_Set_PointImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Oarp4_datatypesPackage.Literals.ART_SET_POINT;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Velocity_Angular getOmega_left() {
+		return omega_left;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetOmega_left(Velocity_Angular newOmega_left, NotificationChain msgs) {
+		Velocity_Angular oldOmega_left = omega_left;
+		omega_left = newOmega_left;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.ART_SET_POINT__OMEGA_LEFT, oldOmega_left, newOmega_left);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setOmega_left(Velocity_Angular newOmega_left) {
+		if(newOmega_left != omega_left) {
+			NotificationChain msgs = null;
+			if(omega_left != null)
+				msgs = ((InternalEObject)omega_left).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Oarp4_datatypesPackage.ART_SET_POINT__OMEGA_LEFT, null, msgs);
+			if(newOmega_left != null)
+				msgs = ((InternalEObject)newOmega_left).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Oarp4_datatypesPackage.ART_SET_POINT__OMEGA_LEFT, null, msgs);
+			msgs = basicSetOmega_left(newOmega_left, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.ART_SET_POINT__OMEGA_LEFT, newOmega_left, newOmega_left));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Velocity_Angular getOmega_right() {
+		return omega_right;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetOmega_right(Velocity_Angular newOmega_right, NotificationChain msgs) {
+		Velocity_Angular oldOmega_right = omega_right;
+		omega_right = newOmega_right;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.ART_SET_POINT__OMEGA_RIGHT, oldOmega_right, newOmega_right);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setOmega_right(Velocity_Angular newOmega_right) {
+		if(newOmega_right != omega_right) {
+			NotificationChain msgs = null;
+			if(omega_right != null)
+				msgs = ((InternalEObject)omega_right).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Oarp4_datatypesPackage.ART_SET_POINT__OMEGA_RIGHT, null, msgs);
+			if(newOmega_right != null)
+				msgs = ((InternalEObject)newOmega_right).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Oarp4_datatypesPackage.ART_SET_POINT__OMEGA_RIGHT, null, msgs);
+			msgs = basicSetOmega_right(newOmega_right, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.ART_SET_POINT__OMEGA_RIGHT, newOmega_right, newOmega_right));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.ART_SET_POINT__OMEGA_LEFT:
+			return basicSetOmega_left(null, msgs);
+		case Oarp4_datatypesPackage.ART_SET_POINT__OMEGA_RIGHT:
+			return basicSetOmega_right(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.ART_SET_POINT__OMEGA_LEFT:
+			return getOmega_left();
+		case Oarp4_datatypesPackage.ART_SET_POINT__OMEGA_RIGHT:
+			return getOmega_right();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.ART_SET_POINT__OMEGA_LEFT:
+			setOmega_left((Velocity_Angular)newValue);
+			return;
+		case Oarp4_datatypesPackage.ART_SET_POINT__OMEGA_RIGHT:
+			setOmega_right((Velocity_Angular)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.ART_SET_POINT__OMEGA_LEFT:
+			setOmega_left((Velocity_Angular)null);
+			return;
+		case Oarp4_datatypesPackage.ART_SET_POINT__OMEGA_RIGHT:
+			setOmega_right((Velocity_Angular)null);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.ART_SET_POINT__OMEGA_LEFT:
+			return omega_left != null;
+		case Oarp4_datatypesPackage.ART_SET_POINT__OMEGA_RIGHT:
+			return omega_right != null;
+		}
+		return super.eIsSet(featureID);
+	}
+
+} //Art_Set_PointImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/DistanceImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/DistanceImpl.java
new file mode 100644
index 00000000000..4d325d3d08b
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/DistanceImpl.java
@@ -0,0 +1,183 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Distance;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Distance</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.DistanceImpl#getValue
+ * <em>Value</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class DistanceImpl extends EObjectImpl implements Distance {
+
+	/**
+	 * The default value of the '{@link #getValue() <em>Value</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getValue()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final long VALUE_EDEFAULT = 0L;
+
+	/**
+	 * The cached value of the '{@link #getValue() <em>Value</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getValue()
+	 * @generated
+	 * @ordered
+	 */
+	protected long value = VALUE_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected DistanceImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Oarp4_datatypesPackage.Literals.DISTANCE;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public long getValue() {
+		return value;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setValue(long newValue) {
+		long oldValue = value;
+		value = newValue;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.DISTANCE__VALUE, oldValue, value));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.DISTANCE__VALUE:
+			return getValue();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.DISTANCE__VALUE:
+			setValue((Long)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.DISTANCE__VALUE:
+			setValue(VALUE_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.DISTANCE__VALUE:
+			return value != VALUE_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (value: ");
+		result.append(value);
+		result.append(')');
+		return result.toString();
+	}
+
+} //DistanceImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/MetricImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/MetricImpl.java
new file mode 100644
index 00000000000..e60718d0f43
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/MetricImpl.java
@@ -0,0 +1,183 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Metric;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Metric</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.MetricImpl#getValue
+ * <em>Value</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class MetricImpl extends EObjectImpl implements Metric {
+
+	/**
+	 * The default value of the '{@link #getValue() <em>Value</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getValue()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final double VALUE_EDEFAULT = 0.0;
+
+	/**
+	 * The cached value of the '{@link #getValue() <em>Value</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getValue()
+	 * @generated
+	 * @ordered
+	 */
+	protected double value = VALUE_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected MetricImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Oarp4_datatypesPackage.Literals.METRIC;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public double getValue() {
+		return value;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setValue(double newValue) {
+		double oldValue = value;
+		value = newValue;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.METRIC__VALUE, oldValue, value));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.METRIC__VALUE:
+			return getValue();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.METRIC__VALUE:
+			setValue((Double)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.METRIC__VALUE:
+			setValue(VALUE_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.METRIC__VALUE:
+			return value != VALUE_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (value: ");
+		result.append(value);
+		result.append(')');
+		return result.toString();
+	}
+
+} //MetricImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Milli_AmpImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Milli_AmpImpl.java
new file mode 100644
index 00000000000..9ad5bae1ad3
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Milli_AmpImpl.java
@@ -0,0 +1,183 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Milli_Amp;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Milli Amp</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Milli_AmpImpl#getValue
+ * <em>Value</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class Milli_AmpImpl extends EObjectImpl implements Milli_Amp {
+
+	/**
+	 * The default value of the '{@link #getValue() <em>Value</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getValue()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final long VALUE_EDEFAULT = 0L;
+
+	/**
+	 * The cached value of the '{@link #getValue() <em>Value</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getValue()
+	 * @generated
+	 * @ordered
+	 */
+	protected long value = VALUE_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected Milli_AmpImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Oarp4_datatypesPackage.Literals.MILLI_AMP;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public long getValue() {
+		return value;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setValue(long newValue) {
+		long oldValue = value;
+		value = newValue;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.MILLI_AMP__VALUE, oldValue, value));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.MILLI_AMP__VALUE:
+			return getValue();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.MILLI_AMP__VALUE:
+			setValue((Long)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.MILLI_AMP__VALUE:
+			setValue(VALUE_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.MILLI_AMP__VALUE:
+			return value != VALUE_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (value: ");
+		result.append(value);
+		result.append(')');
+		return result.toString();
+	}
+
+} //Milli_AmpImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Oarp4_datatypesFactoryImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Oarp4_datatypesFactoryImpl.java
new file mode 100644
index 00000000000..9c8f0ecacb2
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Oarp4_datatypesFactoryImpl.java
@@ -0,0 +1,321 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl;
+
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.emf.ecore.EPackage;
+import org.eclipse.emf.ecore.impl.EFactoryImpl;
+import org.eclipse.emf.ecore.plugin.EcorePlugin;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Angular;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Art_Set_Point;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Distance;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Metric;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Milli_Amp;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesFactory;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Linear_Left_Right;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Tics;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Tics_Left_Right;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Op_Set_Point;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Proxi_Left_Right;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Speed_Tics;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Speed_Tics_Left_Right;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Angular;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Angular_Left_Right;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Linear;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model <b>Factory</b>.
+ * <!-- end-user-doc -->
+ * 
+ * @generated
+ */
+public class Oarp4_datatypesFactoryImpl extends EFactoryImpl implements Oarp4_datatypesFactory {
+
+	/**
+	 * Creates the default factory implementation.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static Oarp4_datatypesFactory init() {
+		try {
+			Oarp4_datatypesFactory theOarp4_datatypesFactory = (Oarp4_datatypesFactory)EPackage.Registry.INSTANCE.getEFactory("http:///RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes.ecore");
+			if(theOarp4_datatypesFactory != null) {
+				return theOarp4_datatypesFactory;
+			}
+		} catch (Exception exception) {
+			EcorePlugin.INSTANCE.log(exception);
+		}
+		return new Oarp4_datatypesFactoryImpl();
+	}
+
+	/**
+	 * Creates an instance of the factory.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Oarp4_datatypesFactoryImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public EObject create(EClass eClass) {
+		switch(eClass.getClassifierID()) {
+		case Oarp4_datatypesPackage.VELOCITY_LINEAR:
+			return createVelocity_Linear();
+		case Oarp4_datatypesPackage.ART_SET_POINT:
+			return createArt_Set_Point();
+		case Oarp4_datatypesPackage.VELOCITY_ANGULAR:
+			return createVelocity_Angular();
+		case Oarp4_datatypesPackage.DISTANCE:
+			return createDistance();
+		case Oarp4_datatypesPackage.METRIC:
+			return createMetric();
+		case Oarp4_datatypesPackage.ANGULAR:
+			return createAngular();
+		case Oarp4_datatypesPackage.OP_SET_POINT:
+			return createOp_Set_Point();
+		case Oarp4_datatypesPackage.SPEED_TICS_LEFT_RIGHT:
+			return createSpeed_Tics_Left_Right();
+		case Oarp4_datatypesPackage.SPEED_TICS:
+			return createSpeed_Tics();
+		case Oarp4_datatypesPackage.ODOMETER_TICS:
+			return createOdometer_Tics();
+		case Oarp4_datatypesPackage.ODOMETER_TICS_LEFT_RIGHT:
+			return createOdometer_Tics_Left_Right();
+		case Oarp4_datatypesPackage.PROXI_LEFT_RIGHT:
+			return createProxi_Left_Right();
+		case Oarp4_datatypesPackage.MILLI_AMP:
+			return createMilli_Amp();
+		case Oarp4_datatypesPackage.ODOMETER_LINEAR_LEFT_RIGHT:
+			return createOdometer_Linear_Left_Right();
+		case Oarp4_datatypesPackage.VELOCITY_ANGULAR_LEFT_RIGHT:
+			return createVelocity_Angular_Left_Right();
+		case Oarp4_datatypesPackage.VELOCITY:
+			return createVelocity();
+		default:
+			throw new IllegalArgumentException("The class '" + eClass.getName() + "' is not a valid classifier");
+		}
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Velocity_Linear createVelocity_Linear() {
+		Velocity_LinearImpl velocity_Linear = new Velocity_LinearImpl();
+		return velocity_Linear;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Art_Set_Point createArt_Set_Point() {
+		Art_Set_PointImpl art_Set_Point = new Art_Set_PointImpl();
+		return art_Set_Point;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Velocity_Angular createVelocity_Angular() {
+		Velocity_AngularImpl velocity_Angular = new Velocity_AngularImpl();
+		return velocity_Angular;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Distance createDistance() {
+		DistanceImpl distance = new DistanceImpl();
+		return distance;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Metric createMetric() {
+		MetricImpl metric = new MetricImpl();
+		return metric;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Angular createAngular() {
+		AngularImpl angular = new AngularImpl();
+		return angular;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Op_Set_Point createOp_Set_Point() {
+		Op_Set_PointImpl op_Set_Point = new Op_Set_PointImpl();
+		return op_Set_Point;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Speed_Tics_Left_Right createSpeed_Tics_Left_Right() {
+		Speed_Tics_Left_RightImpl speed_Tics_Left_Right = new Speed_Tics_Left_RightImpl();
+		return speed_Tics_Left_Right;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Speed_Tics createSpeed_Tics() {
+		Speed_TicsImpl speed_Tics = new Speed_TicsImpl();
+		return speed_Tics;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Odometer_Tics createOdometer_Tics() {
+		Odometer_TicsImpl odometer_Tics = new Odometer_TicsImpl();
+		return odometer_Tics;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Odometer_Tics_Left_Right createOdometer_Tics_Left_Right() {
+		Odometer_Tics_Left_RightImpl odometer_Tics_Left_Right = new Odometer_Tics_Left_RightImpl();
+		return odometer_Tics_Left_Right;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Proxi_Left_Right createProxi_Left_Right() {
+		Proxi_Left_RightImpl proxi_Left_Right = new Proxi_Left_RightImpl();
+		return proxi_Left_Right;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Milli_Amp createMilli_Amp() {
+		Milli_AmpImpl milli_Amp = new Milli_AmpImpl();
+		return milli_Amp;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Odometer_Linear_Left_Right createOdometer_Linear_Left_Right() {
+		Odometer_Linear_Left_RightImpl odometer_Linear_Left_Right = new Odometer_Linear_Left_RightImpl();
+		return odometer_Linear_Left_Right;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Velocity_Angular_Left_Right createVelocity_Angular_Left_Right() {
+		Velocity_Angular_Left_RightImpl velocity_Angular_Left_Right = new Velocity_Angular_Left_RightImpl();
+		return velocity_Angular_Left_Right;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Velocity createVelocity() {
+		VelocityImpl velocity = new VelocityImpl();
+		return velocity;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Oarp4_datatypesPackage getOarp4_datatypesPackage() {
+		return (Oarp4_datatypesPackage)getEPackage();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @deprecated
+	 * @generated
+	 */
+	@Deprecated
+	public static Oarp4_datatypesPackage getPackage() {
+		return Oarp4_datatypesPackage.eINSTANCE;
+	}
+
+} //Oarp4_datatypesFactoryImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Oarp4_datatypesPackageImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Oarp4_datatypesPackageImpl.java
new file mode 100644
index 00000000000..50ded9e94af
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Oarp4_datatypesPackageImpl.java
@@ -0,0 +1,867 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl;
+
+import org.eclipse.emf.ecore.EAttribute;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.EPackage;
+import org.eclipse.emf.ecore.EReference;
+import org.eclipse.emf.ecore.impl.EPackageImpl;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.Actionlib_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.Diagnostic_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.Nav_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.Oarp1_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl.Oarp1_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Angular;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Art_Set_Point;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Distance;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Metric;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Milli_Amp;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesFactory;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Linear_Left_Right;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Tics;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Tics_Left_Right;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Op_Set_Point;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Proxi_Left_Right;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Speed_Tics;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Speed_Tics_Left_Right;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Angular;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Angular_Left_Right;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Linear;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl;
+import org.eclipse.uml2.uml.UMLPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model <b>Package</b>.
+ * <!-- end-user-doc -->
+ * 
+ * @generated
+ */
+public class Oarp4_datatypesPackageImpl extends EPackageImpl implements Oarp4_datatypesPackage {
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass velocity_LinearEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass art_Set_PointEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass velocity_AngularEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass distanceEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass metricEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass angularEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass op_Set_PointEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass speed_Tics_Left_RightEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass speed_TicsEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass odometer_TicsEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass odometer_Tics_Left_RightEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass proxi_Left_RightEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass milli_AmpEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass odometer_Linear_Left_RightEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass velocity_Angular_Left_RightEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass velocityEClass = null;
+
+	/**
+	 * Creates an instance of the model <b>Package</b>, registered with {@link org.eclipse.emf.ecore.EPackage.Registry EPackage.Registry} by the
+	 * package
+	 * package URI value.
+	 * <p>
+	 * Note: the correct way to create the package is via the static factory method {@link #init init()}, which also performs initialization of the
+	 * package, or returns the registered package, if one already exists. <!-- begin-user-doc --> <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.emf.ecore.EPackage.Registry
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage#eNS_URI
+	 * @see #init()
+	 * @generated
+	 */
+	private Oarp4_datatypesPackageImpl() {
+		super(eNS_URI, Oarp4_datatypesFactory.eINSTANCE);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private static boolean isInited = false;
+
+	/**
+	 * Creates, registers, and initializes the <b>Package</b> for this model, and for any others upon which it depends.
+	 * 
+	 * <p>
+	 * This method is used to initialize {@link Oarp4_datatypesPackage#eINSTANCE} when that field is accessed. Clients should not invoke it directly.
+	 * Instead, they should simply access that field to obtain the package. <!-- begin-user-doc --> <!-- end-user-doc -->
+	 * 
+	 * @see #eNS_URI
+	 * @see #createPackageContents()
+	 * @see #initializePackageContents()
+	 * @generated
+	 */
+	public static Oarp4_datatypesPackage init() {
+		if(isInited)
+			return (Oarp4_datatypesPackage)EPackage.Registry.INSTANCE.getEPackage(Oarp4_datatypesPackage.eNS_URI);
+
+		// Obtain or create and register package
+		Oarp4_datatypesPackageImpl theOarp4_datatypesPackage = (Oarp4_datatypesPackageImpl)(EPackage.Registry.INSTANCE.get(eNS_URI) instanceof Oarp4_datatypesPackageImpl ? EPackage.Registry.INSTANCE.get(eNS_URI) : new Oarp4_datatypesPackageImpl());
+
+		isInited = true;
+
+		// Initialize simple dependencies
+		UMLPackage.eINSTANCE.eClass();
+
+		// Obtain or create and register interdependencies
+		RobotMLPackageImpl theRobotMLPackage = (RobotMLPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(RobotMLPackage.eNS_URI) instanceof RobotMLPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(RobotMLPackage.eNS_URI) : RobotMLPackage.eINSTANCE);
+		Diagnostic_datatypesPackageImpl theDiagnostic_datatypesPackage = (Diagnostic_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Diagnostic_datatypesPackage.eNS_URI) instanceof Diagnostic_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Diagnostic_datatypesPackage.eNS_URI) : Diagnostic_datatypesPackage.eINSTANCE);
+		Geometry_datatypesPackageImpl theGeometry_datatypesPackage = (Geometry_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Geometry_datatypesPackage.eNS_URI) instanceof Geometry_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Geometry_datatypesPackage.eNS_URI) : Geometry_datatypesPackage.eINSTANCE);
+		Nav_datatypesPackageImpl theNav_datatypesPackage = (Nav_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Nav_datatypesPackage.eNS_URI) instanceof Nav_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Nav_datatypesPackage.eNS_URI) : Nav_datatypesPackage.eINSTANCE);
+		Sensor_datatypesPackageImpl theSensor_datatypesPackage = (Sensor_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Sensor_datatypesPackage.eNS_URI) instanceof Sensor_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Sensor_datatypesPackage.eNS_URI) : Sensor_datatypesPackage.eINSTANCE);
+		Actionlib_datatypesPackageImpl theActionlib_datatypesPackage = (Actionlib_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Actionlib_datatypesPackage.eNS_URI) instanceof Actionlib_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Actionlib_datatypesPackage.eNS_URI) : Actionlib_datatypesPackage.eINSTANCE);
+		Oarp1_datatypesPackageImpl theOarp1_datatypesPackage = (Oarp1_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Oarp1_datatypesPackage.eNS_URI) instanceof Oarp1_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Oarp1_datatypesPackage.eNS_URI) : Oarp1_datatypesPackage.eINSTANCE);
+		Std_datatypesPackageImpl theStd_datatypesPackage = (Std_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Std_datatypesPackage.eNS_URI) instanceof Std_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Std_datatypesPackage.eNS_URI) : Std_datatypesPackage.eINSTANCE);
+
+		// Create package meta-data objects
+		theOarp4_datatypesPackage.createPackageContents();
+		theRobotMLPackage.createPackageContents();
+		theDiagnostic_datatypesPackage.createPackageContents();
+		theGeometry_datatypesPackage.createPackageContents();
+		theNav_datatypesPackage.createPackageContents();
+		theSensor_datatypesPackage.createPackageContents();
+		theActionlib_datatypesPackage.createPackageContents();
+		theOarp1_datatypesPackage.createPackageContents();
+		theStd_datatypesPackage.createPackageContents();
+
+		// Initialize created meta-data
+		theOarp4_datatypesPackage.initializePackageContents();
+		theRobotMLPackage.initializePackageContents();
+		theDiagnostic_datatypesPackage.initializePackageContents();
+		theGeometry_datatypesPackage.initializePackageContents();
+		theNav_datatypesPackage.initializePackageContents();
+		theSensor_datatypesPackage.initializePackageContents();
+		theActionlib_datatypesPackage.initializePackageContents();
+		theOarp1_datatypesPackage.initializePackageContents();
+		theStd_datatypesPackage.initializePackageContents();
+
+		// Mark meta-data to indicate it can't be changed
+		theOarp4_datatypesPackage.freeze();
+
+
+		// Update the registry and return the package
+		EPackage.Registry.INSTANCE.put(Oarp4_datatypesPackage.eNS_URI, theOarp4_datatypesPackage);
+		return theOarp4_datatypesPackage;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getVelocity_Linear() {
+		return velocity_LinearEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getVelocity_Linear_Value() {
+		return (EAttribute)velocity_LinearEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getArt_Set_Point() {
+		return art_Set_PointEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getArt_Set_Point_Omega_left() {
+		return (EReference)art_Set_PointEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getArt_Set_Point_Omega_right() {
+		return (EReference)art_Set_PointEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getVelocity_Angular() {
+		return velocity_AngularEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getVelocity_Angular_Value() {
+		return (EAttribute)velocity_AngularEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getDistance() {
+		return distanceEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getDistance_Value() {
+		return (EAttribute)distanceEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getMetric() {
+		return metricEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getMetric_Value() {
+		return (EAttribute)metricEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getAngular() {
+		return angularEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getAngular_Value() {
+		return (EAttribute)angularEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getOp_Set_Point() {
+		return op_Set_PointEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getOp_Set_Point_Velocity() {
+		return (EReference)op_Set_PointEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getOp_Set_Point_Orientation() {
+		return (EReference)op_Set_PointEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getSpeed_Tics_Left_Right() {
+		return speed_Tics_Left_RightEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getSpeed_Tics_Left_Right_Speed_tics_left() {
+		return (EReference)speed_Tics_Left_RightEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getSpeed_Tics_Left_Right_Speed_tics_right() {
+		return (EReference)speed_Tics_Left_RightEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getSpeed_Tics() {
+		return speed_TicsEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getSpeed_Tics_Value() {
+		return (EAttribute)speed_TicsEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getOdometer_Tics() {
+		return odometer_TicsEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getOdometer_Tics_Value() {
+		return (EAttribute)odometer_TicsEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getOdometer_Tics_Left_Right() {
+		return odometer_Tics_Left_RightEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getOdometer_Tics_Left_Right_Odometer_tics_left() {
+		return (EReference)odometer_Tics_Left_RightEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getOdometer_Tics_Left_Right_Odometer_tics_right() {
+		return (EReference)odometer_Tics_Left_RightEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getProxi_Left_Right() {
+		return proxi_Left_RightEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getProxi_Left_Right_Proxi_left() {
+		return (EReference)proxi_Left_RightEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getProxi_Left_Right_Proxi_right() {
+		return (EReference)proxi_Left_RightEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getMilli_Amp() {
+		return milli_AmpEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getMilli_Amp_Value() {
+		return (EAttribute)milli_AmpEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getOdometer_Linear_Left_Right() {
+		return odometer_Linear_Left_RightEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getOdometer_Linear_Left_Right_Odometer_linear_left() {
+		return (EReference)odometer_Linear_Left_RightEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getOdometer_Linear_Left_Right_Odometer_linear_right() {
+		return (EReference)odometer_Linear_Left_RightEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getVelocity_Angular_Left_Right() {
+		return velocity_Angular_Left_RightEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getVelocity_Angular_Left_Right_Velocity_angular_left() {
+		return (EReference)velocity_Angular_Left_RightEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getVelocity_Angular_Left_Right_Velocity_angular_right() {
+		return (EReference)velocity_Angular_Left_RightEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getVelocity() {
+		return velocityEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getVelocity_Velocity_linear() {
+		return (EReference)velocityEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getVelocity_Velocity_angular() {
+		return (EReference)velocityEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Oarp4_datatypesFactory getOarp4_datatypesFactory() {
+		return (Oarp4_datatypesFactory)getEFactoryInstance();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private boolean isCreated = false;
+
+	/**
+	 * Creates the meta-model objects for the package. This method is
+	 * guarded to have no affect on any invocation but its first.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void createPackageContents() {
+		if(isCreated)
+			return;
+		isCreated = true;
+
+		// Create classes and their features
+		velocity_LinearEClass = createEClass(VELOCITY_LINEAR);
+		createEAttribute(velocity_LinearEClass, VELOCITY_LINEAR__VALUE);
+
+		art_Set_PointEClass = createEClass(ART_SET_POINT);
+		createEReference(art_Set_PointEClass, ART_SET_POINT__OMEGA_LEFT);
+		createEReference(art_Set_PointEClass, ART_SET_POINT__OMEGA_RIGHT);
+
+		velocity_AngularEClass = createEClass(VELOCITY_ANGULAR);
+		createEAttribute(velocity_AngularEClass, VELOCITY_ANGULAR__VALUE);
+
+		distanceEClass = createEClass(DISTANCE);
+		createEAttribute(distanceEClass, DISTANCE__VALUE);
+
+		metricEClass = createEClass(METRIC);
+		createEAttribute(metricEClass, METRIC__VALUE);
+
+		angularEClass = createEClass(ANGULAR);
+		createEAttribute(angularEClass, ANGULAR__VALUE);
+
+		op_Set_PointEClass = createEClass(OP_SET_POINT);
+		createEReference(op_Set_PointEClass, OP_SET_POINT__VELOCITY);
+		createEReference(op_Set_PointEClass, OP_SET_POINT__ORIENTATION);
+
+		speed_Tics_Left_RightEClass = createEClass(SPEED_TICS_LEFT_RIGHT);
+		createEReference(speed_Tics_Left_RightEClass, SPEED_TICS_LEFT_RIGHT__SPEED_TICS_LEFT);
+		createEReference(speed_Tics_Left_RightEClass, SPEED_TICS_LEFT_RIGHT__SPEED_TICS_RIGHT);
+
+		speed_TicsEClass = createEClass(SPEED_TICS);
+		createEAttribute(speed_TicsEClass, SPEED_TICS__VALUE);
+
+		odometer_TicsEClass = createEClass(ODOMETER_TICS);
+		createEAttribute(odometer_TicsEClass, ODOMETER_TICS__VALUE);
+
+		odometer_Tics_Left_RightEClass = createEClass(ODOMETER_TICS_LEFT_RIGHT);
+		createEReference(odometer_Tics_Left_RightEClass, ODOMETER_TICS_LEFT_RIGHT__ODOMETER_TICS_LEFT);
+		createEReference(odometer_Tics_Left_RightEClass, ODOMETER_TICS_LEFT_RIGHT__ODOMETER_TICS_RIGHT);
+
+		proxi_Left_RightEClass = createEClass(PROXI_LEFT_RIGHT);
+		createEReference(proxi_Left_RightEClass, PROXI_LEFT_RIGHT__PROXI_LEFT);
+		createEReference(proxi_Left_RightEClass, PROXI_LEFT_RIGHT__PROXI_RIGHT);
+
+		milli_AmpEClass = createEClass(MILLI_AMP);
+		createEAttribute(milli_AmpEClass, MILLI_AMP__VALUE);
+
+		odometer_Linear_Left_RightEClass = createEClass(ODOMETER_LINEAR_LEFT_RIGHT);
+		createEReference(odometer_Linear_Left_RightEClass, ODOMETER_LINEAR_LEFT_RIGHT__ODOMETER_LINEAR_LEFT);
+		createEReference(odometer_Linear_Left_RightEClass, ODOMETER_LINEAR_LEFT_RIGHT__ODOMETER_LINEAR_RIGHT);
+
+		velocity_Angular_Left_RightEClass = createEClass(VELOCITY_ANGULAR_LEFT_RIGHT);
+		createEReference(velocity_Angular_Left_RightEClass, VELOCITY_ANGULAR_LEFT_RIGHT__VELOCITY_ANGULAR_LEFT);
+		createEReference(velocity_Angular_Left_RightEClass, VELOCITY_ANGULAR_LEFT_RIGHT__VELOCITY_ANGULAR_RIGHT);
+
+		velocityEClass = createEClass(VELOCITY);
+		createEReference(velocityEClass, VELOCITY__VELOCITY_LINEAR);
+		createEReference(velocityEClass, VELOCITY__VELOCITY_ANGULAR);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private boolean isInitialized = false;
+
+	/**
+	 * Complete the initialization of the package and its meta-model. This
+	 * method is guarded to have no affect on any invocation but its first.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void initializePackageContents() {
+		if(isInitialized)
+			return;
+		isInitialized = true;
+
+		// Initialize package
+		setName(eNAME);
+		setNsPrefix(eNS_PREFIX);
+		setNsURI(eNS_URI);
+
+		// Obtain other dependent packages
+		Std_datatypesPackage theStd_datatypesPackage = (Std_datatypesPackage)EPackage.Registry.INSTANCE.getEPackage(Std_datatypesPackage.eNS_URI);
+
+		// Create type parameters
+
+		// Set bounds for type parameters
+
+		// Add supertypes to classes
+
+		// Initialize classes and features; add operations and parameters
+		initEClass(velocity_LinearEClass, Velocity_Linear.class, "Velocity_Linear", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getVelocity_Linear_Value(), theStd_datatypesPackage.getInt32(), "value", null, 1, 1, Velocity_Linear.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, !IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(art_Set_PointEClass, Art_Set_Point.class, "Art_Set_Point", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getArt_Set_Point_Omega_left(), this.getVelocity_Angular(), null, "omega_left", null, 1, 1, Art_Set_Point.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, !IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getArt_Set_Point_Omega_right(), this.getVelocity_Angular(), null, "omega_right", null, 1, 1, Art_Set_Point.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(velocity_AngularEClass, Velocity_Angular.class, "Velocity_Angular", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getVelocity_Angular_Value(), theStd_datatypesPackage.getFloat64(), "value", null, 1, 1, Velocity_Angular.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, !IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(distanceEClass, Distance.class, "Distance", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getDistance_Value(), theStd_datatypesPackage.getUInt32(), "value", null, 1, 1, Distance.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, !IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(metricEClass, Metric.class, "Metric", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getMetric_Value(), theStd_datatypesPackage.getFloat64(), "value", null, 1, 1, Metric.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, !IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(angularEClass, Angular.class, "Angular", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getAngular_Value(), theStd_datatypesPackage.getUInt32(), "value", null, 1, 1, Angular.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, !IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(op_Set_PointEClass, Op_Set_Point.class, "Op_Set_Point", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getOp_Set_Point_Velocity(), this.getVelocity_Linear(), null, "velocity", null, 1, 1, Op_Set_Point.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, !IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getOp_Set_Point_Orientation(), this.getAngular(), null, "orientation", null, 1, 1, Op_Set_Point.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, !IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(speed_Tics_Left_RightEClass, Speed_Tics_Left_Right.class, "Speed_Tics_Left_Right", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getSpeed_Tics_Left_Right_Speed_tics_left(), this.getSpeed_Tics(), null, "speed_tics_left", null, 1, 1, Speed_Tics_Left_Right.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, !IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getSpeed_Tics_Left_Right_Speed_tics_right(), this.getSpeed_Tics(), null, "speed_tics_right", null, 1, 1, Speed_Tics_Left_Right.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, !IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(speed_TicsEClass, Speed_Tics.class, "Speed_Tics", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getSpeed_Tics_Value(), theStd_datatypesPackage.getInt32(), "value", null, 1, 1, Speed_Tics.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, !IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(odometer_TicsEClass, Odometer_Tics.class, "Odometer_Tics", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getOdometer_Tics_Value(), theStd_datatypesPackage.getInt32(), "value", null, 1, 1, Odometer_Tics.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, !IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(odometer_Tics_Left_RightEClass, Odometer_Tics_Left_Right.class, "Odometer_Tics_Left_Right", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getOdometer_Tics_Left_Right_Odometer_tics_left(), this.getOdometer_Tics(), null, "odometer_tics_left", null, 1, 1, Odometer_Tics_Left_Right.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, !IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getOdometer_Tics_Left_Right_Odometer_tics_right(), this.getOdometer_Tics(), null, "odometer_tics_right", null, 1, 1, Odometer_Tics_Left_Right.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, !IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(proxi_Left_RightEClass, Proxi_Left_Right.class, "Proxi_Left_Right", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getProxi_Left_Right_Proxi_left(), this.getDistance(), null, "proxi_left", null, 1, 1, Proxi_Left_Right.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, !IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getProxi_Left_Right_Proxi_right(), this.getDistance(), null, "proxi_right", null, 1, 1, Proxi_Left_Right.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, !IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(milli_AmpEClass, Milli_Amp.class, "Milli_Amp", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getMilli_Amp_Value(), theStd_datatypesPackage.getUInt32(), "value", null, 1, 1, Milli_Amp.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, !IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(odometer_Linear_Left_RightEClass, Odometer_Linear_Left_Right.class, "Odometer_Linear_Left_Right", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getOdometer_Linear_Left_Right_Odometer_linear_left(), this.getMetric(), null, "odometer_linear_left", null, 1, 1, Odometer_Linear_Left_Right.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, !IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getOdometer_Linear_Left_Right_Odometer_linear_right(), this.getMetric(), null, "odometer_linear_right", null, 1, 1, Odometer_Linear_Left_Right.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, !IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(velocity_Angular_Left_RightEClass, Velocity_Angular_Left_Right.class, "Velocity_Angular_Left_Right", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getVelocity_Angular_Left_Right_Velocity_angular_left(), this.getVelocity_Angular(), null, "velocity_angular_left", null, 1, 1, Velocity_Angular_Left_Right.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, !IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getVelocity_Angular_Left_Right_Velocity_angular_right(), this.getVelocity_Angular(), null, "velocity_angular_right", null, 1, 1, Velocity_Angular_Left_Right.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, !IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(velocityEClass, Velocity.class, "Velocity", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getVelocity_Velocity_linear(), this.getVelocity_Linear(), null, "velocity_linear", null, 1, 1, Velocity.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, !IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getVelocity_Velocity_angular(), this.getVelocity_Angular(), null, "velocity_angular", null, 1, 1, Velocity.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, !IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		// Create resource
+		createResource(eNS_URI);
+	}
+
+} //Oarp4_datatypesPackageImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Odometer_Linear_Left_RightImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Odometer_Linear_Left_RightImpl.java
new file mode 100644
index 00000000000..326cb1c6899
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Odometer_Linear_Left_RightImpl.java
@@ -0,0 +1,274 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Metric;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Linear_Left_Right;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Odometer Linear Left Right</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Odometer_Linear_Left_RightImpl#getOdometer_linear_left
+ * <em>Odometer linear left</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Odometer_Linear_Left_RightImpl#getOdometer_linear_right
+ * <em>Odometer linear right</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class Odometer_Linear_Left_RightImpl extends EObjectImpl implements Odometer_Linear_Left_Right {
+
+	/**
+	 * The cached value of the '{@link #getOdometer_linear_left() <em>Odometer linear left</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getOdometer_linear_left()
+	 * @generated
+	 * @ordered
+	 */
+	protected Metric odometer_linear_left;
+
+	/**
+	 * The cached value of the '{@link #getOdometer_linear_right() <em>Odometer linear right</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getOdometer_linear_right()
+	 * @generated
+	 * @ordered
+	 */
+	protected Metric odometer_linear_right;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected Odometer_Linear_Left_RightImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Oarp4_datatypesPackage.Literals.ODOMETER_LINEAR_LEFT_RIGHT;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Metric getOdometer_linear_left() {
+		return odometer_linear_left;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetOdometer_linear_left(Metric newOdometer_linear_left, NotificationChain msgs) {
+		Metric oldOdometer_linear_left = odometer_linear_left;
+		odometer_linear_left = newOdometer_linear_left;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.ODOMETER_LINEAR_LEFT_RIGHT__ODOMETER_LINEAR_LEFT, oldOdometer_linear_left, newOdometer_linear_left);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setOdometer_linear_left(Metric newOdometer_linear_left) {
+		if(newOdometer_linear_left != odometer_linear_left) {
+			NotificationChain msgs = null;
+			if(odometer_linear_left != null)
+				msgs = ((InternalEObject)odometer_linear_left).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Oarp4_datatypesPackage.ODOMETER_LINEAR_LEFT_RIGHT__ODOMETER_LINEAR_LEFT, null, msgs);
+			if(newOdometer_linear_left != null)
+				msgs = ((InternalEObject)newOdometer_linear_left).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Oarp4_datatypesPackage.ODOMETER_LINEAR_LEFT_RIGHT__ODOMETER_LINEAR_LEFT, null, msgs);
+			msgs = basicSetOdometer_linear_left(newOdometer_linear_left, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.ODOMETER_LINEAR_LEFT_RIGHT__ODOMETER_LINEAR_LEFT, newOdometer_linear_left, newOdometer_linear_left));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Metric getOdometer_linear_right() {
+		return odometer_linear_right;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetOdometer_linear_right(Metric newOdometer_linear_right, NotificationChain msgs) {
+		Metric oldOdometer_linear_right = odometer_linear_right;
+		odometer_linear_right = newOdometer_linear_right;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.ODOMETER_LINEAR_LEFT_RIGHT__ODOMETER_LINEAR_RIGHT, oldOdometer_linear_right, newOdometer_linear_right);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setOdometer_linear_right(Metric newOdometer_linear_right) {
+		if(newOdometer_linear_right != odometer_linear_right) {
+			NotificationChain msgs = null;
+			if(odometer_linear_right != null)
+				msgs = ((InternalEObject)odometer_linear_right).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Oarp4_datatypesPackage.ODOMETER_LINEAR_LEFT_RIGHT__ODOMETER_LINEAR_RIGHT, null, msgs);
+			if(newOdometer_linear_right != null)
+				msgs = ((InternalEObject)newOdometer_linear_right).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Oarp4_datatypesPackage.ODOMETER_LINEAR_LEFT_RIGHT__ODOMETER_LINEAR_RIGHT, null, msgs);
+			msgs = basicSetOdometer_linear_right(newOdometer_linear_right, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.ODOMETER_LINEAR_LEFT_RIGHT__ODOMETER_LINEAR_RIGHT, newOdometer_linear_right, newOdometer_linear_right));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.ODOMETER_LINEAR_LEFT_RIGHT__ODOMETER_LINEAR_LEFT:
+			return basicSetOdometer_linear_left(null, msgs);
+		case Oarp4_datatypesPackage.ODOMETER_LINEAR_LEFT_RIGHT__ODOMETER_LINEAR_RIGHT:
+			return basicSetOdometer_linear_right(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.ODOMETER_LINEAR_LEFT_RIGHT__ODOMETER_LINEAR_LEFT:
+			return getOdometer_linear_left();
+		case Oarp4_datatypesPackage.ODOMETER_LINEAR_LEFT_RIGHT__ODOMETER_LINEAR_RIGHT:
+			return getOdometer_linear_right();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.ODOMETER_LINEAR_LEFT_RIGHT__ODOMETER_LINEAR_LEFT:
+			setOdometer_linear_left((Metric)newValue);
+			return;
+		case Oarp4_datatypesPackage.ODOMETER_LINEAR_LEFT_RIGHT__ODOMETER_LINEAR_RIGHT:
+			setOdometer_linear_right((Metric)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.ODOMETER_LINEAR_LEFT_RIGHT__ODOMETER_LINEAR_LEFT:
+			setOdometer_linear_left((Metric)null);
+			return;
+		case Oarp4_datatypesPackage.ODOMETER_LINEAR_LEFT_RIGHT__ODOMETER_LINEAR_RIGHT:
+			setOdometer_linear_right((Metric)null);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.ODOMETER_LINEAR_LEFT_RIGHT__ODOMETER_LINEAR_LEFT:
+			return odometer_linear_left != null;
+		case Oarp4_datatypesPackage.ODOMETER_LINEAR_LEFT_RIGHT__ODOMETER_LINEAR_RIGHT:
+			return odometer_linear_right != null;
+		}
+		return super.eIsSet(featureID);
+	}
+
+} //Odometer_Linear_Left_RightImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Odometer_TicsImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Odometer_TicsImpl.java
new file mode 100644
index 00000000000..a86623973c5
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Odometer_TicsImpl.java
@@ -0,0 +1,184 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Tics;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Odometer Tics</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Odometer_TicsImpl#getValue
+ * <em>Value</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class Odometer_TicsImpl extends EObjectImpl implements Odometer_Tics {
+
+	/**
+	 * The default value of the '{@link #getValue() <em>Value</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getValue()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final int VALUE_EDEFAULT = 0;
+
+	/**
+	 * The cached value of the '{@link #getValue() <em>Value</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getValue()
+	 * @generated
+	 * @ordered
+	 */
+	protected int value = VALUE_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected Odometer_TicsImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Oarp4_datatypesPackage.Literals.ODOMETER_TICS;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public int getValue() {
+		return value;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setValue(int newValue) {
+		int oldValue = value;
+		value = newValue;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.ODOMETER_TICS__VALUE, oldValue, value));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.ODOMETER_TICS__VALUE:
+			return getValue();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.ODOMETER_TICS__VALUE:
+			setValue((Integer)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.ODOMETER_TICS__VALUE:
+			setValue(VALUE_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.ODOMETER_TICS__VALUE:
+			return value != VALUE_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (value: ");
+		result.append(value);
+		result.append(')');
+		return result.toString();
+	}
+
+} //Odometer_TicsImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Odometer_Tics_Left_RightImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Odometer_Tics_Left_RightImpl.java
new file mode 100644
index 00000000000..2b6acfd09e6
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Odometer_Tics_Left_RightImpl.java
@@ -0,0 +1,274 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Tics;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Tics_Left_Right;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Odometer Tics Left Right</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Odometer_Tics_Left_RightImpl#getOdometer_tics_left
+ * <em>Odometer tics left</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Odometer_Tics_Left_RightImpl#getOdometer_tics_right
+ * <em>Odometer tics right</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class Odometer_Tics_Left_RightImpl extends EObjectImpl implements Odometer_Tics_Left_Right {
+
+	/**
+	 * The cached value of the '{@link #getOdometer_tics_left() <em>Odometer tics left</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getOdometer_tics_left()
+	 * @generated
+	 * @ordered
+	 */
+	protected Odometer_Tics odometer_tics_left;
+
+	/**
+	 * The cached value of the '{@link #getOdometer_tics_right() <em>Odometer tics right</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getOdometer_tics_right()
+	 * @generated
+	 * @ordered
+	 */
+	protected Odometer_Tics odometer_tics_right;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected Odometer_Tics_Left_RightImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Oarp4_datatypesPackage.Literals.ODOMETER_TICS_LEFT_RIGHT;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Odometer_Tics getOdometer_tics_left() {
+		return odometer_tics_left;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetOdometer_tics_left(Odometer_Tics newOdometer_tics_left, NotificationChain msgs) {
+		Odometer_Tics oldOdometer_tics_left = odometer_tics_left;
+		odometer_tics_left = newOdometer_tics_left;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.ODOMETER_TICS_LEFT_RIGHT__ODOMETER_TICS_LEFT, oldOdometer_tics_left, newOdometer_tics_left);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setOdometer_tics_left(Odometer_Tics newOdometer_tics_left) {
+		if(newOdometer_tics_left != odometer_tics_left) {
+			NotificationChain msgs = null;
+			if(odometer_tics_left != null)
+				msgs = ((InternalEObject)odometer_tics_left).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Oarp4_datatypesPackage.ODOMETER_TICS_LEFT_RIGHT__ODOMETER_TICS_LEFT, null, msgs);
+			if(newOdometer_tics_left != null)
+				msgs = ((InternalEObject)newOdometer_tics_left).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Oarp4_datatypesPackage.ODOMETER_TICS_LEFT_RIGHT__ODOMETER_TICS_LEFT, null, msgs);
+			msgs = basicSetOdometer_tics_left(newOdometer_tics_left, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.ODOMETER_TICS_LEFT_RIGHT__ODOMETER_TICS_LEFT, newOdometer_tics_left, newOdometer_tics_left));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Odometer_Tics getOdometer_tics_right() {
+		return odometer_tics_right;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetOdometer_tics_right(Odometer_Tics newOdometer_tics_right, NotificationChain msgs) {
+		Odometer_Tics oldOdometer_tics_right = odometer_tics_right;
+		odometer_tics_right = newOdometer_tics_right;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.ODOMETER_TICS_LEFT_RIGHT__ODOMETER_TICS_RIGHT, oldOdometer_tics_right, newOdometer_tics_right);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setOdometer_tics_right(Odometer_Tics newOdometer_tics_right) {
+		if(newOdometer_tics_right != odometer_tics_right) {
+			NotificationChain msgs = null;
+			if(odometer_tics_right != null)
+				msgs = ((InternalEObject)odometer_tics_right).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Oarp4_datatypesPackage.ODOMETER_TICS_LEFT_RIGHT__ODOMETER_TICS_RIGHT, null, msgs);
+			if(newOdometer_tics_right != null)
+				msgs = ((InternalEObject)newOdometer_tics_right).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Oarp4_datatypesPackage.ODOMETER_TICS_LEFT_RIGHT__ODOMETER_TICS_RIGHT, null, msgs);
+			msgs = basicSetOdometer_tics_right(newOdometer_tics_right, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.ODOMETER_TICS_LEFT_RIGHT__ODOMETER_TICS_RIGHT, newOdometer_tics_right, newOdometer_tics_right));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.ODOMETER_TICS_LEFT_RIGHT__ODOMETER_TICS_LEFT:
+			return basicSetOdometer_tics_left(null, msgs);
+		case Oarp4_datatypesPackage.ODOMETER_TICS_LEFT_RIGHT__ODOMETER_TICS_RIGHT:
+			return basicSetOdometer_tics_right(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.ODOMETER_TICS_LEFT_RIGHT__ODOMETER_TICS_LEFT:
+			return getOdometer_tics_left();
+		case Oarp4_datatypesPackage.ODOMETER_TICS_LEFT_RIGHT__ODOMETER_TICS_RIGHT:
+			return getOdometer_tics_right();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.ODOMETER_TICS_LEFT_RIGHT__ODOMETER_TICS_LEFT:
+			setOdometer_tics_left((Odometer_Tics)newValue);
+			return;
+		case Oarp4_datatypesPackage.ODOMETER_TICS_LEFT_RIGHT__ODOMETER_TICS_RIGHT:
+			setOdometer_tics_right((Odometer_Tics)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.ODOMETER_TICS_LEFT_RIGHT__ODOMETER_TICS_LEFT:
+			setOdometer_tics_left((Odometer_Tics)null);
+			return;
+		case Oarp4_datatypesPackage.ODOMETER_TICS_LEFT_RIGHT__ODOMETER_TICS_RIGHT:
+			setOdometer_tics_right((Odometer_Tics)null);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.ODOMETER_TICS_LEFT_RIGHT__ODOMETER_TICS_LEFT:
+			return odometer_tics_left != null;
+		case Oarp4_datatypesPackage.ODOMETER_TICS_LEFT_RIGHT__ODOMETER_TICS_RIGHT:
+			return odometer_tics_right != null;
+		}
+		return super.eIsSet(featureID);
+	}
+
+} //Odometer_Tics_Left_RightImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Op_Set_PointImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Op_Set_PointImpl.java
new file mode 100644
index 00000000000..b4f5530fdac
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Op_Set_PointImpl.java
@@ -0,0 +1,275 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Angular;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Op_Set_Point;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Linear;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Op Set Point</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Op_Set_PointImpl#getVelocity
+ * <em>Velocity</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Op_Set_PointImpl#getOrientation
+ * <em>Orientation</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class Op_Set_PointImpl extends EObjectImpl implements Op_Set_Point {
+
+	/**
+	 * The cached value of the '{@link #getVelocity() <em>Velocity</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getVelocity()
+	 * @generated
+	 * @ordered
+	 */
+	protected Velocity_Linear velocity;
+
+	/**
+	 * The cached value of the '{@link #getOrientation() <em>Orientation</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getOrientation()
+	 * @generated
+	 * @ordered
+	 */
+	protected Angular orientation;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected Op_Set_PointImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Oarp4_datatypesPackage.Literals.OP_SET_POINT;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Velocity_Linear getVelocity() {
+		return velocity;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetVelocity(Velocity_Linear newVelocity, NotificationChain msgs) {
+		Velocity_Linear oldVelocity = velocity;
+		velocity = newVelocity;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.OP_SET_POINT__VELOCITY, oldVelocity, newVelocity);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setVelocity(Velocity_Linear newVelocity) {
+		if(newVelocity != velocity) {
+			NotificationChain msgs = null;
+			if(velocity != null)
+				msgs = ((InternalEObject)velocity).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Oarp4_datatypesPackage.OP_SET_POINT__VELOCITY, null, msgs);
+			if(newVelocity != null)
+				msgs = ((InternalEObject)newVelocity).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Oarp4_datatypesPackage.OP_SET_POINT__VELOCITY, null, msgs);
+			msgs = basicSetVelocity(newVelocity, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.OP_SET_POINT__VELOCITY, newVelocity, newVelocity));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Angular getOrientation() {
+		return orientation;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetOrientation(Angular newOrientation, NotificationChain msgs) {
+		Angular oldOrientation = orientation;
+		orientation = newOrientation;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.OP_SET_POINT__ORIENTATION, oldOrientation, newOrientation);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setOrientation(Angular newOrientation) {
+		if(newOrientation != orientation) {
+			NotificationChain msgs = null;
+			if(orientation != null)
+				msgs = ((InternalEObject)orientation).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Oarp4_datatypesPackage.OP_SET_POINT__ORIENTATION, null, msgs);
+			if(newOrientation != null)
+				msgs = ((InternalEObject)newOrientation).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Oarp4_datatypesPackage.OP_SET_POINT__ORIENTATION, null, msgs);
+			msgs = basicSetOrientation(newOrientation, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.OP_SET_POINT__ORIENTATION, newOrientation, newOrientation));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.OP_SET_POINT__VELOCITY:
+			return basicSetVelocity(null, msgs);
+		case Oarp4_datatypesPackage.OP_SET_POINT__ORIENTATION:
+			return basicSetOrientation(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.OP_SET_POINT__VELOCITY:
+			return getVelocity();
+		case Oarp4_datatypesPackage.OP_SET_POINT__ORIENTATION:
+			return getOrientation();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.OP_SET_POINT__VELOCITY:
+			setVelocity((Velocity_Linear)newValue);
+			return;
+		case Oarp4_datatypesPackage.OP_SET_POINT__ORIENTATION:
+			setOrientation((Angular)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.OP_SET_POINT__VELOCITY:
+			setVelocity((Velocity_Linear)null);
+			return;
+		case Oarp4_datatypesPackage.OP_SET_POINT__ORIENTATION:
+			setOrientation((Angular)null);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.OP_SET_POINT__VELOCITY:
+			return velocity != null;
+		case Oarp4_datatypesPackage.OP_SET_POINT__ORIENTATION:
+			return orientation != null;
+		}
+		return super.eIsSet(featureID);
+	}
+
+} //Op_Set_PointImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Proxi_Left_RightImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Proxi_Left_RightImpl.java
new file mode 100644
index 00000000000..50fba098e83
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Proxi_Left_RightImpl.java
@@ -0,0 +1,274 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Distance;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Proxi_Left_Right;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Proxi Left Right</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Proxi_Left_RightImpl#getProxi_left
+ * <em>Proxi left</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Proxi_Left_RightImpl#getProxi_right
+ * <em>Proxi right</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class Proxi_Left_RightImpl extends EObjectImpl implements Proxi_Left_Right {
+
+	/**
+	 * The cached value of the '{@link #getProxi_left() <em>Proxi left</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getProxi_left()
+	 * @generated
+	 * @ordered
+	 */
+	protected Distance proxi_left;
+
+	/**
+	 * The cached value of the '{@link #getProxi_right() <em>Proxi right</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getProxi_right()
+	 * @generated
+	 * @ordered
+	 */
+	protected Distance proxi_right;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected Proxi_Left_RightImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Oarp4_datatypesPackage.Literals.PROXI_LEFT_RIGHT;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Distance getProxi_left() {
+		return proxi_left;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetProxi_left(Distance newProxi_left, NotificationChain msgs) {
+		Distance oldProxi_left = proxi_left;
+		proxi_left = newProxi_left;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.PROXI_LEFT_RIGHT__PROXI_LEFT, oldProxi_left, newProxi_left);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setProxi_left(Distance newProxi_left) {
+		if(newProxi_left != proxi_left) {
+			NotificationChain msgs = null;
+			if(proxi_left != null)
+				msgs = ((InternalEObject)proxi_left).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Oarp4_datatypesPackage.PROXI_LEFT_RIGHT__PROXI_LEFT, null, msgs);
+			if(newProxi_left != null)
+				msgs = ((InternalEObject)newProxi_left).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Oarp4_datatypesPackage.PROXI_LEFT_RIGHT__PROXI_LEFT, null, msgs);
+			msgs = basicSetProxi_left(newProxi_left, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.PROXI_LEFT_RIGHT__PROXI_LEFT, newProxi_left, newProxi_left));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Distance getProxi_right() {
+		return proxi_right;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetProxi_right(Distance newProxi_right, NotificationChain msgs) {
+		Distance oldProxi_right = proxi_right;
+		proxi_right = newProxi_right;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.PROXI_LEFT_RIGHT__PROXI_RIGHT, oldProxi_right, newProxi_right);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setProxi_right(Distance newProxi_right) {
+		if(newProxi_right != proxi_right) {
+			NotificationChain msgs = null;
+			if(proxi_right != null)
+				msgs = ((InternalEObject)proxi_right).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Oarp4_datatypesPackage.PROXI_LEFT_RIGHT__PROXI_RIGHT, null, msgs);
+			if(newProxi_right != null)
+				msgs = ((InternalEObject)newProxi_right).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Oarp4_datatypesPackage.PROXI_LEFT_RIGHT__PROXI_RIGHT, null, msgs);
+			msgs = basicSetProxi_right(newProxi_right, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.PROXI_LEFT_RIGHT__PROXI_RIGHT, newProxi_right, newProxi_right));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.PROXI_LEFT_RIGHT__PROXI_LEFT:
+			return basicSetProxi_left(null, msgs);
+		case Oarp4_datatypesPackage.PROXI_LEFT_RIGHT__PROXI_RIGHT:
+			return basicSetProxi_right(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.PROXI_LEFT_RIGHT__PROXI_LEFT:
+			return getProxi_left();
+		case Oarp4_datatypesPackage.PROXI_LEFT_RIGHT__PROXI_RIGHT:
+			return getProxi_right();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.PROXI_LEFT_RIGHT__PROXI_LEFT:
+			setProxi_left((Distance)newValue);
+			return;
+		case Oarp4_datatypesPackage.PROXI_LEFT_RIGHT__PROXI_RIGHT:
+			setProxi_right((Distance)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.PROXI_LEFT_RIGHT__PROXI_LEFT:
+			setProxi_left((Distance)null);
+			return;
+		case Oarp4_datatypesPackage.PROXI_LEFT_RIGHT__PROXI_RIGHT:
+			setProxi_right((Distance)null);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.PROXI_LEFT_RIGHT__PROXI_LEFT:
+			return proxi_left != null;
+		case Oarp4_datatypesPackage.PROXI_LEFT_RIGHT__PROXI_RIGHT:
+			return proxi_right != null;
+		}
+		return super.eIsSet(featureID);
+	}
+
+} //Proxi_Left_RightImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Speed_TicsImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Speed_TicsImpl.java
new file mode 100644
index 00000000000..faa1abade4d
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Speed_TicsImpl.java
@@ -0,0 +1,184 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Speed_Tics;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Speed Tics</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Speed_TicsImpl#getValue
+ * <em>Value</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class Speed_TicsImpl extends EObjectImpl implements Speed_Tics {
+
+	/**
+	 * The default value of the '{@link #getValue() <em>Value</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getValue()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final int VALUE_EDEFAULT = 0;
+
+	/**
+	 * The cached value of the '{@link #getValue() <em>Value</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getValue()
+	 * @generated
+	 * @ordered
+	 */
+	protected int value = VALUE_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected Speed_TicsImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Oarp4_datatypesPackage.Literals.SPEED_TICS;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public int getValue() {
+		return value;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setValue(int newValue) {
+		int oldValue = value;
+		value = newValue;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.SPEED_TICS__VALUE, oldValue, value));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.SPEED_TICS__VALUE:
+			return getValue();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.SPEED_TICS__VALUE:
+			setValue((Integer)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.SPEED_TICS__VALUE:
+			setValue(VALUE_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.SPEED_TICS__VALUE:
+			return value != VALUE_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (value: ");
+		result.append(value);
+		result.append(')');
+		return result.toString();
+	}
+
+} //Speed_TicsImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Speed_Tics_Left_RightImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Speed_Tics_Left_RightImpl.java
new file mode 100644
index 00000000000..dd0d4dedccc
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Speed_Tics_Left_RightImpl.java
@@ -0,0 +1,274 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Speed_Tics;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Speed_Tics_Left_Right;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Speed Tics Left Right</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Speed_Tics_Left_RightImpl#getSpeed_tics_left
+ * <em>Speed tics left</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Speed_Tics_Left_RightImpl#getSpeed_tics_right
+ * <em>Speed tics right</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class Speed_Tics_Left_RightImpl extends EObjectImpl implements Speed_Tics_Left_Right {
+
+	/**
+	 * The cached value of the '{@link #getSpeed_tics_left() <em>Speed tics left</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSpeed_tics_left()
+	 * @generated
+	 * @ordered
+	 */
+	protected Speed_Tics speed_tics_left;
+
+	/**
+	 * The cached value of the '{@link #getSpeed_tics_right() <em>Speed tics right</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSpeed_tics_right()
+	 * @generated
+	 * @ordered
+	 */
+	protected Speed_Tics speed_tics_right;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected Speed_Tics_Left_RightImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Oarp4_datatypesPackage.Literals.SPEED_TICS_LEFT_RIGHT;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Speed_Tics getSpeed_tics_left() {
+		return speed_tics_left;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetSpeed_tics_left(Speed_Tics newSpeed_tics_left, NotificationChain msgs) {
+		Speed_Tics oldSpeed_tics_left = speed_tics_left;
+		speed_tics_left = newSpeed_tics_left;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.SPEED_TICS_LEFT_RIGHT__SPEED_TICS_LEFT, oldSpeed_tics_left, newSpeed_tics_left);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setSpeed_tics_left(Speed_Tics newSpeed_tics_left) {
+		if(newSpeed_tics_left != speed_tics_left) {
+			NotificationChain msgs = null;
+			if(speed_tics_left != null)
+				msgs = ((InternalEObject)speed_tics_left).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Oarp4_datatypesPackage.SPEED_TICS_LEFT_RIGHT__SPEED_TICS_LEFT, null, msgs);
+			if(newSpeed_tics_left != null)
+				msgs = ((InternalEObject)newSpeed_tics_left).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Oarp4_datatypesPackage.SPEED_TICS_LEFT_RIGHT__SPEED_TICS_LEFT, null, msgs);
+			msgs = basicSetSpeed_tics_left(newSpeed_tics_left, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.SPEED_TICS_LEFT_RIGHT__SPEED_TICS_LEFT, newSpeed_tics_left, newSpeed_tics_left));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Speed_Tics getSpeed_tics_right() {
+		return speed_tics_right;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetSpeed_tics_right(Speed_Tics newSpeed_tics_right, NotificationChain msgs) {
+		Speed_Tics oldSpeed_tics_right = speed_tics_right;
+		speed_tics_right = newSpeed_tics_right;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.SPEED_TICS_LEFT_RIGHT__SPEED_TICS_RIGHT, oldSpeed_tics_right, newSpeed_tics_right);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setSpeed_tics_right(Speed_Tics newSpeed_tics_right) {
+		if(newSpeed_tics_right != speed_tics_right) {
+			NotificationChain msgs = null;
+			if(speed_tics_right != null)
+				msgs = ((InternalEObject)speed_tics_right).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Oarp4_datatypesPackage.SPEED_TICS_LEFT_RIGHT__SPEED_TICS_RIGHT, null, msgs);
+			if(newSpeed_tics_right != null)
+				msgs = ((InternalEObject)newSpeed_tics_right).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Oarp4_datatypesPackage.SPEED_TICS_LEFT_RIGHT__SPEED_TICS_RIGHT, null, msgs);
+			msgs = basicSetSpeed_tics_right(newSpeed_tics_right, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.SPEED_TICS_LEFT_RIGHT__SPEED_TICS_RIGHT, newSpeed_tics_right, newSpeed_tics_right));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.SPEED_TICS_LEFT_RIGHT__SPEED_TICS_LEFT:
+			return basicSetSpeed_tics_left(null, msgs);
+		case Oarp4_datatypesPackage.SPEED_TICS_LEFT_RIGHT__SPEED_TICS_RIGHT:
+			return basicSetSpeed_tics_right(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.SPEED_TICS_LEFT_RIGHT__SPEED_TICS_LEFT:
+			return getSpeed_tics_left();
+		case Oarp4_datatypesPackage.SPEED_TICS_LEFT_RIGHT__SPEED_TICS_RIGHT:
+			return getSpeed_tics_right();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.SPEED_TICS_LEFT_RIGHT__SPEED_TICS_LEFT:
+			setSpeed_tics_left((Speed_Tics)newValue);
+			return;
+		case Oarp4_datatypesPackage.SPEED_TICS_LEFT_RIGHT__SPEED_TICS_RIGHT:
+			setSpeed_tics_right((Speed_Tics)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.SPEED_TICS_LEFT_RIGHT__SPEED_TICS_LEFT:
+			setSpeed_tics_left((Speed_Tics)null);
+			return;
+		case Oarp4_datatypesPackage.SPEED_TICS_LEFT_RIGHT__SPEED_TICS_RIGHT:
+			setSpeed_tics_right((Speed_Tics)null);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.SPEED_TICS_LEFT_RIGHT__SPEED_TICS_LEFT:
+			return speed_tics_left != null;
+		case Oarp4_datatypesPackage.SPEED_TICS_LEFT_RIGHT__SPEED_TICS_RIGHT:
+			return speed_tics_right != null;
+		}
+		return super.eIsSet(featureID);
+	}
+
+} //Speed_Tics_Left_RightImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/VelocityImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/VelocityImpl.java
new file mode 100644
index 00000000000..57066eb8859
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/VelocityImpl.java
@@ -0,0 +1,275 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Angular;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Linear;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Velocity</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.VelocityImpl#getVelocity_linear
+ * <em>Velocity linear</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.VelocityImpl#getVelocity_angular
+ * <em>Velocity angular</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class VelocityImpl extends EObjectImpl implements Velocity {
+
+	/**
+	 * The cached value of the '{@link #getVelocity_linear() <em>Velocity linear</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getVelocity_linear()
+	 * @generated
+	 * @ordered
+	 */
+	protected Velocity_Linear velocity_linear;
+
+	/**
+	 * The cached value of the '{@link #getVelocity_angular() <em>Velocity angular</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getVelocity_angular()
+	 * @generated
+	 * @ordered
+	 */
+	protected Velocity_Angular velocity_angular;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected VelocityImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Oarp4_datatypesPackage.Literals.VELOCITY;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Velocity_Linear getVelocity_linear() {
+		return velocity_linear;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetVelocity_linear(Velocity_Linear newVelocity_linear, NotificationChain msgs) {
+		Velocity_Linear oldVelocity_linear = velocity_linear;
+		velocity_linear = newVelocity_linear;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.VELOCITY__VELOCITY_LINEAR, oldVelocity_linear, newVelocity_linear);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setVelocity_linear(Velocity_Linear newVelocity_linear) {
+		if(newVelocity_linear != velocity_linear) {
+			NotificationChain msgs = null;
+			if(velocity_linear != null)
+				msgs = ((InternalEObject)velocity_linear).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Oarp4_datatypesPackage.VELOCITY__VELOCITY_LINEAR, null, msgs);
+			if(newVelocity_linear != null)
+				msgs = ((InternalEObject)newVelocity_linear).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Oarp4_datatypesPackage.VELOCITY__VELOCITY_LINEAR, null, msgs);
+			msgs = basicSetVelocity_linear(newVelocity_linear, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.VELOCITY__VELOCITY_LINEAR, newVelocity_linear, newVelocity_linear));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Velocity_Angular getVelocity_angular() {
+		return velocity_angular;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetVelocity_angular(Velocity_Angular newVelocity_angular, NotificationChain msgs) {
+		Velocity_Angular oldVelocity_angular = velocity_angular;
+		velocity_angular = newVelocity_angular;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.VELOCITY__VELOCITY_ANGULAR, oldVelocity_angular, newVelocity_angular);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setVelocity_angular(Velocity_Angular newVelocity_angular) {
+		if(newVelocity_angular != velocity_angular) {
+			NotificationChain msgs = null;
+			if(velocity_angular != null)
+				msgs = ((InternalEObject)velocity_angular).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Oarp4_datatypesPackage.VELOCITY__VELOCITY_ANGULAR, null, msgs);
+			if(newVelocity_angular != null)
+				msgs = ((InternalEObject)newVelocity_angular).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Oarp4_datatypesPackage.VELOCITY__VELOCITY_ANGULAR, null, msgs);
+			msgs = basicSetVelocity_angular(newVelocity_angular, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.VELOCITY__VELOCITY_ANGULAR, newVelocity_angular, newVelocity_angular));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.VELOCITY__VELOCITY_LINEAR:
+			return basicSetVelocity_linear(null, msgs);
+		case Oarp4_datatypesPackage.VELOCITY__VELOCITY_ANGULAR:
+			return basicSetVelocity_angular(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.VELOCITY__VELOCITY_LINEAR:
+			return getVelocity_linear();
+		case Oarp4_datatypesPackage.VELOCITY__VELOCITY_ANGULAR:
+			return getVelocity_angular();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.VELOCITY__VELOCITY_LINEAR:
+			setVelocity_linear((Velocity_Linear)newValue);
+			return;
+		case Oarp4_datatypesPackage.VELOCITY__VELOCITY_ANGULAR:
+			setVelocity_angular((Velocity_Angular)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.VELOCITY__VELOCITY_LINEAR:
+			setVelocity_linear((Velocity_Linear)null);
+			return;
+		case Oarp4_datatypesPackage.VELOCITY__VELOCITY_ANGULAR:
+			setVelocity_angular((Velocity_Angular)null);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.VELOCITY__VELOCITY_LINEAR:
+			return velocity_linear != null;
+		case Oarp4_datatypesPackage.VELOCITY__VELOCITY_ANGULAR:
+			return velocity_angular != null;
+		}
+		return super.eIsSet(featureID);
+	}
+
+} //VelocityImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Velocity_AngularImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Velocity_AngularImpl.java
new file mode 100644
index 00000000000..9b01b5c3293
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Velocity_AngularImpl.java
@@ -0,0 +1,184 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Angular;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Velocity Angular</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Velocity_AngularImpl#getValue
+ * <em>Value</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class Velocity_AngularImpl extends EObjectImpl implements Velocity_Angular {
+
+	/**
+	 * The default value of the '{@link #getValue() <em>Value</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getValue()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final double VALUE_EDEFAULT = 0.0;
+
+	/**
+	 * The cached value of the '{@link #getValue() <em>Value</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getValue()
+	 * @generated
+	 * @ordered
+	 */
+	protected double value = VALUE_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected Velocity_AngularImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Oarp4_datatypesPackage.Literals.VELOCITY_ANGULAR;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public double getValue() {
+		return value;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setValue(double newValue) {
+		double oldValue = value;
+		value = newValue;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.VELOCITY_ANGULAR__VALUE, oldValue, value));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.VELOCITY_ANGULAR__VALUE:
+			return getValue();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.VELOCITY_ANGULAR__VALUE:
+			setValue((Double)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.VELOCITY_ANGULAR__VALUE:
+			setValue(VALUE_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.VELOCITY_ANGULAR__VALUE:
+			return value != VALUE_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (value: ");
+		result.append(value);
+		result.append(')');
+		return result.toString();
+	}
+
+} //Velocity_AngularImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Velocity_Angular_Left_RightImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Velocity_Angular_Left_RightImpl.java
new file mode 100644
index 00000000000..272f1be324e
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Velocity_Angular_Left_RightImpl.java
@@ -0,0 +1,274 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Angular;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Angular_Left_Right;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Velocity Angular Left Right</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Velocity_Angular_Left_RightImpl#getVelocity_angular_left
+ * <em>Velocity angular left</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Velocity_Angular_Left_RightImpl#getVelocity_angular_right
+ * <em>Velocity angular right</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class Velocity_Angular_Left_RightImpl extends EObjectImpl implements Velocity_Angular_Left_Right {
+
+	/**
+	 * The cached value of the '{@link #getVelocity_angular_left() <em>Velocity angular left</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getVelocity_angular_left()
+	 * @generated
+	 * @ordered
+	 */
+	protected Velocity_Angular velocity_angular_left;
+
+	/**
+	 * The cached value of the '{@link #getVelocity_angular_right() <em>Velocity angular right</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getVelocity_angular_right()
+	 * @generated
+	 * @ordered
+	 */
+	protected Velocity_Angular velocity_angular_right;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected Velocity_Angular_Left_RightImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Oarp4_datatypesPackage.Literals.VELOCITY_ANGULAR_LEFT_RIGHT;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Velocity_Angular getVelocity_angular_left() {
+		return velocity_angular_left;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetVelocity_angular_left(Velocity_Angular newVelocity_angular_left, NotificationChain msgs) {
+		Velocity_Angular oldVelocity_angular_left = velocity_angular_left;
+		velocity_angular_left = newVelocity_angular_left;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.VELOCITY_ANGULAR_LEFT_RIGHT__VELOCITY_ANGULAR_LEFT, oldVelocity_angular_left, newVelocity_angular_left);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setVelocity_angular_left(Velocity_Angular newVelocity_angular_left) {
+		if(newVelocity_angular_left != velocity_angular_left) {
+			NotificationChain msgs = null;
+			if(velocity_angular_left != null)
+				msgs = ((InternalEObject)velocity_angular_left).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Oarp4_datatypesPackage.VELOCITY_ANGULAR_LEFT_RIGHT__VELOCITY_ANGULAR_LEFT, null, msgs);
+			if(newVelocity_angular_left != null)
+				msgs = ((InternalEObject)newVelocity_angular_left).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Oarp4_datatypesPackage.VELOCITY_ANGULAR_LEFT_RIGHT__VELOCITY_ANGULAR_LEFT, null, msgs);
+			msgs = basicSetVelocity_angular_left(newVelocity_angular_left, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.VELOCITY_ANGULAR_LEFT_RIGHT__VELOCITY_ANGULAR_LEFT, newVelocity_angular_left, newVelocity_angular_left));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Velocity_Angular getVelocity_angular_right() {
+		return velocity_angular_right;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetVelocity_angular_right(Velocity_Angular newVelocity_angular_right, NotificationChain msgs) {
+		Velocity_Angular oldVelocity_angular_right = velocity_angular_right;
+		velocity_angular_right = newVelocity_angular_right;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.VELOCITY_ANGULAR_LEFT_RIGHT__VELOCITY_ANGULAR_RIGHT, oldVelocity_angular_right, newVelocity_angular_right);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setVelocity_angular_right(Velocity_Angular newVelocity_angular_right) {
+		if(newVelocity_angular_right != velocity_angular_right) {
+			NotificationChain msgs = null;
+			if(velocity_angular_right != null)
+				msgs = ((InternalEObject)velocity_angular_right).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Oarp4_datatypesPackage.VELOCITY_ANGULAR_LEFT_RIGHT__VELOCITY_ANGULAR_RIGHT, null, msgs);
+			if(newVelocity_angular_right != null)
+				msgs = ((InternalEObject)newVelocity_angular_right).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Oarp4_datatypesPackage.VELOCITY_ANGULAR_LEFT_RIGHT__VELOCITY_ANGULAR_RIGHT, null, msgs);
+			msgs = basicSetVelocity_angular_right(newVelocity_angular_right, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.VELOCITY_ANGULAR_LEFT_RIGHT__VELOCITY_ANGULAR_RIGHT, newVelocity_angular_right, newVelocity_angular_right));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.VELOCITY_ANGULAR_LEFT_RIGHT__VELOCITY_ANGULAR_LEFT:
+			return basicSetVelocity_angular_left(null, msgs);
+		case Oarp4_datatypesPackage.VELOCITY_ANGULAR_LEFT_RIGHT__VELOCITY_ANGULAR_RIGHT:
+			return basicSetVelocity_angular_right(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.VELOCITY_ANGULAR_LEFT_RIGHT__VELOCITY_ANGULAR_LEFT:
+			return getVelocity_angular_left();
+		case Oarp4_datatypesPackage.VELOCITY_ANGULAR_LEFT_RIGHT__VELOCITY_ANGULAR_RIGHT:
+			return getVelocity_angular_right();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.VELOCITY_ANGULAR_LEFT_RIGHT__VELOCITY_ANGULAR_LEFT:
+			setVelocity_angular_left((Velocity_Angular)newValue);
+			return;
+		case Oarp4_datatypesPackage.VELOCITY_ANGULAR_LEFT_RIGHT__VELOCITY_ANGULAR_RIGHT:
+			setVelocity_angular_right((Velocity_Angular)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.VELOCITY_ANGULAR_LEFT_RIGHT__VELOCITY_ANGULAR_LEFT:
+			setVelocity_angular_left((Velocity_Angular)null);
+			return;
+		case Oarp4_datatypesPackage.VELOCITY_ANGULAR_LEFT_RIGHT__VELOCITY_ANGULAR_RIGHT:
+			setVelocity_angular_right((Velocity_Angular)null);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.VELOCITY_ANGULAR_LEFT_RIGHT__VELOCITY_ANGULAR_LEFT:
+			return velocity_angular_left != null;
+		case Oarp4_datatypesPackage.VELOCITY_ANGULAR_LEFT_RIGHT__VELOCITY_ANGULAR_RIGHT:
+			return velocity_angular_right != null;
+		}
+		return super.eIsSet(featureID);
+	}
+
+} //Velocity_Angular_Left_RightImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Velocity_LinearImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Velocity_LinearImpl.java
new file mode 100644
index 00000000000..5d46ad9856c
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/impl/Velocity_LinearImpl.java
@@ -0,0 +1,184 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Linear;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Velocity Linear</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Velocity_LinearImpl#getValue
+ * <em>Value</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class Velocity_LinearImpl extends EObjectImpl implements Velocity_Linear {
+
+	/**
+	 * The default value of the '{@link #getValue() <em>Value</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getValue()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final int VALUE_EDEFAULT = 0;
+
+	/**
+	 * The cached value of the '{@link #getValue() <em>Value</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getValue()
+	 * @generated
+	 * @ordered
+	 */
+	protected int value = VALUE_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected Velocity_LinearImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Oarp4_datatypesPackage.Literals.VELOCITY_LINEAR;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public int getValue() {
+		return value;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setValue(int newValue) {
+		int oldValue = value;
+		value = newValue;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Oarp4_datatypesPackage.VELOCITY_LINEAR__VALUE, oldValue, value));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.VELOCITY_LINEAR__VALUE:
+			return getValue();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.VELOCITY_LINEAR__VALUE:
+			setValue((Integer)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.VELOCITY_LINEAR__VALUE:
+			setValue(VALUE_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Oarp4_datatypesPackage.VELOCITY_LINEAR__VALUE:
+			return value != VALUE_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (value: ");
+		result.append(value);
+		result.append(')');
+		return result.toString();
+	}
+
+} //Velocity_LinearImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/util/Oarp4_datatypesAdapterFactory.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/util/Oarp4_datatypesAdapterFactory.java
new file mode 100644
index 00000000000..86b191aca81
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/util/Oarp4_datatypesAdapterFactory.java
@@ -0,0 +1,483 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.util;
+
+import org.eclipse.emf.common.notify.Adapter;
+import org.eclipse.emf.common.notify.Notifier;
+import org.eclipse.emf.common.notify.impl.AdapterFactoryImpl;
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Angular;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Art_Set_Point;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Distance;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Metric;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Milli_Amp;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Linear_Left_Right;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Tics;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Tics_Left_Right;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Op_Set_Point;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Proxi_Left_Right;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Speed_Tics;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Speed_Tics_Left_Right;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Angular;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Angular_Left_Right;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Linear;
+
+/**
+ * <!-- begin-user-doc -->
+ * The <b>Adapter Factory</b> for the model.
+ * It provides an adapter <code>createXXX</code> method for each class of the model.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage
+ * @generated
+ */
+public class Oarp4_datatypesAdapterFactory extends AdapterFactoryImpl {
+
+	/**
+	 * The cached model package.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected static Oarp4_datatypesPackage modelPackage;
+
+	/**
+	 * Creates an instance of the adapter factory.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Oarp4_datatypesAdapterFactory() {
+		if(modelPackage == null) {
+			modelPackage = Oarp4_datatypesPackage.eINSTANCE;
+		}
+	}
+
+	/**
+	 * Returns whether this factory is applicable for the type of the object.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns <code>true</code> if the object is either the model's package or is an instance object of the model.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return whether this factory is applicable for the type of the object.
+	 * @generated
+	 */
+	@Override
+	public boolean isFactoryForType(Object object) {
+		if(object == modelPackage) {
+			return true;
+		}
+		if(object instanceof EObject) {
+			return ((EObject)object).eClass().getEPackage() == modelPackage;
+		}
+		return false;
+	}
+
+	/**
+	 * The switch that delegates to the <code>createXXX</code> methods.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected Oarp4_datatypesSwitch<Adapter> modelSwitch = new Oarp4_datatypesSwitch<Adapter>() {
+
+		@Override
+		public Adapter caseVelocity_Linear(Velocity_Linear object) {
+			return createVelocity_LinearAdapter();
+		}
+
+		@Override
+		public Adapter caseArt_Set_Point(Art_Set_Point object) {
+			return createArt_Set_PointAdapter();
+		}
+
+		@Override
+		public Adapter caseVelocity_Angular(Velocity_Angular object) {
+			return createVelocity_AngularAdapter();
+		}
+
+		@Override
+		public Adapter caseDistance(Distance object) {
+			return createDistanceAdapter();
+		}
+
+		@Override
+		public Adapter caseMetric(Metric object) {
+			return createMetricAdapter();
+		}
+
+		@Override
+		public Adapter caseAngular(Angular object) {
+			return createAngularAdapter();
+		}
+
+		@Override
+		public Adapter caseOp_Set_Point(Op_Set_Point object) {
+			return createOp_Set_PointAdapter();
+		}
+
+		@Override
+		public Adapter caseSpeed_Tics_Left_Right(Speed_Tics_Left_Right object) {
+			return createSpeed_Tics_Left_RightAdapter();
+		}
+
+		@Override
+		public Adapter caseSpeed_Tics(Speed_Tics object) {
+			return createSpeed_TicsAdapter();
+		}
+
+		@Override
+		public Adapter caseOdometer_Tics(Odometer_Tics object) {
+			return createOdometer_TicsAdapter();
+		}
+
+		@Override
+		public Adapter caseOdometer_Tics_Left_Right(Odometer_Tics_Left_Right object) {
+			return createOdometer_Tics_Left_RightAdapter();
+		}
+
+		@Override
+		public Adapter caseProxi_Left_Right(Proxi_Left_Right object) {
+			return createProxi_Left_RightAdapter();
+		}
+
+		@Override
+		public Adapter caseMilli_Amp(Milli_Amp object) {
+			return createMilli_AmpAdapter();
+		}
+
+		@Override
+		public Adapter caseOdometer_Linear_Left_Right(Odometer_Linear_Left_Right object) {
+			return createOdometer_Linear_Left_RightAdapter();
+		}
+
+		@Override
+		public Adapter caseVelocity_Angular_Left_Right(Velocity_Angular_Left_Right object) {
+			return createVelocity_Angular_Left_RightAdapter();
+		}
+
+		@Override
+		public Adapter caseVelocity(Velocity object) {
+			return createVelocityAdapter();
+		}
+
+		@Override
+		public Adapter defaultCase(EObject object) {
+			return createEObjectAdapter();
+		}
+	};
+
+	/**
+	 * Creates an adapter for the <code>target</code>.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param target
+	 *        the object to adapt.
+	 * @return the adapter for the <code>target</code>.
+	 * @generated
+	 */
+	@Override
+	public Adapter createAdapter(Notifier target) {
+		return modelSwitch.doSwitch((EObject)target);
+	}
+
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Linear
+	 * <em>Velocity Linear</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Linear
+	 * @generated
+	 */
+	public Adapter createVelocity_LinearAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Art_Set_Point
+	 * <em>Art Set Point</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Art_Set_Point
+	 * @generated
+	 */
+	public Adapter createArt_Set_PointAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Angular
+	 * <em>Velocity Angular</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Angular
+	 * @generated
+	 */
+	public Adapter createVelocity_AngularAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Distance <em>Distance</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Distance
+	 * @generated
+	 */
+	public Adapter createDistanceAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Metric <em>Metric</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Metric
+	 * @generated
+	 */
+	public Adapter createMetricAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Angular <em>Angular</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Angular
+	 * @generated
+	 */
+	public Adapter createAngularAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Op_Set_Point
+	 * <em>Op Set Point</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Op_Set_Point
+	 * @generated
+	 */
+	public Adapter createOp_Set_PointAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Speed_Tics_Left_Right
+	 * <em>Speed Tics Left Right</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Speed_Tics_Left_Right
+	 * @generated
+	 */
+	public Adapter createSpeed_Tics_Left_RightAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Speed_Tics
+	 * <em>Speed Tics</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Speed_Tics
+	 * @generated
+	 */
+	public Adapter createSpeed_TicsAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Tics
+	 * <em>Odometer Tics</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Tics
+	 * @generated
+	 */
+	public Adapter createOdometer_TicsAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Tics_Left_Right
+	 * <em>Odometer Tics Left Right</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Tics_Left_Right
+	 * @generated
+	 */
+	public Adapter createOdometer_Tics_Left_RightAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Proxi_Left_Right
+	 * <em>Proxi Left Right</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Proxi_Left_Right
+	 * @generated
+	 */
+	public Adapter createProxi_Left_RightAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Milli_Amp
+	 * <em>Milli Amp</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Milli_Amp
+	 * @generated
+	 */
+	public Adapter createMilli_AmpAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Linear_Left_Right
+	 * <em>Odometer Linear Left Right</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Linear_Left_Right
+	 * @generated
+	 */
+	public Adapter createOdometer_Linear_Left_RightAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Angular_Left_Right
+	 * <em>Velocity Angular Left Right</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Angular_Left_Right
+	 * @generated
+	 */
+	public Adapter createVelocity_Angular_Left_RightAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity <em>Velocity</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity
+	 * @generated
+	 */
+	public Adapter createVelocityAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for the default case.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @generated
+	 */
+	public Adapter createEObjectAdapter() {
+		return null;
+	}
+
+} //Oarp4_datatypesAdapterFactory
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/util/Oarp4_datatypesSwitch.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/util/Oarp4_datatypesSwitch.java
new file mode 100644
index 00000000000..c6c38767f23
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/oarps_datatypes/oarp4_datatypes/util/Oarp4_datatypesSwitch.java
@@ -0,0 +1,520 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.util;
+
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.emf.ecore.EPackage;
+import org.eclipse.emf.ecore.util.Switch;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Angular;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Art_Set_Point;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Distance;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Metric;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Milli_Amp;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Linear_Left_Right;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Tics;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Odometer_Tics_Left_Right;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Op_Set_Point;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Proxi_Left_Right;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Speed_Tics;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Speed_Tics_Left_Right;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Angular;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Angular_Left_Right;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Velocity_Linear;
+
+/**
+ * <!-- begin-user-doc -->
+ * The <b>Switch</b> for the model's inheritance hierarchy.
+ * It supports the call {@link #doSwitch(EObject) doSwitch(object)} to invoke the <code>caseXXX</code> method for each class of the model,
+ * starting with the actual class of the object
+ * and proceeding up the inheritance hierarchy
+ * until a non-null result is returned,
+ * which is the result of the switch.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage
+ * @generated
+ */
+public class Oarp4_datatypesSwitch<T> extends Switch<T> {
+
+	/**
+	 * The cached model package
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected static Oarp4_datatypesPackage modelPackage;
+
+	/**
+	 * Creates an instance of the switch.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Oarp4_datatypesSwitch() {
+		if(modelPackage == null) {
+			modelPackage = Oarp4_datatypesPackage.eINSTANCE;
+		}
+	}
+
+	/**
+	 * Checks whether this is a switch for the given package.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @parameter ePackage the package in question.
+	 * @return whether this is a switch for the given package.
+	 * @generated
+	 */
+	@Override
+	protected boolean isSwitchFor(EPackage ePackage) {
+		return ePackage == modelPackage;
+	}
+
+	/**
+	 * Calls <code>caseXXX</code> for each class of the model until one returns a non null result; it yields that result.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the first non-null result returned by a <code>caseXXX</code> call.
+	 * @generated
+	 */
+	@Override
+	protected T doSwitch(int classifierID, EObject theEObject) {
+		switch(classifierID) {
+		case Oarp4_datatypesPackage.VELOCITY_LINEAR:
+		{
+			Velocity_Linear velocity_Linear = (Velocity_Linear)theEObject;
+			T result = caseVelocity_Linear(velocity_Linear);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Oarp4_datatypesPackage.ART_SET_POINT:
+		{
+			Art_Set_Point art_Set_Point = (Art_Set_Point)theEObject;
+			T result = caseArt_Set_Point(art_Set_Point);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Oarp4_datatypesPackage.VELOCITY_ANGULAR:
+		{
+			Velocity_Angular velocity_Angular = (Velocity_Angular)theEObject;
+			T result = caseVelocity_Angular(velocity_Angular);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Oarp4_datatypesPackage.DISTANCE:
+		{
+			Distance distance = (Distance)theEObject;
+			T result = caseDistance(distance);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Oarp4_datatypesPackage.METRIC:
+		{
+			Metric metric = (Metric)theEObject;
+			T result = caseMetric(metric);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Oarp4_datatypesPackage.ANGULAR:
+		{
+			Angular angular = (Angular)theEObject;
+			T result = caseAngular(angular);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Oarp4_datatypesPackage.OP_SET_POINT:
+		{
+			Op_Set_Point op_Set_Point = (Op_Set_Point)theEObject;
+			T result = caseOp_Set_Point(op_Set_Point);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Oarp4_datatypesPackage.SPEED_TICS_LEFT_RIGHT:
+		{
+			Speed_Tics_Left_Right speed_Tics_Left_Right = (Speed_Tics_Left_Right)theEObject;
+			T result = caseSpeed_Tics_Left_Right(speed_Tics_Left_Right);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Oarp4_datatypesPackage.SPEED_TICS:
+		{
+			Speed_Tics speed_Tics = (Speed_Tics)theEObject;
+			T result = caseSpeed_Tics(speed_Tics);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Oarp4_datatypesPackage.ODOMETER_TICS:
+		{
+			Odometer_Tics odometer_Tics = (Odometer_Tics)theEObject;
+			T result = caseOdometer_Tics(odometer_Tics);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Oarp4_datatypesPackage.ODOMETER_TICS_LEFT_RIGHT:
+		{
+			Odometer_Tics_Left_Right odometer_Tics_Left_Right = (Odometer_Tics_Left_Right)theEObject;
+			T result = caseOdometer_Tics_Left_Right(odometer_Tics_Left_Right);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Oarp4_datatypesPackage.PROXI_LEFT_RIGHT:
+		{
+			Proxi_Left_Right proxi_Left_Right = (Proxi_Left_Right)theEObject;
+			T result = caseProxi_Left_Right(proxi_Left_Right);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Oarp4_datatypesPackage.MILLI_AMP:
+		{
+			Milli_Amp milli_Amp = (Milli_Amp)theEObject;
+			T result = caseMilli_Amp(milli_Amp);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Oarp4_datatypesPackage.ODOMETER_LINEAR_LEFT_RIGHT:
+		{
+			Odometer_Linear_Left_Right odometer_Linear_Left_Right = (Odometer_Linear_Left_Right)theEObject;
+			T result = caseOdometer_Linear_Left_Right(odometer_Linear_Left_Right);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Oarp4_datatypesPackage.VELOCITY_ANGULAR_LEFT_RIGHT:
+		{
+			Velocity_Angular_Left_Right velocity_Angular_Left_Right = (Velocity_Angular_Left_Right)theEObject;
+			T result = caseVelocity_Angular_Left_Right(velocity_Angular_Left_Right);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Oarp4_datatypesPackage.VELOCITY:
+		{
+			Velocity velocity = (Velocity)theEObject;
+			T result = caseVelocity(velocity);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		default:
+			return defaultCase(theEObject);
+		}
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Velocity Linear</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Velocity Linear</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseVelocity_Linear(Velocity_Linear object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Art Set Point</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Art Set Point</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseArt_Set_Point(Art_Set_Point object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Velocity Angular</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Velocity Angular</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseVelocity_Angular(Velocity_Angular object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Distance</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Distance</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseDistance(Distance object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Metric</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Metric</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseMetric(Metric object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Angular</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Angular</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseAngular(Angular object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Op Set Point</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Op Set Point</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseOp_Set_Point(Op_Set_Point object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Speed Tics Left Right</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Speed Tics Left Right</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseSpeed_Tics_Left_Right(Speed_Tics_Left_Right object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Speed Tics</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Speed Tics</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseSpeed_Tics(Speed_Tics object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Odometer Tics</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Odometer Tics</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseOdometer_Tics(Odometer_Tics object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Odometer Tics Left Right</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Odometer Tics Left Right</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseOdometer_Tics_Left_Right(Odometer_Tics_Left_Right object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Proxi Left Right</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Proxi Left Right</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseProxi_Left_Right(Proxi_Left_Right object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Milli Amp</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Milli Amp</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseMilli_Amp(Milli_Amp object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Odometer Linear Left Right</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Odometer Linear Left Right</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseOdometer_Linear_Left_Right(Odometer_Linear_Left_Right object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Velocity Angular Left Right</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Velocity Angular Left Right</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseVelocity_Angular_Left_Right(Velocity_Angular_Left_Right object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Velocity</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Velocity</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseVelocity(Velocity object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>EObject</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch, but this is the last case anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>EObject</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject)
+	 * @generated
+	 */
+	@Override
+	public T defaultCase(EObject object) {
+		return null;
+	}
+
+} //Oarp4_datatypesSwitch
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/COVARIANCE_TYPE.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/COVARIANCE_TYPE.java
new file mode 100644
index 00000000000..93b174e2c17
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/COVARIANCE_TYPE.java
@@ -0,0 +1,289 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes;
+
+import java.util.Arrays;
+import java.util.Collections;
+import java.util.List;
+
+import org.eclipse.emf.common.util.Enumerator;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the literals of the enumeration '<em><b>COVARIANCE TYPE</b></em>',
+ * and utility methods for working with them.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getCOVARIANCE_TYPE()
+ * @model
+ * @generated
+ */
+public enum COVARIANCE_TYPE implements Enumerator {
+	/**
+	 * The '<em><b>COVARIANCE TYPE UNKNOWN</b></em>' literal object.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #COVARIANCE_TYPE_UNKNOWN_VALUE
+	 * @generated
+	 * @ordered
+	 */
+	COVARIANCE_TYPE_UNKNOWN(0, "COVARIANCE_TYPE_UNKNOWN", "COVARIANCE_TYPE_UNKNOWN"),
+
+	/**
+	 * The '<em><b>COVARIANCE TYPE APPROXIMATED</b></em>' literal object.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #COVARIANCE_TYPE_APPROXIMATED_VALUE
+	 * @generated
+	 * @ordered
+	 */
+	COVARIANCE_TYPE_APPROXIMATED(1, "COVARIANCE_TYPE_APPROXIMATED", "COVARIANCE_TYPE_APPROXIMATED"),
+
+	/**
+	 * The '<em><b>COVARIANCE TYPE DIAGONAL KNOWN</b></em>' literal object.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #_COVARIANCE_TYPE_DIAGONAL_KNOWN_VALUE
+	 * @generated
+	 * @ordered
+	 */
+	_COVARIANCE_TYPE_DIAGONAL_KNOWN(2, "_COVARIANCE_TYPE_DIAGONAL_KNOWN", "_COVARIANCE_TYPE_DIAGONAL_KNOWN"),
+
+	/**
+	 * The '<em><b>COVARIANCE TYPE KNOWN</b></em>' literal object.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #COVARIANCE_TYPE_KNOWN_VALUE
+	 * @generated
+	 * @ordered
+	 */
+	COVARIANCE_TYPE_KNOWN(3, "COVARIANCE_TYPE_KNOWN", "COVARIANCE_TYPE_KNOWN");
+
+	/**
+	 * The '<em><b>COVARIANCE TYPE UNKNOWN</b></em>' literal value.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of '<em><b>COVARIANCE TYPE UNKNOWN</b></em>' literal object isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #COVARIANCE_TYPE_UNKNOWN
+	 * @model
+	 * @generated
+	 * @ordered
+	 */
+	public static final int COVARIANCE_TYPE_UNKNOWN_VALUE = 0;
+
+	/**
+	 * The '<em><b>COVARIANCE TYPE APPROXIMATED</b></em>' literal value.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of '<em><b>COVARIANCE TYPE APPROXIMATED</b></em>' literal object isn't clear, there really should be more of a description
+	 * here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #COVARIANCE_TYPE_APPROXIMATED
+	 * @model
+	 * @generated
+	 * @ordered
+	 */
+	public static final int COVARIANCE_TYPE_APPROXIMATED_VALUE = 1;
+
+	/**
+	 * The '<em><b>COVARIANCE TYPE DIAGONAL KNOWN</b></em>' literal value.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of '<em><b>COVARIANCE TYPE DIAGONAL KNOWN</b></em>' literal object isn't clear, there really should be more of a description
+	 * here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #_COVARIANCE_TYPE_DIAGONAL_KNOWN
+	 * @model
+	 * @generated
+	 * @ordered
+	 */
+	public static final int _COVARIANCE_TYPE_DIAGONAL_KNOWN_VALUE = 2;
+
+	/**
+	 * The '<em><b>COVARIANCE TYPE KNOWN</b></em>' literal value.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of '<em><b>COVARIANCE TYPE KNOWN</b></em>' literal object isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #COVARIANCE_TYPE_KNOWN
+	 * @model
+	 * @generated
+	 * @ordered
+	 */
+	public static final int COVARIANCE_TYPE_KNOWN_VALUE = 3;
+
+	/**
+	 * An array of all the '<em><b>COVARIANCE TYPE</b></em>' enumerators.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private static final COVARIANCE_TYPE[] VALUES_ARRAY = new COVARIANCE_TYPE[]{ COVARIANCE_TYPE_UNKNOWN, COVARIANCE_TYPE_APPROXIMATED, _COVARIANCE_TYPE_DIAGONAL_KNOWN, COVARIANCE_TYPE_KNOWN, };
+
+	/**
+	 * A public read-only list of all the '<em><b>COVARIANCE TYPE</b></em>' enumerators.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static final List<COVARIANCE_TYPE> VALUES = Collections.unmodifiableList(Arrays.asList(VALUES_ARRAY));
+
+	/**
+	 * Returns the '<em><b>COVARIANCE TYPE</b></em>' literal with the specified literal value.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static COVARIANCE_TYPE get(String literal) {
+		for(int i = 0; i < VALUES_ARRAY.length; ++i) {
+			COVARIANCE_TYPE result = VALUES_ARRAY[i];
+			if(result.toString().equals(literal)) {
+				return result;
+			}
+		}
+		return null;
+	}
+
+	/**
+	 * Returns the '<em><b>COVARIANCE TYPE</b></em>' literal with the specified name.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static COVARIANCE_TYPE getByName(String name) {
+		for(int i = 0; i < VALUES_ARRAY.length; ++i) {
+			COVARIANCE_TYPE result = VALUES_ARRAY[i];
+			if(result.getName().equals(name)) {
+				return result;
+			}
+		}
+		return null;
+	}
+
+	/**
+	 * Returns the '<em><b>COVARIANCE TYPE</b></em>' literal with the specified integer value.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static COVARIANCE_TYPE get(int value) {
+		switch(value) {
+		case COVARIANCE_TYPE_UNKNOWN_VALUE:
+			return COVARIANCE_TYPE_UNKNOWN;
+		case COVARIANCE_TYPE_APPROXIMATED_VALUE:
+			return COVARIANCE_TYPE_APPROXIMATED;
+		case _COVARIANCE_TYPE_DIAGONAL_KNOWN_VALUE:
+			return _COVARIANCE_TYPE_DIAGONAL_KNOWN;
+		case COVARIANCE_TYPE_KNOWN_VALUE:
+			return COVARIANCE_TYPE_KNOWN;
+		}
+		return null;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private final int value;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private final String name;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private final String literal;
+
+	/**
+	 * Only this class can construct instances.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private COVARIANCE_TYPE(int value, String name, String literal) {
+		this.value = value;
+		this.name = name;
+		this.literal = literal;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public int getValue() {
+		return value;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getName() {
+		return name;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getLiteral() {
+		return literal;
+	}
+
+	/**
+	 * Returns the literal value of the enumerator, which is its string representation.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		return literal;
+	}
+
+} //COVARIANCE_TYPE
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/CameraInfo.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/CameraInfo.java
new file mode 100644
index 00000000000..e7e2381f2f8
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/CameraInfo.java
@@ -0,0 +1,329 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes;
+
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Camera Info</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getHeader <em>Header</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getHeight <em>Height</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getWidth <em>Width</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getDistorsion_model <em>
+ * Distorsion model</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getD <em>D</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getK <em>K</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getR <em>R</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getP <em>P</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getBinning_x <em>Binning x</em>}
+ * </li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getBinning_y <em>Binning y</em>}
+ * </li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getRoi <em>Roi</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getCameraInfo()
+ * @model
+ * @generated
+ */
+public interface CameraInfo extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Header</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Header</em>' containment reference.
+	 * @see #setHeader(Header)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getCameraInfo_Header()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Header getHeader();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getHeader <em>Header</em>}'
+	 * containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Header</em>' containment reference.
+	 * @see #getHeader()
+	 * @generated
+	 */
+	void setHeader(Header value);
+
+	/**
+	 * Returns the value of the '<em><b>Height</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Height</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Height</em>' attribute.
+	 * @see #setHeight(long)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getCameraInfo_Height()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	long getHeight();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getHeight <em>Height</em>}'
+	 * attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Height</em>' attribute.
+	 * @see #getHeight()
+	 * @generated
+	 */
+	void setHeight(long value);
+
+	/**
+	 * Returns the value of the '<em><b>Width</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Width</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Width</em>' attribute.
+	 * @see #setWidth(long)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getCameraInfo_Width()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	long getWidth();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getWidth
+	 * <em>Width</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Width</em>' attribute.
+	 * @see #getWidth()
+	 * @generated
+	 */
+	void setWidth(long value);
+
+	/**
+	 * Returns the value of the '<em><b>Distorsion model</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Distorsion model</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Distorsion model</em>' attribute.
+	 * @see #setDistorsion_model(String)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getCameraInfo_Distorsion_model()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.String" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	String getDistorsion_model();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getDistorsion_model
+	 * <em>Distorsion model</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Distorsion model</em>' attribute.
+	 * @see #getDistorsion_model()
+	 * @generated
+	 */
+	void setDistorsion_model(String value);
+
+	/**
+	 * Returns the value of the '<em><b>D</b></em>' attribute list.
+	 * The list contents are of type {@link java.lang.Double}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>D</em>' attribute list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>D</em>' attribute list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getCameraInfo_D()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" ordered="false"
+	 * @generated
+	 */
+	EList<Double> getD();
+
+	/**
+	 * Returns the value of the '<em><b>K</b></em>' attribute list.
+	 * The list contents are of type {@link java.lang.Double}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>K</em>' attribute list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>K</em>' attribute list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getCameraInfo_K()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" lower="9" upper="9"
+	 *        ordered="false"
+	 * @generated
+	 */
+	EList<Double> getK();
+
+	/**
+	 * Returns the value of the '<em><b>R</b></em>' attribute list.
+	 * The list contents are of type {@link java.lang.Double}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>R</em>' attribute list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>R</em>' attribute list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getCameraInfo_R()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" lower="9" upper="9"
+	 *        ordered="false"
+	 * @generated
+	 */
+	EList<Double> getR();
+
+	/**
+	 * Returns the value of the '<em><b>P</b></em>' attribute list.
+	 * The list contents are of type {@link java.lang.Double}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>P</em>' attribute list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>P</em>' attribute list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getCameraInfo_P()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" lower="12" upper="12"
+	 *        ordered="false"
+	 * @generated
+	 */
+	EList<Double> getP();
+
+	/**
+	 * Returns the value of the '<em><b>Binning x</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Binning x</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Binning x</em>' attribute.
+	 * @see #setBinning_x(long)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getCameraInfo_Binning_x()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	long getBinning_x();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getBinning_x <em>Binning x</em>}
+	 * ' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Binning x</em>' attribute.
+	 * @see #getBinning_x()
+	 * @generated
+	 */
+	void setBinning_x(long value);
+
+	/**
+	 * Returns the value of the '<em><b>Binning y</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Binning y</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Binning y</em>' attribute.
+	 * @see #setBinning_y(long)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getCameraInfo_Binning_y()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	long getBinning_y();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getBinning_y <em>Binning y</em>}
+	 * ' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Binning y</em>' attribute.
+	 * @see #getBinning_y()
+	 * @generated
+	 */
+	void setBinning_y(long value);
+
+	/**
+	 * Returns the value of the '<em><b>Roi</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Roi</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Roi</em>' containment reference.
+	 * @see #setRoi(RegionOfInterest)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getCameraInfo_Roi()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	RegionOfInterest getRoi();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getRoi
+	 * <em>Roi</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Roi</em>' containment reference.
+	 * @see #getRoi()
+	 * @generated
+	 */
+	void setRoi(RegionOfInterest value);
+
+} // CameraInfo
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/CarLikeOdometry.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/CarLikeOdometry.java
new file mode 100644
index 00000000000..1221b78b4d3
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/CarLikeOdometry.java
@@ -0,0 +1,234 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Car Like Odometry</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CarLikeOdometry#getHeader <em>Header</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CarLikeOdometry#getSteering_angle <em>
+ * Steering angle</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CarLikeOdometry#getLeft_rear_wheel_distance
+ * <em>Left rear wheel distance</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CarLikeOdometry#getRight_rear_wheel_distance
+ * <em>Right rear wheel distance</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CarLikeOdometry#getRight_rear_wheel_velocity
+ * <em>Right rear wheel velocity</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CarLikeOdometry#getLeft_rear_wheel_velocity
+ * <em>Left rear wheel velocity</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getCarLikeOdometry()
+ * @model
+ * @generated
+ */
+public interface CarLikeOdometry extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Header</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Header</em>' containment reference.
+	 * @see #setHeader(Header)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getCarLikeOdometry_Header()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Header getHeader();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CarLikeOdometry#getHeader <em>Header</em>}'
+	 * containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Header</em>' containment reference.
+	 * @see #getHeader()
+	 * @generated
+	 */
+	void setHeader(Header value);
+
+	/**
+	 * Returns the value of the '<em><b>Steering angle</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Steering angle</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Steering angle</em>' attribute.
+	 * @see #setSteering_angle(double)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getCarLikeOdometry_Steering_angle()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	double getSteering_angle();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CarLikeOdometry#getSteering_angle
+	 * <em>Steering angle</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Steering angle</em>' attribute.
+	 * @see #getSteering_angle()
+	 * @generated
+	 */
+	void setSteering_angle(double value);
+
+	/**
+	 * Returns the value of the '<em><b>Left rear wheel distance</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Left rear wheel distance</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Left rear wheel distance</em>' attribute.
+	 * @see #setLeft_rear_wheel_distance(double)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getCarLikeOdometry_Left_rear_wheel_distance()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	double getLeft_rear_wheel_distance();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CarLikeOdometry#getLeft_rear_wheel_distance
+	 * <em>Left rear wheel distance</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Left rear wheel distance</em>' attribute.
+	 * @see #getLeft_rear_wheel_distance()
+	 * @generated
+	 */
+	void setLeft_rear_wheel_distance(double value);
+
+	/**
+	 * Returns the value of the '<em><b>Right rear wheel distance</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Right rear wheel distance</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Right rear wheel distance</em>' attribute.
+	 * @see #setRight_rear_wheel_distance(double)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getCarLikeOdometry_Right_rear_wheel_distance()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	double getRight_rear_wheel_distance();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CarLikeOdometry#getRight_rear_wheel_distance
+	 * <em>Right rear wheel distance</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Right rear wheel distance</em>' attribute.
+	 * @see #getRight_rear_wheel_distance()
+	 * @generated
+	 */
+	void setRight_rear_wheel_distance(double value);
+
+	/**
+	 * Returns the value of the '<em><b>Right rear wheel velocity</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Right rear wheel velocity</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Right rear wheel velocity</em>' attribute.
+	 * @see #setRight_rear_wheel_velocity(double)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getCarLikeOdometry_Right_rear_wheel_velocity()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	double getRight_rear_wheel_velocity();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CarLikeOdometry#getRight_rear_wheel_velocity
+	 * <em>Right rear wheel velocity</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Right rear wheel velocity</em>' attribute.
+	 * @see #getRight_rear_wheel_velocity()
+	 * @generated
+	 */
+	void setRight_rear_wheel_velocity(double value);
+
+	/**
+	 * Returns the value of the '<em><b>Left rear wheel velocity</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Left rear wheel velocity</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Left rear wheel velocity</em>' attribute.
+	 * @see #setLeft_rear_wheel_velocity(double)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getCarLikeOdometry_Left_rear_wheel_velocity()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	double getLeft_rear_wheel_velocity();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CarLikeOdometry#getLeft_rear_wheel_velocity
+	 * <em>Left rear wheel velocity</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Left rear wheel velocity</em>' attribute.
+	 * @see #getLeft_rear_wheel_velocity()
+	 * @generated
+	 */
+	void setLeft_rear_wheel_velocity(double value);
+
+} // CarLikeOdometry
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/ChannelFloat32.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/ChannelFloat32.java
new file mode 100644
index 00000000000..1af09fda548
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/ChannelFloat32.java
@@ -0,0 +1,83 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes;
+
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Channel Float32</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.ChannelFloat32#getName <em>Name</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.ChannelFloat32#getValues <em>Values</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getChannelFloat32()
+ * @model
+ * @generated
+ */
+public interface ChannelFloat32 extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Name</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Name</em>' attribute.
+	 * @see #setName(String)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getChannelFloat32_Name()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.String" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	String getName();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.ChannelFloat32#getName <em>Name</em>}'
+	 * attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Name</em>' attribute.
+	 * @see #getName()
+	 * @generated
+	 */
+	void setName(String value);
+
+	/**
+	 * Returns the value of the '<em><b>Values</b></em>' attribute list.
+	 * The list contents are of type {@link java.lang.Float}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Values</em>' attribute list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Values</em>' attribute list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getChannelFloat32_Values()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" ordered="false"
+	 * @generated
+	 */
+	EList<Float> getValues();
+
+} // ChannelFloat32
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/CompressedImage.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/CompressedImage.java
new file mode 100644
index 00000000000..ce08f696dba
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/CompressedImage.java
@@ -0,0 +1,115 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes;
+
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Compressed Image</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CompressedImage#getHeader <em>Header</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CompressedImage#getFormat <em>Format</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CompressedImage#getData <em>Data</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getCompressedImage()
+ * @model
+ * @generated
+ */
+public interface CompressedImage extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Header</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Header</em>' containment reference.
+	 * @see #setHeader(Header)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getCompressedImage_Header()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Header getHeader();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CompressedImage#getHeader <em>Header</em>}'
+	 * containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Header</em>' containment reference.
+	 * @see #getHeader()
+	 * @generated
+	 */
+	void setHeader(Header value);
+
+	/**
+	 * Returns the value of the '<em><b>Format</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Format</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Format</em>' attribute.
+	 * @see #setFormat(String)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getCompressedImage_Format()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.String" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	String getFormat();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CompressedImage#getFormat <em>Format</em>}'
+	 * attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Format</em>' attribute.
+	 * @see #getFormat()
+	 * @generated
+	 */
+	void setFormat(String value);
+
+	/**
+	 * Returns the value of the '<em><b>Data</b></em>' attribute list.
+	 * The list contents are of type {@link java.lang.Character}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Data</em>' attribute list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Data</em>' attribute list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getCompressedImage_Data()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8" ordered="false"
+	 * @generated
+	 */
+	EList<Character> getData();
+
+} // CompressedImage
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/DifferentialOdometry.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/DifferentialOdometry.java
new file mode 100644
index 00000000000..a52d6701ab5
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/DifferentialOdometry.java
@@ -0,0 +1,198 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Differential Odometry</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.DifferentialOdometry#getHeader <em>Header
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.DifferentialOdometry#getRight_distance <em>
+ * Right distance</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.DifferentialOdometry#getLeft_distance <em>
+ * Left distance</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.DifferentialOdometry#getLeft_velocity <em>
+ * Left velocity</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.DifferentialOdometry#getRight_velocity <em>
+ * Right velocity</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getDifferentialOdometry()
+ * @model
+ * @generated
+ */
+public interface DifferentialOdometry extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Header</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Header</em>' containment reference.
+	 * @see #setHeader(Header)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getDifferentialOdometry_Header()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Header getHeader();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.DifferentialOdometry#getHeader
+	 * <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Header</em>' containment reference.
+	 * @see #getHeader()
+	 * @generated
+	 */
+	void setHeader(Header value);
+
+	/**
+	 * Returns the value of the '<em><b>Right distance</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Right distance</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Right distance</em>' attribute.
+	 * @see #setRight_distance(double)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getDifferentialOdometry_Right_distance()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	double getRight_distance();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.DifferentialOdometry#getRight_distance
+	 * <em>Right distance</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Right distance</em>' attribute.
+	 * @see #getRight_distance()
+	 * @generated
+	 */
+	void setRight_distance(double value);
+
+	/**
+	 * Returns the value of the '<em><b>Left distance</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Left distance</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Left distance</em>' attribute.
+	 * @see #setLeft_distance(double)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getDifferentialOdometry_Left_distance()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	double getLeft_distance();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.DifferentialOdometry#getLeft_distance
+	 * <em>Left distance</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Left distance</em>' attribute.
+	 * @see #getLeft_distance()
+	 * @generated
+	 */
+	void setLeft_distance(double value);
+
+	/**
+	 * Returns the value of the '<em><b>Left velocity</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Left velocity</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Left velocity</em>' attribute.
+	 * @see #setLeft_velocity(double)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getDifferentialOdometry_Left_velocity()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	double getLeft_velocity();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.DifferentialOdometry#getLeft_velocity
+	 * <em>Left velocity</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Left velocity</em>' attribute.
+	 * @see #getLeft_velocity()
+	 * @generated
+	 */
+	void setLeft_velocity(double value);
+
+	/**
+	 * Returns the value of the '<em><b>Right velocity</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Right velocity</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Right velocity</em>' attribute.
+	 * @see #setRight_velocity(double)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getDifferentialOdometry_Right_velocity()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	double getRight_velocity();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.DifferentialOdometry#getRight_velocity
+	 * <em>Right velocity</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Right velocity</em>' attribute.
+	 * @see #getRight_velocity()
+	 * @generated
+	 */
+	void setRight_velocity(double value);
+
+} // DifferentialOdometry
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/Image.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/Image.java
new file mode 100644
index 00000000000..7bfdb62b8ab
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/Image.java
@@ -0,0 +1,239 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes;
+
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Image</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Image#getHeader <em>Header</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Image#getHeight <em>Height</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Image#getWidth <em>Width</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Image#getEncoding <em>Encoding</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Image#getIs_bigendian <em>Is bigendian
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Image#getStep <em>Step</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Image#getData <em>Data</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getImage()
+ * @model
+ * @generated
+ */
+public interface Image extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Header</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Header</em>' containment reference.
+	 * @see #setHeader(Header)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getImage_Header()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Header getHeader();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Image#getHeader
+	 * <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Header</em>' containment reference.
+	 * @see #getHeader()
+	 * @generated
+	 */
+	void setHeader(Header value);
+
+	/**
+	 * Returns the value of the '<em><b>Height</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Height</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Height</em>' attribute.
+	 * @see #setHeight(long)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getImage_Height()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	long getHeight();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Image#getHeight
+	 * <em>Height</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Height</em>' attribute.
+	 * @see #getHeight()
+	 * @generated
+	 */
+	void setHeight(long value);
+
+	/**
+	 * Returns the value of the '<em><b>Width</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Width</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Width</em>' attribute.
+	 * @see #setWidth(long)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getImage_Width()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	long getWidth();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Image#getWidth
+	 * <em>Width</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Width</em>' attribute.
+	 * @see #getWidth()
+	 * @generated
+	 */
+	void setWidth(long value);
+
+	/**
+	 * Returns the value of the '<em><b>Encoding</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Encoding</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Encoding</em>' attribute.
+	 * @see #setEncoding(String)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getImage_Encoding()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.String" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	String getEncoding();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Image#getEncoding
+	 * <em>Encoding</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Encoding</em>' attribute.
+	 * @see #getEncoding()
+	 * @generated
+	 */
+	void setEncoding(String value);
+
+	/**
+	 * Returns the value of the '<em><b>Is bigendian</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Is bigendian</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Is bigendian</em>' attribute.
+	 * @see #setIs_bigendian(char)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getImage_Is_bigendian()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	char getIs_bigendian();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Image#getIs_bigendian
+	 * <em>Is bigendian</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Is bigendian</em>' attribute.
+	 * @see #getIs_bigendian()
+	 * @generated
+	 */
+	void setIs_bigendian(char value);
+
+	/**
+	 * Returns the value of the '<em><b>Step</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Step</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Step</em>' attribute.
+	 * @see #setStep(long)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getImage_Step()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	long getStep();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Image#getStep
+	 * <em>Step</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Step</em>' attribute.
+	 * @see #getStep()
+	 * @generated
+	 */
+	void setStep(long value);
+
+	/**
+	 * Returns the value of the '<em><b>Data</b></em>' attribute list.
+	 * The list contents are of type {@link java.lang.Character}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Data</em>' attribute list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Data</em>' attribute list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getImage_Data()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8" ordered="false"
+	 * @generated
+	 */
+	EList<Character> getData();
+
+} // Image
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/Imu.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/Imu.java
new file mode 100644
index 00000000000..83f0f84973d
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/Imu.java
@@ -0,0 +1,219 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes;
+
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Quaternion;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Imu</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Imu#getHeader <em>Header</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Imu#getOrientation <em>Orientation</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Imu#getOrientation_covariance <em>
+ * Orientation covariance</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Imu#getAngular_velocity <em>Angular
+ * velocity</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Imu#getAngular_velocity_covariance <em>
+ * Angular velocity covariance</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Imu#getLinear_acceleration <em>Linear
+ * acceleration</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Imu#getLinear_acceleration_covariance <em>
+ * Linear acceleration covariance</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getImu()
+ * @model
+ * @generated
+ */
+public interface Imu extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Header</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Header</em>' containment reference.
+	 * @see #setHeader(Header)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getImu_Header()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Header getHeader();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Imu#getHeader
+	 * <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Header</em>' containment reference.
+	 * @see #getHeader()
+	 * @generated
+	 */
+	void setHeader(Header value);
+
+	/**
+	 * Returns the value of the '<em><b>Orientation</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Orientation</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Orientation</em>' containment reference.
+	 * @see #setOrientation(Quaternion)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getImu_Orientation()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Quaternion getOrientation();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Imu#getOrientation
+	 * <em>Orientation</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Orientation</em>' containment reference.
+	 * @see #getOrientation()
+	 * @generated
+	 */
+	void setOrientation(Quaternion value);
+
+	/**
+	 * Returns the value of the '<em><b>Orientation covariance</b></em>' attribute list.
+	 * The list contents are of type {@link java.lang.Double}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Orientation covariance</em>' attribute list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Orientation covariance</em>' attribute list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getImu_Orientation_covariance()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" lower="9" upper="9"
+	 *        ordered="false"
+	 * @generated
+	 */
+	EList<Double> getOrientation_covariance();
+
+	/**
+	 * Returns the value of the '<em><b>Angular velocity</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Angular velocity</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Angular velocity</em>' containment reference.
+	 * @see #setAngular_velocity(Vector3)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getImu_Angular_velocity()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Vector3 getAngular_velocity();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Imu#getAngular_velocity
+	 * <em>Angular velocity</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Angular velocity</em>' containment reference.
+	 * @see #getAngular_velocity()
+	 * @generated
+	 */
+	void setAngular_velocity(Vector3 value);
+
+	/**
+	 * Returns the value of the '<em><b>Angular velocity covariance</b></em>' attribute list.
+	 * The list contents are of type {@link java.lang.Double}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Angular velocity covariance</em>' attribute list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Angular velocity covariance</em>' attribute list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getImu_Angular_velocity_covariance()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" lower="9" upper="9"
+	 *        ordered="false"
+	 * @generated
+	 */
+	EList<Double> getAngular_velocity_covariance();
+
+	/**
+	 * Returns the value of the '<em><b>Linear acceleration</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Linear acceleration</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Linear acceleration</em>' containment reference.
+	 * @see #setLinear_acceleration(Vector3)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getImu_Linear_acceleration()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Vector3 getLinear_acceleration();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Imu#getLinear_acceleration
+	 * <em>Linear acceleration</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Linear acceleration</em>' containment reference.
+	 * @see #getLinear_acceleration()
+	 * @generated
+	 */
+	void setLinear_acceleration(Vector3 value);
+
+	/**
+	 * Returns the value of the '<em><b>Linear acceleration covariance</b></em>' attribute list.
+	 * The list contents are of type {@link java.lang.Double}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Linear acceleration covariance</em>' attribute list isn't clear, there really should be more of a description
+	 * here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Linear acceleration covariance</em>' attribute list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getImu_Linear_acceleration_covariance()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" lower="9" upper="9"
+	 *        ordered="false"
+	 * @generated
+	 */
+	EList<Double> getLinear_acceleration_covariance();
+
+} // Imu
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/JointState.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/JointState.java
new file mode 100644
index 00000000000..0806b14a793
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/JointState.java
@@ -0,0 +1,102 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes;
+
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Joint State</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JointState#getName <em>Name</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JointState#getPosition <em>Position</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JointState#getVelocity <em>Velocity</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JointState#getEffort <em>Effort</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getJointState()
+ * @model
+ * @generated
+ */
+public interface JointState extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Name</b></em>' attribute list.
+	 * The list contents are of type {@link java.lang.String}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Name</em>' attribute list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Name</em>' attribute list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getJointState_Name()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.String" ordered="false"
+	 * @generated
+	 */
+	EList<String> getName();
+
+	/**
+	 * Returns the value of the '<em><b>Position</b></em>' attribute list.
+	 * The list contents are of type {@link java.lang.Double}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Position</em>' attribute list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Position</em>' attribute list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getJointState_Position()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" ordered="false"
+	 * @generated
+	 */
+	EList<Double> getPosition();
+
+	/**
+	 * Returns the value of the '<em><b>Velocity</b></em>' attribute list.
+	 * The list contents are of type {@link java.lang.Double}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Velocity</em>' attribute list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Velocity</em>' attribute list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getJointState_Velocity()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" ordered="false"
+	 * @generated
+	 */
+	EList<Double> getVelocity();
+
+	/**
+	 * Returns the value of the '<em><b>Effort</b></em>' attribute list.
+	 * The list contents are of type {@link java.lang.Double}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Effort</em>' attribute list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Effort</em>' attribute list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getJointState_Effort()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" ordered="false"
+	 * @generated
+	 */
+	EList<Double> getEffort();
+
+} // JointState
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/Joy.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/Joy.java
new file mode 100644
index 00000000000..b0368a4d32a
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/Joy.java
@@ -0,0 +1,99 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes;
+
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Joy</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Joy#getHeader <em>Header</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Joy#getAxes <em>Axes</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Joy#getButtons <em>Buttons</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getJoy()
+ * @model
+ * @generated
+ */
+public interface Joy extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Header</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Header</em>' containment reference.
+	 * @see #setHeader(Header)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getJoy_Header()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Header getHeader();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Joy#getHeader
+	 * <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Header</em>' containment reference.
+	 * @see #getHeader()
+	 * @generated
+	 */
+	void setHeader(Header value);
+
+	/**
+	 * Returns the value of the '<em><b>Axes</b></em>' attribute list.
+	 * The list contents are of type {@link java.lang.Float}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Axes</em>' attribute list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Axes</em>' attribute list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getJoy_Axes()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" ordered="false"
+	 * @generated
+	 */
+	EList<Float> getAxes();
+
+	/**
+	 * Returns the value of the '<em><b>Buttons</b></em>' attribute list.
+	 * The list contents are of type {@link java.lang.Integer}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Buttons</em>' attribute list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Buttons</em>' attribute list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getJoy_Buttons()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int32" ordered="false"
+	 * @generated
+	 */
+	EList<Integer> getButtons();
+
+} // Joy
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/JoyFeedback.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/JoyFeedback.java
new file mode 100644
index 00000000000..797e82d3b1f
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/JoyFeedback.java
@@ -0,0 +1,229 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Joy Feedback</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedback#getTYPE_LED <em>TYPE LED</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedback#getTYPE_RUMBLE <em>TYPE RUMBLE
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedback#getTYPE_BUZZER <em>TYPE BUZZER
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedback#getType <em>Type</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedback#getId <em>Id</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedback#getIntensity <em>Intensity
+ * </em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getJoyFeedback()
+ * @model
+ * @generated
+ */
+public interface JoyFeedback extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>TYPE LED</b></em>' attribute.
+	 * The default value is <code>"0"</code>.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>TYPE LED</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>TYPE LED</em>' attribute.
+	 * @see #setTYPE_LED(char)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getJoyFeedback_TYPE_LED()
+	 * @model default="0" dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	char getTYPE_LED();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedback#getTYPE_LED <em>TYPE LED</em>}'
+	 * attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>TYPE LED</em>' attribute.
+	 * @see #getTYPE_LED()
+	 * @generated
+	 */
+	void setTYPE_LED(char value);
+
+	/**
+	 * Returns the value of the '<em><b>TYPE RUMBLE</b></em>' attribute.
+	 * The default value is <code>"1"</code>.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>TYPE RUMBLE</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>TYPE RUMBLE</em>' attribute.
+	 * @see #setTYPE_RUMBLE(char)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getJoyFeedback_TYPE_RUMBLE()
+	 * @model default="1" dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	char getTYPE_RUMBLE();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedback#getTYPE_RUMBLE
+	 * <em>TYPE RUMBLE</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>TYPE RUMBLE</em>' attribute.
+	 * @see #getTYPE_RUMBLE()
+	 * @generated
+	 */
+	void setTYPE_RUMBLE(char value);
+
+	/**
+	 * Returns the value of the '<em><b>TYPE BUZZER</b></em>' attribute.
+	 * The default value is <code>"2"</code>.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>TYPE BUZZER</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>TYPE BUZZER</em>' attribute.
+	 * @see #setTYPE_BUZZER(char)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getJoyFeedback_TYPE_BUZZER()
+	 * @model default="2" dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	char getTYPE_BUZZER();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedback#getTYPE_BUZZER
+	 * <em>TYPE BUZZER</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>TYPE BUZZER</em>' attribute.
+	 * @see #getTYPE_BUZZER()
+	 * @generated
+	 */
+	void setTYPE_BUZZER(char value);
+
+	/**
+	 * Returns the value of the '<em><b>Type</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Type</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Type</em>' attribute.
+	 * @see #setType(char)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getJoyFeedback_Type()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	char getType();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedback#getType
+	 * <em>Type</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Type</em>' attribute.
+	 * @see #getType()
+	 * @generated
+	 */
+	void setType(char value);
+
+	/**
+	 * Returns the value of the '<em><b>Id</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Id</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Id</em>' attribute.
+	 * @see #setId(char)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getJoyFeedback_Id()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	char getId();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedback#getId
+	 * <em>Id</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Id</em>' attribute.
+	 * @see #getId()
+	 * @generated
+	 */
+	void setId(char value);
+
+	/**
+	 * Returns the value of the '<em><b>Intensity</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Intensity</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Intensity</em>' attribute.
+	 * @see #setIntensity(float)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getJoyFeedback_Intensity()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getIntensity();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedback#getIntensity
+	 * <em>Intensity</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Intensity</em>' attribute.
+	 * @see #getIntensity()
+	 * @generated
+	 */
+	void setIntensity(float value);
+
+} // JoyFeedback
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/JoyFeedbackArray.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/JoyFeedbackArray.java
new file mode 100644
index 00000000000..800a4d0803d
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/JoyFeedbackArray.java
@@ -0,0 +1,51 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes;
+
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Joy Feedback Array</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedbackArray#getArray <em>Array</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getJoyFeedbackArray()
+ * @model
+ * @generated
+ */
+public interface JoyFeedbackArray extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Array</b></em>' containment reference list.
+	 * The list contents are of type {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedback}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Array</em>' containment reference list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Array</em>' containment reference list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getJoyFeedbackArray_Array()
+	 * @model containment="true" ordered="false"
+	 * @generated
+	 */
+	EList<JoyFeedback> getArray();
+
+} // JoyFeedbackArray
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/LaserScan.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/LaserScan.java
new file mode 100644
index 00000000000..f093d7d20ee
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/LaserScan.java
@@ -0,0 +1,326 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes;
+
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Laser Scan</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan#getHeader <em>Header</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan#getAngle_min <em>Angle min</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan#getAngle_max <em>Angle max</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan#getAngle_increment <em>Angle
+ * increment</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan#getTime_increment <em>Time
+ * increment</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan#getScan_time <em>Scan time</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan#getRange_min <em>Range min</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan#getRange_max <em>Range max</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan#getRange <em>Range</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan#getIntensities <em>Intensities
+ * </em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getLaserScan()
+ * @model
+ * @generated
+ */
+public interface LaserScan extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Header</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Header</em>' containment reference.
+	 * @see #setHeader(Header)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getLaserScan_Header()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Header getHeader();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan#getHeader
+	 * <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Header</em>' containment reference.
+	 * @see #getHeader()
+	 * @generated
+	 */
+	void setHeader(Header value);
+
+	/**
+	 * Returns the value of the '<em><b>Angle min</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Angle min</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Angle min</em>' attribute.
+	 * @see #setAngle_min(float)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getLaserScan_Angle_min()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getAngle_min();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan#getAngle_min <em>Angle min</em>}'
+	 * attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Angle min</em>' attribute.
+	 * @see #getAngle_min()
+	 * @generated
+	 */
+	void setAngle_min(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Angle max</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Angle max</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Angle max</em>' attribute.
+	 * @see #setAngle_max(float)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getLaserScan_Angle_max()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getAngle_max();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan#getAngle_max <em>Angle max</em>}'
+	 * attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Angle max</em>' attribute.
+	 * @see #getAngle_max()
+	 * @generated
+	 */
+	void setAngle_max(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Angle increment</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Angle increment</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Angle increment</em>' attribute.
+	 * @see #setAngle_increment(float)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getLaserScan_Angle_increment()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getAngle_increment();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan#getAngle_increment
+	 * <em>Angle increment</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Angle increment</em>' attribute.
+	 * @see #getAngle_increment()
+	 * @generated
+	 */
+	void setAngle_increment(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Time increment</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Time increment</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Time increment</em>' attribute.
+	 * @see #setTime_increment(float)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getLaserScan_Time_increment()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getTime_increment();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan#getTime_increment
+	 * <em>Time increment</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Time increment</em>' attribute.
+	 * @see #getTime_increment()
+	 * @generated
+	 */
+	void setTime_increment(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Scan time</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Scan time</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Scan time</em>' attribute.
+	 * @see #setScan_time(float)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getLaserScan_Scan_time()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getScan_time();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan#getScan_time <em>Scan time</em>}'
+	 * attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Scan time</em>' attribute.
+	 * @see #getScan_time()
+	 * @generated
+	 */
+	void setScan_time(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Range min</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Range min</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Range min</em>' attribute.
+	 * @see #setRange_min(float)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getLaserScan_Range_min()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getRange_min();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan#getRange_min <em>Range min</em>}'
+	 * attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Range min</em>' attribute.
+	 * @see #getRange_min()
+	 * @generated
+	 */
+	void setRange_min(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Range max</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Range max</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Range max</em>' attribute.
+	 * @see #setRange_max(float)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getLaserScan_Range_max()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getRange_max();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan#getRange_max <em>Range max</em>}'
+	 * attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Range max</em>' attribute.
+	 * @see #getRange_max()
+	 * @generated
+	 */
+	void setRange_max(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Range</b></em>' attribute list.
+	 * The list contents are of type {@link java.lang.Float}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Range</em>' attribute list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Range</em>' attribute list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getLaserScan_Range()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" ordered="false"
+	 * @generated
+	 */
+	EList<Float> getRange();
+
+	/**
+	 * Returns the value of the '<em><b>Intensities</b></em>' attribute list.
+	 * The list contents are of type {@link java.lang.Float}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Intensities</em>' attribute list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Intensities</em>' attribute list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getLaserScan_Intensities()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" ordered="false"
+	 * @generated
+	 */
+	EList<Float> getIntensities();
+
+} // LaserScan
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/NavSatFix.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/NavSatFix.java
new file mode 100644
index 00000000000..19a4234b84d
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/NavSatFix.java
@@ -0,0 +1,285 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes;
+
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Nav Sat Fix</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix#getStatus <em>Status</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix#getService <em>Service</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix#getHeader <em>Header</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix#getLatitude <em>Latitude</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix#getLongitude <em>Longitude</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix#getAltitude <em>Altitude</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix#getPosition_covariance <em>
+ * Position covariance</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix#getPosition_covariance_type <em>
+ * Position covariance type</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getNavSatFix()
+ * @model
+ * @generated
+ */
+public interface NavSatFix extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Status</b></em>' attribute.
+	 * The literals are from the enumeration
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.STATUS_TYPE}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Status</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Status</em>' attribute.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.STATUS_TYPE
+	 * @see #setStatus(STATUS_TYPE)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getNavSatFix_Status()
+	 * @model required="true" ordered="false"
+	 * @generated
+	 */
+	STATUS_TYPE getStatus();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix#getStatus
+	 * <em>Status</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Status</em>' attribute.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.STATUS_TYPE
+	 * @see #getStatus()
+	 * @generated
+	 */
+	void setStatus(STATUS_TYPE value);
+
+	/**
+	 * Returns the value of the '<em><b>Service</b></em>' attribute.
+	 * The literals are from the enumeration
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.SERVICE_TYPE}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Service</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Service</em>' attribute.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.SERVICE_TYPE
+	 * @see #setService(SERVICE_TYPE)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getNavSatFix_Service()
+	 * @model required="true" ordered="false"
+	 * @generated
+	 */
+	SERVICE_TYPE getService();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix#getService <em>Service</em>}'
+	 * attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Service</em>' attribute.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.SERVICE_TYPE
+	 * @see #getService()
+	 * @generated
+	 */
+	void setService(SERVICE_TYPE value);
+
+	/**
+	 * Returns the value of the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Header</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Header</em>' containment reference.
+	 * @see #setHeader(Header)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getNavSatFix_Header()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Header getHeader();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix#getHeader
+	 * <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Header</em>' containment reference.
+	 * @see #getHeader()
+	 * @generated
+	 */
+	void setHeader(Header value);
+
+	/**
+	 * Returns the value of the '<em><b>Latitude</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Latitude</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Latitude</em>' attribute.
+	 * @see #setLatitude(double)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getNavSatFix_Latitude()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	double getLatitude();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix#getLatitude <em>Latitude</em>}'
+	 * attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Latitude</em>' attribute.
+	 * @see #getLatitude()
+	 * @generated
+	 */
+	void setLatitude(double value);
+
+	/**
+	 * Returns the value of the '<em><b>Longitude</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Longitude</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Longitude</em>' attribute.
+	 * @see #setLongitude(double)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getNavSatFix_Longitude()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	double getLongitude();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix#getLongitude <em>Longitude</em>}'
+	 * attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Longitude</em>' attribute.
+	 * @see #getLongitude()
+	 * @generated
+	 */
+	void setLongitude(double value);
+
+	/**
+	 * Returns the value of the '<em><b>Altitude</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Altitude</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Altitude</em>' attribute.
+	 * @see #setAltitude(double)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getNavSatFix_Altitude()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	double getAltitude();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix#getAltitude <em>Altitude</em>}'
+	 * attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Altitude</em>' attribute.
+	 * @see #getAltitude()
+	 * @generated
+	 */
+	void setAltitude(double value);
+
+	/**
+	 * Returns the value of the '<em><b>Position covariance</b></em>' attribute list.
+	 * The list contents are of type {@link java.lang.Double}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Position covariance</em>' attribute list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Position covariance</em>' attribute list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getNavSatFix_Position_covariance()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" lower="9" upper="9"
+	 *        ordered="false"
+	 * @generated
+	 */
+	EList<Double> getPosition_covariance();
+
+	/**
+	 * Returns the value of the '<em><b>Position covariance type</b></em>' attribute.
+	 * The literals are from the enumeration
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.COVARIANCE_TYPE}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Position covariance type</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Position covariance type</em>' attribute.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.COVARIANCE_TYPE
+	 * @see #setPosition_covariance_type(COVARIANCE_TYPE)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getNavSatFix_Position_covariance_type()
+	 * @model required="true" ordered="false"
+	 * @generated
+	 */
+	COVARIANCE_TYPE getPosition_covariance_type();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix#getPosition_covariance_type
+	 * <em>Position covariance type</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Position covariance type</em>' attribute.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.COVARIANCE_TYPE
+	 * @see #getPosition_covariance_type()
+	 * @generated
+	 */
+	void setPosition_covariance_type(COVARIANCE_TYPE value);
+
+} // NavSatFix
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/NavSatStatus.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/NavSatStatus.java
new file mode 100644
index 00000000000..b73887f227d
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/NavSatStatus.java
@@ -0,0 +1,249 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Nav Sat Status</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus#getSTATUS_NO_FIX <em>STATUS NO
+ * FIX</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus#getSTATUS_FIX <em>STATUS FIX
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus#getSTATUS_SBAS_FIX <em>STATUS
+ * SBAS FIX</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus#getSTATUS_GBAS_FIX <em>STATUS
+ * GBAS FIX</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus#getStatus <em>Status</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus#getSERVICE_GPS <em>SERVICE GPS
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus#getSERVICE_GLONASS <em>SERVICE
+ * GLONASS</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus#getSERVICE_COMPASS <em>SERVICE
+ * COMPASS</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus#getSERVICE_GALILEO <em>SERVICE
+ * GALILEO</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus#getService <em>Service</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getNavSatStatus()
+ * @model
+ * @generated
+ */
+public interface NavSatStatus extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>STATUS NO FIX</b></em>' attribute.
+	 * The default value is <code>"-1"</code>.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>STATUS NO FIX</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>STATUS NO FIX</em>' attribute.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getNavSatStatus_STATUS_NO_FIX()
+	 * @model default="-1" dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int8" required="true"
+	 *        changeable="false" ordered="false"
+	 * @generated
+	 */
+	char getSTATUS_NO_FIX();
+
+	/**
+	 * Returns the value of the '<em><b>STATUS FIX</b></em>' attribute.
+	 * The default value is <code>"0"</code>.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>STATUS FIX</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>STATUS FIX</em>' attribute.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getNavSatStatus_STATUS_FIX()
+	 * @model default="0" dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int8" required="true"
+	 *        changeable="false" ordered="false"
+	 * @generated
+	 */
+	char getSTATUS_FIX();
+
+	/**
+	 * Returns the value of the '<em><b>STATUS SBAS FIX</b></em>' attribute.
+	 * The default value is <code>"1"</code>.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>STATUS SBAS FIX</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>STATUS SBAS FIX</em>' attribute.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getNavSatStatus_STATUS_SBAS_FIX()
+	 * @model default="1" dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int8" required="true"
+	 *        changeable="false" ordered="false"
+	 * @generated
+	 */
+	char getSTATUS_SBAS_FIX();
+
+	/**
+	 * Returns the value of the '<em><b>STATUS GBAS FIX</b></em>' attribute.
+	 * The default value is <code>"2"</code>.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>STATUS GBAS FIX</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>STATUS GBAS FIX</em>' attribute.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getNavSatStatus_STATUS_GBAS_FIX()
+	 * @model default="2" dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int8" required="true"
+	 *        changeable="false" ordered="false"
+	 * @generated
+	 */
+	char getSTATUS_GBAS_FIX();
+
+	/**
+	 * Returns the value of the '<em><b>Status</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Status</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Status</em>' attribute.
+	 * @see #setStatus(char)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getNavSatStatus_Status()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int8" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	char getStatus();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus#getStatus <em>Status</em>}'
+	 * attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Status</em>' attribute.
+	 * @see #getStatus()
+	 * @generated
+	 */
+	void setStatus(char value);
+
+	/**
+	 * Returns the value of the '<em><b>SERVICE GPS</b></em>' attribute.
+	 * The default value is <code>"1"</code>.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>SERVICE GPS</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>SERVICE GPS</em>' attribute.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getNavSatStatus_SERVICE_GPS()
+	 * @model default="1" dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt16" required="true"
+	 *        changeable="false" ordered="false"
+	 * @generated
+	 */
+	int getSERVICE_GPS();
+
+	/**
+	 * Returns the value of the '<em><b>SERVICE GLONASS</b></em>' attribute.
+	 * The default value is <code>"2"</code>.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>SERVICE GLONASS</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>SERVICE GLONASS</em>' attribute.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getNavSatStatus_SERVICE_GLONASS()
+	 * @model default="2" dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt16" required="true"
+	 *        changeable="false" ordered="false"
+	 * @generated
+	 */
+	int getSERVICE_GLONASS();
+
+	/**
+	 * Returns the value of the '<em><b>SERVICE COMPASS</b></em>' attribute.
+	 * The default value is <code>"4"</code>.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>SERVICE COMPASS</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>SERVICE COMPASS</em>' attribute.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getNavSatStatus_SERVICE_COMPASS()
+	 * @model default="4" dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt16" required="true"
+	 *        changeable="false" ordered="false"
+	 * @generated
+	 */
+	int getSERVICE_COMPASS();
+
+	/**
+	 * Returns the value of the '<em><b>SERVICE GALILEO</b></em>' attribute.
+	 * The default value is <code>"8"</code>.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>SERVICE GALILEO</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>SERVICE GALILEO</em>' attribute.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getNavSatStatus_SERVICE_GALILEO()
+	 * @model default="8" dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt16" required="true"
+	 *        changeable="false" ordered="false"
+	 * @generated
+	 */
+	int getSERVICE_GALILEO();
+
+	/**
+	 * Returns the value of the '<em><b>Service</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Service</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Service</em>' attribute.
+	 * @see #setService(int)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getNavSatStatus_Service()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt16" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	int getService();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus#getService <em>Service</em>}'
+	 * attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Service</em>' attribute.
+	 * @see #getService()
+	 * @generated
+	 */
+	void setService(int value);
+
+} // NavSatStatus
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/PointCloud.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/PointCloud.java
new file mode 100644
index 00000000000..fc0342a0746
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/PointCloud.java
@@ -0,0 +1,102 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes;
+
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point32;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Point Cloud</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud#getHeader <em>Header</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud#getPoints <em>Points</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud#getChannels <em>Channels</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getPointCloud()
+ * @model
+ * @generated
+ */
+public interface PointCloud extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Header</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Header</em>' containment reference.
+	 * @see #setHeader(Header)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getPointCloud_Header()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Header getHeader();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud#getHeader <em>Header</em>}'
+	 * containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Header</em>' containment reference.
+	 * @see #getHeader()
+	 * @generated
+	 */
+	void setHeader(Header value);
+
+	/**
+	 * Returns the value of the '<em><b>Points</b></em>' containment reference list.
+	 * The list contents are of type {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point32}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Points</em>' containment reference list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Points</em>' containment reference list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getPointCloud_Points()
+	 * @model containment="true" ordered="false"
+	 * @generated
+	 */
+	EList<Point32> getPoints();
+
+	/**
+	 * Returns the value of the '<em><b>Channels</b></em>' containment reference list.
+	 * The list contents are of type
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.ChannelFloat32}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Channels</em>' containment reference list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Channels</em>' containment reference list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getPointCloud_Channels()
+	 * @model containment="true" ordered="false"
+	 * @generated
+	 */
+	EList<ChannelFloat32> getChannels();
+
+} // PointCloud
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/PointCloud2.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/PointCloud2.java
new file mode 100644
index 00000000000..601abf21dea
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/PointCloud2.java
@@ -0,0 +1,294 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes;
+
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Point Cloud2</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2#getHeader <em>Header</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2#getHeight <em>Height</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2#getWidth <em>Width</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2#getFields <em>Fields</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2#isIs_bigendian <em>Is bigendian
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2#getPoint_step <em>Point step
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2#getRow_step <em>Row step</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2#getData <em>Data</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2#isIs_dense <em>Is dense</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getPointCloud2()
+ * @model
+ * @generated
+ */
+public interface PointCloud2 extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Header</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Header</em>' containment reference.
+	 * @see #setHeader(Header)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getPointCloud2_Header()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Header getHeader();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2#getHeader <em>Header</em>}'
+	 * containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Header</em>' containment reference.
+	 * @see #getHeader()
+	 * @generated
+	 */
+	void setHeader(Header value);
+
+	/**
+	 * Returns the value of the '<em><b>Height</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Height</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Height</em>' attribute.
+	 * @see #setHeight(long)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getPointCloud2_Height()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	long getHeight();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2#getHeight <em>Height</em>}'
+	 * attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Height</em>' attribute.
+	 * @see #getHeight()
+	 * @generated
+	 */
+	void setHeight(long value);
+
+	/**
+	 * Returns the value of the '<em><b>Width</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Width</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Width</em>' attribute.
+	 * @see #setWidth(long)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getPointCloud2_Width()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	long getWidth();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2#getWidth <em>Width</em>}'
+	 * attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Width</em>' attribute.
+	 * @see #getWidth()
+	 * @generated
+	 */
+	void setWidth(long value);
+
+	/**
+	 * Returns the value of the '<em><b>Fields</b></em>' containment reference list.
+	 * The list contents are of type {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointField}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Fields</em>' containment reference list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Fields</em>' containment reference list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getPointCloud2_Fields()
+	 * @model containment="true" ordered="false"
+	 * @generated
+	 */
+	EList<PointField> getFields();
+
+	/**
+	 * Returns the value of the '<em><b>Is bigendian</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Is bigendian</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Is bigendian</em>' attribute.
+	 * @see #setIs_bigendian(boolean)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getPointCloud2_Is_bigendian()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Bool" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	boolean isIs_bigendian();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2#isIs_bigendian
+	 * <em>Is bigendian</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Is bigendian</em>' attribute.
+	 * @see #isIs_bigendian()
+	 * @generated
+	 */
+	void setIs_bigendian(boolean value);
+
+	/**
+	 * Returns the value of the '<em><b>Point step</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Point step</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Point step</em>' attribute.
+	 * @see #setPoint_step(long)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getPointCloud2_Point_step()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	long getPoint_step();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2#getPoint_step
+	 * <em>Point step</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Point step</em>' attribute.
+	 * @see #getPoint_step()
+	 * @generated
+	 */
+	void setPoint_step(long value);
+
+	/**
+	 * Returns the value of the '<em><b>Row step</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Row step</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Row step</em>' attribute.
+	 * @see #setRow_step(long)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getPointCloud2_Row_step()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	long getRow_step();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2#getRow_step <em>Row step</em>}'
+	 * attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Row step</em>' attribute.
+	 * @see #getRow_step()
+	 * @generated
+	 */
+	void setRow_step(long value);
+
+	/**
+	 * Returns the value of the '<em><b>Data</b></em>' attribute list.
+	 * The list contents are of type {@link java.lang.Character}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Data</em>' attribute list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Data</em>' attribute list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getPointCloud2_Data()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8" ordered="false"
+	 * @generated
+	 */
+	EList<Character> getData();
+
+	/**
+	 * Returns the value of the '<em><b>Is dense</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Is dense</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Is dense</em>' attribute.
+	 * @see #setIs_dense(boolean)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getPointCloud2_Is_dense()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Bool" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	boolean isIs_dense();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2#isIs_dense <em>Is dense</em>}'
+	 * attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Is dense</em>' attribute.
+	 * @see #isIs_dense()
+	 * @generated
+	 */
+	void setIs_dense(boolean value);
+
+} // PointCloud2
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/PointField.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/PointField.java
new file mode 100644
index 00000000000..f01a1e6dfd5
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/PointField.java
@@ -0,0 +1,159 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Point Field</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointField#getName <em>Name</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointField#getOffset <em>Offset</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointField#getDatatype <em>Datatype</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointField#getCount <em>Count</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getPointField()
+ * @model
+ * @generated
+ */
+public interface PointField extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Name</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Name</em>' attribute.
+	 * @see #setName(String)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getPointField_Name()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.String" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	String getName();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointField#getName
+	 * <em>Name</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Name</em>' attribute.
+	 * @see #getName()
+	 * @generated
+	 */
+	void setName(String value);
+
+	/**
+	 * Returns the value of the '<em><b>Offset</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Offset</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Offset</em>' attribute.
+	 * @see #setOffset(long)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getPointField_Offset()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	long getOffset();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointField#getOffset <em>Offset</em>}'
+	 * attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Offset</em>' attribute.
+	 * @see #getOffset()
+	 * @generated
+	 */
+	void setOffset(long value);
+
+	/**
+	 * Returns the value of the '<em><b>Datatype</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Datatype</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Datatype</em>' attribute.
+	 * @see #setDatatype(char)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getPointField_Datatype()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	char getDatatype();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointField#getDatatype <em>Datatype</em>}'
+	 * attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Datatype</em>' attribute.
+	 * @see #getDatatype()
+	 * @generated
+	 */
+	void setDatatype(char value);
+
+	/**
+	 * Returns the value of the '<em><b>Count</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Count</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Count</em>' attribute.
+	 * @see #setCount(long)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getPointField_Count()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	long getCount();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointField#getCount
+	 * <em>Count</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Count</em>' attribute.
+	 * @see #getCount()
+	 * @generated
+	 */
+	void setCount(long value);
+
+} // PointField
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/Range.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/Range.java
new file mode 100644
index 00000000000..cef1dc3143d
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/Range.java
@@ -0,0 +1,285 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Range</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range#getULTRASOUND <em>ULTRASOUND</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range#getINFRARED <em>INFRARED</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range#getHeader <em>Header</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range#getRadiation_type <em>Radiation type
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range#getField_of_view <em>Field of view
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range#getMin_range <em>Min range</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range#getMax_range <em>Max range</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range#getRange <em>Range</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getRange()
+ * @model
+ * @generated
+ */
+public interface Range extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>ULTRASOUND</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>ULTRASOUND</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>ULTRASOUND</em>' attribute.
+	 * @see #setULTRASOUND(char)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getRange_ULTRASOUND()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	char getULTRASOUND();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range#getULTRASOUND
+	 * <em>ULTRASOUND</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>ULTRASOUND</em>' attribute.
+	 * @see #getULTRASOUND()
+	 * @generated
+	 */
+	void setULTRASOUND(char value);
+
+	/**
+	 * Returns the value of the '<em><b>INFRARED</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>INFRARED</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>INFRARED</em>' attribute.
+	 * @see #setINFRARED(char)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getRange_INFRARED()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	char getINFRARED();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range#getINFRARED
+	 * <em>INFRARED</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>INFRARED</em>' attribute.
+	 * @see #getINFRARED()
+	 * @generated
+	 */
+	void setINFRARED(char value);
+
+	/**
+	 * Returns the value of the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Header</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Header</em>' containment reference.
+	 * @see #setHeader(Header)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getRange_Header()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	Header getHeader();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range#getHeader
+	 * <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Header</em>' containment reference.
+	 * @see #getHeader()
+	 * @generated
+	 */
+	void setHeader(Header value);
+
+	/**
+	 * Returns the value of the '<em><b>Radiation type</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Radiation type</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Radiation type</em>' attribute.
+	 * @see #setRadiation_type(char)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getRange_Radiation_type()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	char getRadiation_type();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range#getRadiation_type
+	 * <em>Radiation type</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Radiation type</em>' attribute.
+	 * @see #getRadiation_type()
+	 * @generated
+	 */
+	void setRadiation_type(char value);
+
+	/**
+	 * Returns the value of the '<em><b>Field of view</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Field of view</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Field of view</em>' attribute.
+	 * @see #setField_of_view(float)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getRange_Field_of_view()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getField_of_view();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range#getField_of_view
+	 * <em>Field of view</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Field of view</em>' attribute.
+	 * @see #getField_of_view()
+	 * @generated
+	 */
+	void setField_of_view(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Min range</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Min range</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Min range</em>' attribute.
+	 * @see #setMin_range(float)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getRange_Min_range()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getMin_range();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range#getMin_range
+	 * <em>Min range</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Min range</em>' attribute.
+	 * @see #getMin_range()
+	 * @generated
+	 */
+	void setMin_range(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Max range</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Max range</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Max range</em>' attribute.
+	 * @see #setMax_range(float)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getRange_Max_range()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getMax_range();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range#getMax_range
+	 * <em>Max range</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Max range</em>' attribute.
+	 * @see #getMax_range()
+	 * @generated
+	 */
+	void setMax_range(float value);
+
+	/**
+	 * Returns the value of the '<em><b>Range</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Range</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Range</em>' attribute.
+	 * @see #setRange(float)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getRange_Range()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getRange();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range#getRange
+	 * <em>Range</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Range</em>' attribute.
+	 * @see #getRange()
+	 * @generated
+	 */
+	void setRange(float value);
+
+} // Range
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/RegionOfInterest.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/RegionOfInterest.java
new file mode 100644
index 00000000000..559e2a4dd13
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/RegionOfInterest.java
@@ -0,0 +1,197 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Region Of Interest</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.RegionOfInterest#getX_offset <em>Xoffset
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.RegionOfInterest#getY_offset <em>Yoffset
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.RegionOfInterest#getHeight <em>Height</em>}
+ * </li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.RegionOfInterest#isDo_rectify <em>Do
+ * rectify</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.RegionOfInterest#getWidth <em>Width</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getRegionOfInterest()
+ * @model
+ * @generated
+ */
+public interface RegionOfInterest extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Xoffset</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Xoffset</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Xoffset</em>' attribute.
+	 * @see #setX_offset(long)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getRegionOfInterest_X_offset()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	long getX_offset();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.RegionOfInterest#getX_offset
+	 * <em>Xoffset</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Xoffset</em>' attribute.
+	 * @see #getX_offset()
+	 * @generated
+	 */
+	void setX_offset(long value);
+
+	/**
+	 * Returns the value of the '<em><b>Yoffset</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Yoffset</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Yoffset</em>' attribute.
+	 * @see #setY_offset(long)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getRegionOfInterest_Y_offset()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	long getY_offset();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.RegionOfInterest#getY_offset
+	 * <em>Yoffset</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Yoffset</em>' attribute.
+	 * @see #getY_offset()
+	 * @generated
+	 */
+	void setY_offset(long value);
+
+	/**
+	 * Returns the value of the '<em><b>Height</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Height</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Height</em>' attribute.
+	 * @see #setHeight(long)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getRegionOfInterest_Height()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	long getHeight();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.RegionOfInterest#getHeight <em>Height</em>}
+	 * ' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Height</em>' attribute.
+	 * @see #getHeight()
+	 * @generated
+	 */
+	void setHeight(long value);
+
+	/**
+	 * Returns the value of the '<em><b>Do rectify</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Do rectify</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Do rectify</em>' attribute.
+	 * @see #setDo_rectify(boolean)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getRegionOfInterest_Do_rectify()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Bool" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	boolean isDo_rectify();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.RegionOfInterest#isDo_rectify
+	 * <em>Do rectify</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Do rectify</em>' attribute.
+	 * @see #isDo_rectify()
+	 * @generated
+	 */
+	void setDo_rectify(boolean value);
+
+	/**
+	 * Returns the value of the '<em><b>Width</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Width</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Width</em>' attribute.
+	 * @see #setWidth(long)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getRegionOfInterest_Width()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	long getWidth();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.RegionOfInterest#getWidth <em>Width</em>}'
+	 * attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Width</em>' attribute.
+	 * @see #getWidth()
+	 * @generated
+	 */
+	void setWidth(long value);
+
+} // RegionOfInterest
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/SERVICE_TYPE.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/SERVICE_TYPE.java
new file mode 100644
index 00000000000..9fc7b8635de
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/SERVICE_TYPE.java
@@ -0,0 +1,287 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes;
+
+import java.util.Arrays;
+import java.util.Collections;
+import java.util.List;
+
+import org.eclipse.emf.common.util.Enumerator;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the literals of the enumeration '<em><b>SERVICE TYPE</b></em>',
+ * and utility methods for working with them.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getSERVICE_TYPE()
+ * @model
+ * @generated
+ */
+public enum SERVICE_TYPE implements Enumerator {
+	/**
+	 * The '<em><b>SERVICE GPS</b></em>' literal object.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #SERVICE_GPS_VALUE
+	 * @generated
+	 * @ordered
+	 */
+	SERVICE_GPS(0, "SERVICE_GPS", "SERVICE_GPS"),
+
+	/**
+	 * The '<em><b>SERVICE GLONASS</b></em>' literal object.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #SERVICE_GLONASS_VALUE
+	 * @generated
+	 * @ordered
+	 */
+	SERVICE_GLONASS(1, "SERVICE_GLONASS", "SERVICE_GLONASS"),
+
+	/**
+	 * The '<em><b>SERVICE COMPASS</b></em>' literal object.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #SERVICE_COMPASS_VALUE
+	 * @generated
+	 * @ordered
+	 */
+	SERVICE_COMPASS(2, "SERVICE_COMPASS", "SERVICE_COMPASS"),
+
+	/**
+	 * The '<em><b>SERVICE GALILEO</b></em>' literal object.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #SERVICE_GALILEO_VALUE
+	 * @generated
+	 * @ordered
+	 */
+	SERVICE_GALILEO(3, "SERVICE_GALILEO", "SERVICE_GALILEO");
+
+	/**
+	 * The '<em><b>SERVICE GPS</b></em>' literal value.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of '<em><b>SERVICE GPS</b></em>' literal object isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #SERVICE_GPS
+	 * @model
+	 * @generated
+	 * @ordered
+	 */
+	public static final int SERVICE_GPS_VALUE = 0;
+
+	/**
+	 * The '<em><b>SERVICE GLONASS</b></em>' literal value.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of '<em><b>SERVICE GLONASS</b></em>' literal object isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #SERVICE_GLONASS
+	 * @model
+	 * @generated
+	 * @ordered
+	 */
+	public static final int SERVICE_GLONASS_VALUE = 1;
+
+	/**
+	 * The '<em><b>SERVICE COMPASS</b></em>' literal value.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of '<em><b>SERVICE COMPASS</b></em>' literal object isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #SERVICE_COMPASS
+	 * @model
+	 * @generated
+	 * @ordered
+	 */
+	public static final int SERVICE_COMPASS_VALUE = 2;
+
+	/**
+	 * The '<em><b>SERVICE GALILEO</b></em>' literal value.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of '<em><b>SERVICE GALILEO</b></em>' literal object isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #SERVICE_GALILEO
+	 * @model
+	 * @generated
+	 * @ordered
+	 */
+	public static final int SERVICE_GALILEO_VALUE = 3;
+
+	/**
+	 * An array of all the '<em><b>SERVICE TYPE</b></em>' enumerators.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private static final SERVICE_TYPE[] VALUES_ARRAY = new SERVICE_TYPE[]{ SERVICE_GPS, SERVICE_GLONASS, SERVICE_COMPASS, SERVICE_GALILEO, };
+
+	/**
+	 * A public read-only list of all the '<em><b>SERVICE TYPE</b></em>' enumerators.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static final List<SERVICE_TYPE> VALUES = Collections.unmodifiableList(Arrays.asList(VALUES_ARRAY));
+
+	/**
+	 * Returns the '<em><b>SERVICE TYPE</b></em>' literal with the specified literal value.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static SERVICE_TYPE get(String literal) {
+		for(int i = 0; i < VALUES_ARRAY.length; ++i) {
+			SERVICE_TYPE result = VALUES_ARRAY[i];
+			if(result.toString().equals(literal)) {
+				return result;
+			}
+		}
+		return null;
+	}
+
+	/**
+	 * Returns the '<em><b>SERVICE TYPE</b></em>' literal with the specified name.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static SERVICE_TYPE getByName(String name) {
+		for(int i = 0; i < VALUES_ARRAY.length; ++i) {
+			SERVICE_TYPE result = VALUES_ARRAY[i];
+			if(result.getName().equals(name)) {
+				return result;
+			}
+		}
+		return null;
+	}
+
+	/**
+	 * Returns the '<em><b>SERVICE TYPE</b></em>' literal with the specified integer value.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static SERVICE_TYPE get(int value) {
+		switch(value) {
+		case SERVICE_GPS_VALUE:
+			return SERVICE_GPS;
+		case SERVICE_GLONASS_VALUE:
+			return SERVICE_GLONASS;
+		case SERVICE_COMPASS_VALUE:
+			return SERVICE_COMPASS;
+		case SERVICE_GALILEO_VALUE:
+			return SERVICE_GALILEO;
+		}
+		return null;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private final int value;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private final String name;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private final String literal;
+
+	/**
+	 * Only this class can construct instances.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private SERVICE_TYPE(int value, String name, String literal) {
+		this.value = value;
+		this.name = name;
+		this.literal = literal;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public int getValue() {
+		return value;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getName() {
+		return name;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getLiteral() {
+		return literal;
+	}
+
+	/**
+	 * Returns the literal value of the enumerator, which is its string representation.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		return literal;
+	}
+
+} //SERVICE_TYPE
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/STATUS_TYPE.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/STATUS_TYPE.java
new file mode 100644
index 00000000000..a0858d485c1
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/STATUS_TYPE.java
@@ -0,0 +1,287 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes;
+
+import java.util.Arrays;
+import java.util.Collections;
+import java.util.List;
+
+import org.eclipse.emf.common.util.Enumerator;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the literals of the enumeration '<em><b>STATUS TYPE</b></em>',
+ * and utility methods for working with them.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#getSTATUS_TYPE()
+ * @model
+ * @generated
+ */
+public enum STATUS_TYPE implements Enumerator {
+	/**
+	 * The '<em><b>STATUS NO FIX</b></em>' literal object.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #STATUS_NO_FIX_VALUE
+	 * @generated
+	 * @ordered
+	 */
+	STATUS_NO_FIX(0, "STATUS_NO_FIX", "STATUS_NO_FIX"),
+
+	/**
+	 * The '<em><b>STATUS FIX</b></em>' literal object.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #STATUS_FIX_VALUE
+	 * @generated
+	 * @ordered
+	 */
+	STATUS_FIX(1, "STATUS_FIX", "STATUS_FIX"),
+
+	/**
+	 * The '<em><b>STATUS SBAS FIX</b></em>' literal object.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #STATUS_SBAS_FIX_VALUE
+	 * @generated
+	 * @ordered
+	 */
+	STATUS_SBAS_FIX(2, "STATUS_SBAS_FIX", "STATUS_SBAS_FIX"),
+
+	/**
+	 * The '<em><b>STATUS GBAS FIX</b></em>' literal object.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #STATUS_GBAS_FIX_VALUE
+	 * @generated
+	 * @ordered
+	 */
+	STATUS_GBAS_FIX(3, "STATUS_GBAS_FIX", "STATUS_GBAS_FIX");
+
+	/**
+	 * The '<em><b>STATUS NO FIX</b></em>' literal value.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of '<em><b>STATUS NO FIX</b></em>' literal object isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #STATUS_NO_FIX
+	 * @model
+	 * @generated
+	 * @ordered
+	 */
+	public static final int STATUS_NO_FIX_VALUE = 0;
+
+	/**
+	 * The '<em><b>STATUS FIX</b></em>' literal value.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of '<em><b>STATUS FIX</b></em>' literal object isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #STATUS_FIX
+	 * @model
+	 * @generated
+	 * @ordered
+	 */
+	public static final int STATUS_FIX_VALUE = 1;
+
+	/**
+	 * The '<em><b>STATUS SBAS FIX</b></em>' literal value.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of '<em><b>STATUS SBAS FIX</b></em>' literal object isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #STATUS_SBAS_FIX
+	 * @model
+	 * @generated
+	 * @ordered
+	 */
+	public static final int STATUS_SBAS_FIX_VALUE = 2;
+
+	/**
+	 * The '<em><b>STATUS GBAS FIX</b></em>' literal value.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of '<em><b>STATUS GBAS FIX</b></em>' literal object isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #STATUS_GBAS_FIX
+	 * @model
+	 * @generated
+	 * @ordered
+	 */
+	public static final int STATUS_GBAS_FIX_VALUE = 3;
+
+	/**
+	 * An array of all the '<em><b>STATUS TYPE</b></em>' enumerators.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private static final STATUS_TYPE[] VALUES_ARRAY = new STATUS_TYPE[]{ STATUS_NO_FIX, STATUS_FIX, STATUS_SBAS_FIX, STATUS_GBAS_FIX, };
+
+	/**
+	 * A public read-only list of all the '<em><b>STATUS TYPE</b></em>' enumerators.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static final List<STATUS_TYPE> VALUES = Collections.unmodifiableList(Arrays.asList(VALUES_ARRAY));
+
+	/**
+	 * Returns the '<em><b>STATUS TYPE</b></em>' literal with the specified literal value.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static STATUS_TYPE get(String literal) {
+		for(int i = 0; i < VALUES_ARRAY.length; ++i) {
+			STATUS_TYPE result = VALUES_ARRAY[i];
+			if(result.toString().equals(literal)) {
+				return result;
+			}
+		}
+		return null;
+	}
+
+	/**
+	 * Returns the '<em><b>STATUS TYPE</b></em>' literal with the specified name.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static STATUS_TYPE getByName(String name) {
+		for(int i = 0; i < VALUES_ARRAY.length; ++i) {
+			STATUS_TYPE result = VALUES_ARRAY[i];
+			if(result.getName().equals(name)) {
+				return result;
+			}
+		}
+		return null;
+	}
+
+	/**
+	 * Returns the '<em><b>STATUS TYPE</b></em>' literal with the specified integer value.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static STATUS_TYPE get(int value) {
+		switch(value) {
+		case STATUS_NO_FIX_VALUE:
+			return STATUS_NO_FIX;
+		case STATUS_FIX_VALUE:
+			return STATUS_FIX;
+		case STATUS_SBAS_FIX_VALUE:
+			return STATUS_SBAS_FIX;
+		case STATUS_GBAS_FIX_VALUE:
+			return STATUS_GBAS_FIX;
+		}
+		return null;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private final int value;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private final String name;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private final String literal;
+
+	/**
+	 * Only this class can construct instances.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private STATUS_TYPE(int value, String name, String literal) {
+		this.value = value;
+		this.name = name;
+		this.literal = literal;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public int getValue() {
+		return value;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getName() {
+		return name;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getLiteral() {
+		return literal;
+	}
+
+	/**
+	 * Returns the literal value of the enumerator, which is its string representation.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		return literal;
+	}
+
+} //STATUS_TYPE
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/Sensor_datatypesFactory.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/Sensor_datatypesFactory.java
new file mode 100644
index 00000000000..9c4c4df6bd0
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/Sensor_datatypesFactory.java
@@ -0,0 +1,236 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes;
+
+import org.eclipse.emf.ecore.EFactory;
+
+/**
+ * <!-- begin-user-doc -->
+ * The <b>Factory</b> for the model.
+ * It provides a create method for each non-abstract class of the model.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage
+ * @generated
+ */
+public interface Sensor_datatypesFactory extends EFactory {
+
+	/**
+	 * The singleton instance of the factory.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	Sensor_datatypesFactory eINSTANCE = org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesFactoryImpl.init();
+
+	/**
+	 * Returns a new object of class '<em>Region Of Interest</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Region Of Interest</em>'.
+	 * @generated
+	 */
+	RegionOfInterest createRegionOfInterest();
+
+	/**
+	 * Returns a new object of class '<em>Range</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Range</em>'.
+	 * @generated
+	 */
+	Range createRange();
+
+	/**
+	 * Returns a new object of class '<em>Camera Info</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Camera Info</em>'.
+	 * @generated
+	 */
+	CameraInfo createCameraInfo();
+
+	/**
+	 * Returns a new object of class '<em>Imu</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Imu</em>'.
+	 * @generated
+	 */
+	Imu createImu();
+
+	/**
+	 * Returns a new object of class '<em>Laser Scan</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Laser Scan</em>'.
+	 * @generated
+	 */
+	LaserScan createLaserScan();
+
+	/**
+	 * Returns a new object of class '<em>Image</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Image</em>'.
+	 * @generated
+	 */
+	Image createImage();
+
+	/**
+	 * Returns a new object of class '<em>Channel Float32</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Channel Float32</em>'.
+	 * @generated
+	 */
+	ChannelFloat32 createChannelFloat32();
+
+	/**
+	 * Returns a new object of class '<em>Compressed Image</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Compressed Image</em>'.
+	 * @generated
+	 */
+	CompressedImage createCompressedImage();
+
+	/**
+	 * Returns a new object of class '<em>Point Cloud</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Point Cloud</em>'.
+	 * @generated
+	 */
+	PointCloud createPointCloud();
+
+	/**
+	 * Returns a new object of class '<em>Point Field</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Point Field</em>'.
+	 * @generated
+	 */
+	PointField createPointField();
+
+	/**
+	 * Returns a new object of class '<em>Point Cloud2</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Point Cloud2</em>'.
+	 * @generated
+	 */
+	PointCloud2 createPointCloud2();
+
+	/**
+	 * Returns a new object of class '<em>Joint State</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Joint State</em>'.
+	 * @generated
+	 */
+	JointState createJointState();
+
+	/**
+	 * Returns a new object of class '<em>Nav Sat Status</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Nav Sat Status</em>'.
+	 * @generated
+	 */
+	NavSatStatus createNavSatStatus();
+
+	/**
+	 * Returns a new object of class '<em>Nav Sat Fix</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Nav Sat Fix</em>'.
+	 * @generated
+	 */
+	NavSatFix createNavSatFix();
+
+	/**
+	 * Returns a new object of class '<em>Joy</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Joy</em>'.
+	 * @generated
+	 */
+	Joy createJoy();
+
+	/**
+	 * Returns a new object of class '<em>Joy Feedback</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Joy Feedback</em>'.
+	 * @generated
+	 */
+	JoyFeedback createJoyFeedback();
+
+	/**
+	 * Returns a new object of class '<em>Joy Feedback Array</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Joy Feedback Array</em>'.
+	 * @generated
+	 */
+	JoyFeedbackArray createJoyFeedbackArray();
+
+	/**
+	 * Returns a new object of class '<em>Car Like Odometry</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Car Like Odometry</em>'.
+	 * @generated
+	 */
+	CarLikeOdometry createCarLikeOdometry();
+
+	/**
+	 * Returns a new object of class '<em>Differential Odometry</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Differential Odometry</em>'.
+	 * @generated
+	 */
+	DifferentialOdometry createDifferentialOdometry();
+
+	/**
+	 * Returns the package supported by this factory.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the package supported by this factory.
+	 * @generated
+	 */
+	Sensor_datatypesPackage getSensor_datatypesPackage();
+
+} //Sensor_datatypesFactory
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/Sensor_datatypesPackage.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/Sensor_datatypesPackage.java
new file mode 100644
index 00000000000..c9453419a8e
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/Sensor_datatypesPackage.java
@@ -0,0 +1,4761 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes;
+
+import org.eclipse.emf.ecore.EAttribute;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.EEnum;
+import org.eclipse.emf.ecore.EPackage;
+import org.eclipse.emf.ecore.EReference;
+
+/**
+ * <!-- begin-user-doc -->
+ * The <b>Package</b> for the model.
+ * It contains accessors for the meta objects to represent
+ * <ul>
+ * <li>each class,</li>
+ * <li>each feature of each class,</li>
+ * <li>each enum,</li>
+ * <li>and each data type</li>
+ * </ul>
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesFactory
+ * @model kind="package"
+ * @generated
+ */
+public interface Sensor_datatypesPackage extends EPackage {
+
+	/**
+	 * The package name.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	String eNAME = "sensor_datatypes";
+
+	/**
+	 * The package namespace URI.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	String eNS_URI = "http:///RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes.ecore";
+
+	/**
+	 * The package namespace name.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	String eNS_PREFIX = "RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes";
+
+	/**
+	 * The singleton instance of the package.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	Sensor_datatypesPackage eINSTANCE = org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl.init();
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.RegionOfInterestImpl
+	 * <em>Region Of Interest</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.RegionOfInterestImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getRegionOfInterest()
+	 * @generated
+	 */
+	int REGION_OF_INTEREST = 0;
+
+	/**
+	 * The feature id for the '<em><b>Xoffset</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int REGION_OF_INTEREST__XOFFSET = 0;
+
+	/**
+	 * The feature id for the '<em><b>Yoffset</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int REGION_OF_INTEREST__YOFFSET = 1;
+
+	/**
+	 * The feature id for the '<em><b>Height</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int REGION_OF_INTEREST__HEIGHT = 2;
+
+	/**
+	 * The feature id for the '<em><b>Do rectify</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int REGION_OF_INTEREST__DO_RECTIFY = 3;
+
+	/**
+	 * The feature id for the '<em><b>Width</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int REGION_OF_INTEREST__WIDTH = 4;
+
+	/**
+	 * The number of structural features of the '<em>Region Of Interest</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int REGION_OF_INTEREST_FEATURE_COUNT = 5;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.RangeImpl
+	 * <em>Range</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.RangeImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getRange()
+	 * @generated
+	 */
+	int RANGE = 1;
+
+	/**
+	 * The feature id for the '<em><b>ULTRASOUND</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int RANGE__ULTRASOUND = 0;
+
+	/**
+	 * The feature id for the '<em><b>INFRARED</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int RANGE__INFRARED = 1;
+
+	/**
+	 * The feature id for the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int RANGE__HEADER = 2;
+
+	/**
+	 * The feature id for the '<em><b>Radiation type</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int RANGE__RADIATION_TYPE = 3;
+
+	/**
+	 * The feature id for the '<em><b>Field of view</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int RANGE__FIELD_OF_VIEW = 4;
+
+	/**
+	 * The feature id for the '<em><b>Min range</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int RANGE__MIN_RANGE = 5;
+
+	/**
+	 * The feature id for the '<em><b>Max range</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int RANGE__MAX_RANGE = 6;
+
+	/**
+	 * The feature id for the '<em><b>Range</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int RANGE__RANGE = 7;
+
+	/**
+	 * The number of structural features of the '<em>Range</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int RANGE_FEATURE_COUNT = 8;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.CameraInfoImpl <em>Camera Info</em>}'
+	 * class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.CameraInfoImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getCameraInfo()
+	 * @generated
+	 */
+	int CAMERA_INFO = 2;
+
+	/**
+	 * The feature id for the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAMERA_INFO__HEADER = 0;
+
+	/**
+	 * The feature id for the '<em><b>Height</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAMERA_INFO__HEIGHT = 1;
+
+	/**
+	 * The feature id for the '<em><b>Width</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAMERA_INFO__WIDTH = 2;
+
+	/**
+	 * The feature id for the '<em><b>Distorsion model</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAMERA_INFO__DISTORSION_MODEL = 3;
+
+	/**
+	 * The feature id for the '<em><b>D</b></em>' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAMERA_INFO__D = 4;
+
+	/**
+	 * The feature id for the '<em><b>K</b></em>' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAMERA_INFO__K = 5;
+
+	/**
+	 * The feature id for the '<em><b>R</b></em>' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAMERA_INFO__R = 6;
+
+	/**
+	 * The feature id for the '<em><b>P</b></em>' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAMERA_INFO__P = 7;
+
+	/**
+	 * The feature id for the '<em><b>Binning x</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAMERA_INFO__BINNING_X = 8;
+
+	/**
+	 * The feature id for the '<em><b>Binning y</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAMERA_INFO__BINNING_Y = 9;
+
+	/**
+	 * The feature id for the '<em><b>Roi</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAMERA_INFO__ROI = 10;
+
+	/**
+	 * The number of structural features of the '<em>Camera Info</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAMERA_INFO_FEATURE_COUNT = 11;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.ImuImpl
+	 * <em>Imu</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.ImuImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getImu()
+	 * @generated
+	 */
+	int IMU = 3;
+
+	/**
+	 * The feature id for the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int IMU__HEADER = 0;
+
+	/**
+	 * The feature id for the '<em><b>Orientation</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int IMU__ORIENTATION = 1;
+
+	/**
+	 * The feature id for the '<em><b>Orientation covariance</b></em>' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int IMU__ORIENTATION_COVARIANCE = 2;
+
+	/**
+	 * The feature id for the '<em><b>Angular velocity</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int IMU__ANGULAR_VELOCITY = 3;
+
+	/**
+	 * The feature id for the '<em><b>Angular velocity covariance</b></em>' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int IMU__ANGULAR_VELOCITY_COVARIANCE = 4;
+
+	/**
+	 * The feature id for the '<em><b>Linear acceleration</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int IMU__LINEAR_ACCELERATION = 5;
+
+	/**
+	 * The feature id for the '<em><b>Linear acceleration covariance</b></em>' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int IMU__LINEAR_ACCELERATION_COVARIANCE = 6;
+
+	/**
+	 * The number of structural features of the '<em>Imu</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int IMU_FEATURE_COUNT = 7;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.LaserScanImpl <em>Laser Scan</em>}'
+	 * class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.LaserScanImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getLaserScan()
+	 * @generated
+	 */
+	int LASER_SCAN = 4;
+
+	/**
+	 * The feature id for the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LASER_SCAN__HEADER = 0;
+
+	/**
+	 * The feature id for the '<em><b>Angle min</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LASER_SCAN__ANGLE_MIN = 1;
+
+	/**
+	 * The feature id for the '<em><b>Angle max</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LASER_SCAN__ANGLE_MAX = 2;
+
+	/**
+	 * The feature id for the '<em><b>Angle increment</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LASER_SCAN__ANGLE_INCREMENT = 3;
+
+	/**
+	 * The feature id for the '<em><b>Time increment</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LASER_SCAN__TIME_INCREMENT = 4;
+
+	/**
+	 * The feature id for the '<em><b>Scan time</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LASER_SCAN__SCAN_TIME = 5;
+
+	/**
+	 * The feature id for the '<em><b>Range min</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LASER_SCAN__RANGE_MIN = 6;
+
+	/**
+	 * The feature id for the '<em><b>Range max</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LASER_SCAN__RANGE_MAX = 7;
+
+	/**
+	 * The feature id for the '<em><b>Range</b></em>' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LASER_SCAN__RANGE = 8;
+
+	/**
+	 * The feature id for the '<em><b>Intensities</b></em>' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LASER_SCAN__INTENSITIES = 9;
+
+	/**
+	 * The number of structural features of the '<em>Laser Scan</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int LASER_SCAN_FEATURE_COUNT = 10;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.ImageImpl
+	 * <em>Image</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.ImageImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getImage()
+	 * @generated
+	 */
+	int IMAGE = 5;
+
+	/**
+	 * The feature id for the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int IMAGE__HEADER = 0;
+
+	/**
+	 * The feature id for the '<em><b>Height</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int IMAGE__HEIGHT = 1;
+
+	/**
+	 * The feature id for the '<em><b>Width</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int IMAGE__WIDTH = 2;
+
+	/**
+	 * The feature id for the '<em><b>Encoding</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int IMAGE__ENCODING = 3;
+
+	/**
+	 * The feature id for the '<em><b>Is bigendian</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int IMAGE__IS_BIGENDIAN = 4;
+
+	/**
+	 * The feature id for the '<em><b>Step</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int IMAGE__STEP = 5;
+
+	/**
+	 * The feature id for the '<em><b>Data</b></em>' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int IMAGE__DATA = 6;
+
+	/**
+	 * The number of structural features of the '<em>Image</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int IMAGE_FEATURE_COUNT = 7;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.ChannelFloat32Impl
+	 * <em>Channel Float32</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.ChannelFloat32Impl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getChannelFloat32()
+	 * @generated
+	 */
+	int CHANNEL_FLOAT32 = 6;
+
+	/**
+	 * The feature id for the '<em><b>Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CHANNEL_FLOAT32__NAME = 0;
+
+	/**
+	 * The feature id for the '<em><b>Values</b></em>' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CHANNEL_FLOAT32__VALUES = 1;
+
+	/**
+	 * The number of structural features of the '<em>Channel Float32</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CHANNEL_FLOAT32_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.CompressedImageImpl
+	 * <em>Compressed Image</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.CompressedImageImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getCompressedImage()
+	 * @generated
+	 */
+	int COMPRESSED_IMAGE = 7;
+
+	/**
+	 * The feature id for the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int COMPRESSED_IMAGE__HEADER = 0;
+
+	/**
+	 * The feature id for the '<em><b>Format</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int COMPRESSED_IMAGE__FORMAT = 1;
+
+	/**
+	 * The feature id for the '<em><b>Data</b></em>' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int COMPRESSED_IMAGE__DATA = 2;
+
+	/**
+	 * The number of structural features of the '<em>Compressed Image</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int COMPRESSED_IMAGE_FEATURE_COUNT = 3;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.PointCloudImpl <em>Point Cloud</em>}'
+	 * class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.PointCloudImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getPointCloud()
+	 * @generated
+	 */
+	int POINT_CLOUD = 8;
+
+	/**
+	 * The feature id for the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POINT_CLOUD__HEADER = 0;
+
+	/**
+	 * The feature id for the '<em><b>Points</b></em>' containment reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POINT_CLOUD__POINTS = 1;
+
+	/**
+	 * The feature id for the '<em><b>Channels</b></em>' containment reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POINT_CLOUD__CHANNELS = 2;
+
+	/**
+	 * The number of structural features of the '<em>Point Cloud</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POINT_CLOUD_FEATURE_COUNT = 3;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.PointFieldImpl <em>Point Field</em>}'
+	 * class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.PointFieldImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getPointField()
+	 * @generated
+	 */
+	int POINT_FIELD = 9;
+
+	/**
+	 * The feature id for the '<em><b>Name</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POINT_FIELD__NAME = 0;
+
+	/**
+	 * The feature id for the '<em><b>Offset</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POINT_FIELD__OFFSET = 1;
+
+	/**
+	 * The feature id for the '<em><b>Datatype</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POINT_FIELD__DATATYPE = 2;
+
+	/**
+	 * The feature id for the '<em><b>Count</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POINT_FIELD__COUNT = 3;
+
+	/**
+	 * The number of structural features of the '<em>Point Field</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POINT_FIELD_FEATURE_COUNT = 4;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.PointCloud2Impl <em>Point Cloud2</em>}
+	 * ' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.PointCloud2Impl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getPointCloud2()
+	 * @generated
+	 */
+	int POINT_CLOUD2 = 10;
+
+	/**
+	 * The feature id for the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POINT_CLOUD2__HEADER = 0;
+
+	/**
+	 * The feature id for the '<em><b>Height</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POINT_CLOUD2__HEIGHT = 1;
+
+	/**
+	 * The feature id for the '<em><b>Width</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POINT_CLOUD2__WIDTH = 2;
+
+	/**
+	 * The feature id for the '<em><b>Fields</b></em>' containment reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POINT_CLOUD2__FIELDS = 3;
+
+	/**
+	 * The feature id for the '<em><b>Is bigendian</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POINT_CLOUD2__IS_BIGENDIAN = 4;
+
+	/**
+	 * The feature id for the '<em><b>Point step</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POINT_CLOUD2__POINT_STEP = 5;
+
+	/**
+	 * The feature id for the '<em><b>Row step</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POINT_CLOUD2__ROW_STEP = 6;
+
+	/**
+	 * The feature id for the '<em><b>Data</b></em>' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POINT_CLOUD2__DATA = 7;
+
+	/**
+	 * The feature id for the '<em><b>Is dense</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POINT_CLOUD2__IS_DENSE = 8;
+
+	/**
+	 * The number of structural features of the '<em>Point Cloud2</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int POINT_CLOUD2_FEATURE_COUNT = 9;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.JointStateImpl <em>Joint State</em>}'
+	 * class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.JointStateImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getJointState()
+	 * @generated
+	 */
+	int JOINT_STATE = 11;
+
+	/**
+	 * The feature id for the '<em><b>Name</b></em>' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int JOINT_STATE__NAME = 0;
+
+	/**
+	 * The feature id for the '<em><b>Position</b></em>' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int JOINT_STATE__POSITION = 1;
+
+	/**
+	 * The feature id for the '<em><b>Velocity</b></em>' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int JOINT_STATE__VELOCITY = 2;
+
+	/**
+	 * The feature id for the '<em><b>Effort</b></em>' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int JOINT_STATE__EFFORT = 3;
+
+	/**
+	 * The number of structural features of the '<em>Joint State</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int JOINT_STATE_FEATURE_COUNT = 4;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.NavSatStatusImpl
+	 * <em>Nav Sat Status</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.NavSatStatusImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getNavSatStatus()
+	 * @generated
+	 */
+	int NAV_SAT_STATUS = 12;
+
+	/**
+	 * The feature id for the '<em><b>STATUS NO FIX</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int NAV_SAT_STATUS__STATUS_NO_FIX = 0;
+
+	/**
+	 * The feature id for the '<em><b>STATUS FIX</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int NAV_SAT_STATUS__STATUS_FIX = 1;
+
+	/**
+	 * The feature id for the '<em><b>STATUS SBAS FIX</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int NAV_SAT_STATUS__STATUS_SBAS_FIX = 2;
+
+	/**
+	 * The feature id for the '<em><b>STATUS GBAS FIX</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int NAV_SAT_STATUS__STATUS_GBAS_FIX = 3;
+
+	/**
+	 * The feature id for the '<em><b>Status</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int NAV_SAT_STATUS__STATUS = 4;
+
+	/**
+	 * The feature id for the '<em><b>SERVICE GPS</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int NAV_SAT_STATUS__SERVICE_GPS = 5;
+
+	/**
+	 * The feature id for the '<em><b>SERVICE GLONASS</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int NAV_SAT_STATUS__SERVICE_GLONASS = 6;
+
+	/**
+	 * The feature id for the '<em><b>SERVICE COMPASS</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int NAV_SAT_STATUS__SERVICE_COMPASS = 7;
+
+	/**
+	 * The feature id for the '<em><b>SERVICE GALILEO</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int NAV_SAT_STATUS__SERVICE_GALILEO = 8;
+
+	/**
+	 * The feature id for the '<em><b>Service</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int NAV_SAT_STATUS__SERVICE = 9;
+
+	/**
+	 * The number of structural features of the '<em>Nav Sat Status</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int NAV_SAT_STATUS_FEATURE_COUNT = 10;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.NavSatFixImpl <em>Nav Sat Fix</em>}'
+	 * class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.NavSatFixImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getNavSatFix()
+	 * @generated
+	 */
+	int NAV_SAT_FIX = 13;
+
+	/**
+	 * The feature id for the '<em><b>Status</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int NAV_SAT_FIX__STATUS = 0;
+
+	/**
+	 * The feature id for the '<em><b>Service</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int NAV_SAT_FIX__SERVICE = 1;
+
+	/**
+	 * The feature id for the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int NAV_SAT_FIX__HEADER = 2;
+
+	/**
+	 * The feature id for the '<em><b>Latitude</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int NAV_SAT_FIX__LATITUDE = 3;
+
+	/**
+	 * The feature id for the '<em><b>Longitude</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int NAV_SAT_FIX__LONGITUDE = 4;
+
+	/**
+	 * The feature id for the '<em><b>Altitude</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int NAV_SAT_FIX__ALTITUDE = 5;
+
+	/**
+	 * The feature id for the '<em><b>Position covariance</b></em>' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int NAV_SAT_FIX__POSITION_COVARIANCE = 6;
+
+	/**
+	 * The feature id for the '<em><b>Position covariance type</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int NAV_SAT_FIX__POSITION_COVARIANCE_TYPE = 7;
+
+	/**
+	 * The number of structural features of the '<em>Nav Sat Fix</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int NAV_SAT_FIX_FEATURE_COUNT = 8;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.JoyImpl
+	 * <em>Joy</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.JoyImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getJoy()
+	 * @generated
+	 */
+	int JOY = 14;
+
+	/**
+	 * The feature id for the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int JOY__HEADER = 0;
+
+	/**
+	 * The feature id for the '<em><b>Axes</b></em>' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int JOY__AXES = 1;
+
+	/**
+	 * The feature id for the '<em><b>Buttons</b></em>' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int JOY__BUTTONS = 2;
+
+	/**
+	 * The number of structural features of the '<em>Joy</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int JOY_FEATURE_COUNT = 3;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.JoyFeedbackImpl <em>Joy Feedback</em>}
+	 * ' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.JoyFeedbackImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getJoyFeedback()
+	 * @generated
+	 */
+	int JOY_FEEDBACK = 15;
+
+	/**
+	 * The feature id for the '<em><b>TYPE LED</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int JOY_FEEDBACK__TYPE_LED = 0;
+
+	/**
+	 * The feature id for the '<em><b>TYPE RUMBLE</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int JOY_FEEDBACK__TYPE_RUMBLE = 1;
+
+	/**
+	 * The feature id for the '<em><b>TYPE BUZZER</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int JOY_FEEDBACK__TYPE_BUZZER = 2;
+
+	/**
+	 * The feature id for the '<em><b>Type</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int JOY_FEEDBACK__TYPE = 3;
+
+	/**
+	 * The feature id for the '<em><b>Id</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int JOY_FEEDBACK__ID = 4;
+
+	/**
+	 * The feature id for the '<em><b>Intensity</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int JOY_FEEDBACK__INTENSITY = 5;
+
+	/**
+	 * The number of structural features of the '<em>Joy Feedback</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int JOY_FEEDBACK_FEATURE_COUNT = 6;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.JoyFeedbackArrayImpl
+	 * <em>Joy Feedback Array</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.JoyFeedbackArrayImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getJoyFeedbackArray()
+	 * @generated
+	 */
+	int JOY_FEEDBACK_ARRAY = 16;
+
+	/**
+	 * The feature id for the '<em><b>Array</b></em>' containment reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int JOY_FEEDBACK_ARRAY__ARRAY = 0;
+
+	/**
+	 * The number of structural features of the '<em>Joy Feedback Array</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int JOY_FEEDBACK_ARRAY_FEATURE_COUNT = 1;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.CarLikeOdometryImpl
+	 * <em>Car Like Odometry</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.CarLikeOdometryImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getCarLikeOdometry()
+	 * @generated
+	 */
+	int CAR_LIKE_ODOMETRY = 17;
+
+	/**
+	 * The feature id for the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAR_LIKE_ODOMETRY__HEADER = 0;
+
+	/**
+	 * The feature id for the '<em><b>Steering angle</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAR_LIKE_ODOMETRY__STEERING_ANGLE = 1;
+
+	/**
+	 * The feature id for the '<em><b>Left rear wheel distance</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAR_LIKE_ODOMETRY__LEFT_REAR_WHEEL_DISTANCE = 2;
+
+	/**
+	 * The feature id for the '<em><b>Right rear wheel distance</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAR_LIKE_ODOMETRY__RIGHT_REAR_WHEEL_DISTANCE = 3;
+
+	/**
+	 * The feature id for the '<em><b>Right rear wheel velocity</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAR_LIKE_ODOMETRY__RIGHT_REAR_WHEEL_VELOCITY = 4;
+
+	/**
+	 * The feature id for the '<em><b>Left rear wheel velocity</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAR_LIKE_ODOMETRY__LEFT_REAR_WHEEL_VELOCITY = 5;
+
+	/**
+	 * The number of structural features of the '<em>Car Like Odometry</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int CAR_LIKE_ODOMETRY_FEATURE_COUNT = 6;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.DifferentialOdometryImpl
+	 * <em>Differential Odometry</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.DifferentialOdometryImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getDifferentialOdometry()
+	 * @generated
+	 */
+	int DIFFERENTIAL_ODOMETRY = 18;
+
+	/**
+	 * The feature id for the '<em><b>Header</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int DIFFERENTIAL_ODOMETRY__HEADER = 0;
+
+	/**
+	 * The feature id for the '<em><b>Right distance</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int DIFFERENTIAL_ODOMETRY__RIGHT_DISTANCE = 1;
+
+	/**
+	 * The feature id for the '<em><b>Left distance</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int DIFFERENTIAL_ODOMETRY__LEFT_DISTANCE = 2;
+
+	/**
+	 * The feature id for the '<em><b>Left velocity</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int DIFFERENTIAL_ODOMETRY__LEFT_VELOCITY = 3;
+
+	/**
+	 * The feature id for the '<em><b>Right velocity</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int DIFFERENTIAL_ODOMETRY__RIGHT_VELOCITY = 4;
+
+	/**
+	 * The number of structural features of the '<em>Differential Odometry</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int DIFFERENTIAL_ODOMETRY_FEATURE_COUNT = 5;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.STATUS_TYPE
+	 * <em>STATUS TYPE</em>}' enum.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.STATUS_TYPE
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getSTATUS_TYPE()
+	 * @generated
+	 */
+	int STATUS_TYPE = 19;
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.SERVICE_TYPE
+	 * <em>SERVICE TYPE</em>}' enum.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.SERVICE_TYPE
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getSERVICE_TYPE()
+	 * @generated
+	 */
+	int SERVICE_TYPE = 20;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.COVARIANCE_TYPE <em>COVARIANCE TYPE</em>}'
+	 * enum.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.COVARIANCE_TYPE
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getCOVARIANCE_TYPE()
+	 * @generated
+	 */
+	int COVARIANCE_TYPE = 21;
+
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.RegionOfInterest
+	 * <em>Region Of Interest</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Region Of Interest</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.RegionOfInterest
+	 * @generated
+	 */
+	EClass getRegionOfInterest();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.RegionOfInterest#getX_offset
+	 * <em>Xoffset</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Xoffset</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.RegionOfInterest#getX_offset()
+	 * @see #getRegionOfInterest()
+	 * @generated
+	 */
+	EAttribute getRegionOfInterest_X_offset();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.RegionOfInterest#getY_offset
+	 * <em>Yoffset</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Yoffset</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.RegionOfInterest#getY_offset()
+	 * @see #getRegionOfInterest()
+	 * @generated
+	 */
+	EAttribute getRegionOfInterest_Y_offset();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.RegionOfInterest#getHeight <em>Height</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Height</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.RegionOfInterest#getHeight()
+	 * @see #getRegionOfInterest()
+	 * @generated
+	 */
+	EAttribute getRegionOfInterest_Height();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.RegionOfInterest#isDo_rectify
+	 * <em>Do rectify</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Do rectify</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.RegionOfInterest#isDo_rectify()
+	 * @see #getRegionOfInterest()
+	 * @generated
+	 */
+	EAttribute getRegionOfInterest_Do_rectify();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.RegionOfInterest#getWidth <em>Width</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Width</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.RegionOfInterest#getWidth()
+	 * @see #getRegionOfInterest()
+	 * @generated
+	 */
+	EAttribute getRegionOfInterest_Width();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range
+	 * <em>Range</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Range</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range
+	 * @generated
+	 */
+	EClass getRange();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range#getULTRASOUND <em>ULTRASOUND</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>ULTRASOUND</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range#getULTRASOUND()
+	 * @see #getRange()
+	 * @generated
+	 */
+	EAttribute getRange_ULTRASOUND();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range#getINFRARED <em>INFRARED</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>INFRARED</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range#getINFRARED()
+	 * @see #getRange()
+	 * @generated
+	 */
+	EAttribute getRange_INFRARED();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range#getHeader <em>Header</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Header</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range#getHeader()
+	 * @see #getRange()
+	 * @generated
+	 */
+	EReference getRange_Header();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range#getRadiation_type
+	 * <em>Radiation type</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Radiation type</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range#getRadiation_type()
+	 * @see #getRange()
+	 * @generated
+	 */
+	EAttribute getRange_Radiation_type();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range#getField_of_view
+	 * <em>Field of view</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Field of view</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range#getField_of_view()
+	 * @see #getRange()
+	 * @generated
+	 */
+	EAttribute getRange_Field_of_view();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range#getMin_range <em>Min range</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Min range</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range#getMin_range()
+	 * @see #getRange()
+	 * @generated
+	 */
+	EAttribute getRange_Min_range();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range#getMax_range <em>Max range</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Max range</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range#getMax_range()
+	 * @see #getRange()
+	 * @generated
+	 */
+	EAttribute getRange_Max_range();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range#getRange <em>Range</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Range</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range#getRange()
+	 * @see #getRange()
+	 * @generated
+	 */
+	EAttribute getRange_Range();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo <em>Camera Info</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Camera Info</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo
+	 * @generated
+	 */
+	EClass getCameraInfo();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getHeader <em>Header</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Header</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getHeader()
+	 * @see #getCameraInfo()
+	 * @generated
+	 */
+	EReference getCameraInfo_Header();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getHeight <em>Height</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Height</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getHeight()
+	 * @see #getCameraInfo()
+	 * @generated
+	 */
+	EAttribute getCameraInfo_Height();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getWidth <em>Width</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Width</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getWidth()
+	 * @see #getCameraInfo()
+	 * @generated
+	 */
+	EAttribute getCameraInfo_Width();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getDistorsion_model
+	 * <em>Distorsion model</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Distorsion model</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getDistorsion_model()
+	 * @see #getCameraInfo()
+	 * @generated
+	 */
+	EAttribute getCameraInfo_Distorsion_model();
+
+	/**
+	 * Returns the meta object for the attribute list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getD <em>D</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute list '<em>D</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getD()
+	 * @see #getCameraInfo()
+	 * @generated
+	 */
+	EAttribute getCameraInfo_D();
+
+	/**
+	 * Returns the meta object for the attribute list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getK <em>K</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute list '<em>K</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getK()
+	 * @see #getCameraInfo()
+	 * @generated
+	 */
+	EAttribute getCameraInfo_K();
+
+	/**
+	 * Returns the meta object for the attribute list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getR <em>R</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute list '<em>R</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getR()
+	 * @see #getCameraInfo()
+	 * @generated
+	 */
+	EAttribute getCameraInfo_R();
+
+	/**
+	 * Returns the meta object for the attribute list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getP <em>P</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute list '<em>P</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getP()
+	 * @see #getCameraInfo()
+	 * @generated
+	 */
+	EAttribute getCameraInfo_P();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getBinning_x <em>Binning x</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Binning x</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getBinning_x()
+	 * @see #getCameraInfo()
+	 * @generated
+	 */
+	EAttribute getCameraInfo_Binning_x();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getBinning_y <em>Binning y</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Binning y</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getBinning_y()
+	 * @see #getCameraInfo()
+	 * @generated
+	 */
+	EAttribute getCameraInfo_Binning_y();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getRoi <em>Roi</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Roi</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo#getRoi()
+	 * @see #getCameraInfo()
+	 * @generated
+	 */
+	EReference getCameraInfo_Roi();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Imu
+	 * <em>Imu</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Imu</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Imu
+	 * @generated
+	 */
+	EClass getImu();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Imu#getHeader <em>Header</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Header</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Imu#getHeader()
+	 * @see #getImu()
+	 * @generated
+	 */
+	EReference getImu_Header();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Imu#getOrientation <em>Orientation</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Orientation</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Imu#getOrientation()
+	 * @see #getImu()
+	 * @generated
+	 */
+	EReference getImu_Orientation();
+
+	/**
+	 * Returns the meta object for the attribute list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Imu#getOrientation_covariance
+	 * <em>Orientation covariance</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute list '<em>Orientation covariance</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Imu#getOrientation_covariance()
+	 * @see #getImu()
+	 * @generated
+	 */
+	EAttribute getImu_Orientation_covariance();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Imu#getAngular_velocity
+	 * <em>Angular velocity</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Angular velocity</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Imu#getAngular_velocity()
+	 * @see #getImu()
+	 * @generated
+	 */
+	EReference getImu_Angular_velocity();
+
+	/**
+	 * Returns the meta object for the attribute list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Imu#getAngular_velocity_covariance
+	 * <em>Angular velocity covariance</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute list '<em>Angular velocity covariance</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Imu#getAngular_velocity_covariance()
+	 * @see #getImu()
+	 * @generated
+	 */
+	EAttribute getImu_Angular_velocity_covariance();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Imu#getLinear_acceleration
+	 * <em>Linear acceleration</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Linear acceleration</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Imu#getLinear_acceleration()
+	 * @see #getImu()
+	 * @generated
+	 */
+	EReference getImu_Linear_acceleration();
+
+	/**
+	 * Returns the meta object for the attribute list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Imu#getLinear_acceleration_covariance
+	 * <em>Linear acceleration covariance</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute list '<em>Linear acceleration covariance</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Imu#getLinear_acceleration_covariance()
+	 * @see #getImu()
+	 * @generated
+	 */
+	EAttribute getImu_Linear_acceleration_covariance();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan <em>Laser Scan</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Laser Scan</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan
+	 * @generated
+	 */
+	EClass getLaserScan();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan#getHeader <em>Header</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Header</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan#getHeader()
+	 * @see #getLaserScan()
+	 * @generated
+	 */
+	EReference getLaserScan_Header();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan#getAngle_min <em>Angle min</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Angle min</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan#getAngle_min()
+	 * @see #getLaserScan()
+	 * @generated
+	 */
+	EAttribute getLaserScan_Angle_min();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan#getAngle_max <em>Angle max</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Angle max</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan#getAngle_max()
+	 * @see #getLaserScan()
+	 * @generated
+	 */
+	EAttribute getLaserScan_Angle_max();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan#getAngle_increment
+	 * <em>Angle increment</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Angle increment</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan#getAngle_increment()
+	 * @see #getLaserScan()
+	 * @generated
+	 */
+	EAttribute getLaserScan_Angle_increment();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan#getTime_increment
+	 * <em>Time increment</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Time increment</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan#getTime_increment()
+	 * @see #getLaserScan()
+	 * @generated
+	 */
+	EAttribute getLaserScan_Time_increment();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan#getScan_time <em>Scan time</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Scan time</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan#getScan_time()
+	 * @see #getLaserScan()
+	 * @generated
+	 */
+	EAttribute getLaserScan_Scan_time();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan#getRange_min <em>Range min</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Range min</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan#getRange_min()
+	 * @see #getLaserScan()
+	 * @generated
+	 */
+	EAttribute getLaserScan_Range_min();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan#getRange_max <em>Range max</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Range max</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan#getRange_max()
+	 * @see #getLaserScan()
+	 * @generated
+	 */
+	EAttribute getLaserScan_Range_max();
+
+	/**
+	 * Returns the meta object for the attribute list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan#getRange <em>Range</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute list '<em>Range</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan#getRange()
+	 * @see #getLaserScan()
+	 * @generated
+	 */
+	EAttribute getLaserScan_Range();
+
+	/**
+	 * Returns the meta object for the attribute list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan#getIntensities
+	 * <em>Intensities</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute list '<em>Intensities</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan#getIntensities()
+	 * @see #getLaserScan()
+	 * @generated
+	 */
+	EAttribute getLaserScan_Intensities();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Image
+	 * <em>Image</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Image</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Image
+	 * @generated
+	 */
+	EClass getImage();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Image#getHeader <em>Header</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Header</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Image#getHeader()
+	 * @see #getImage()
+	 * @generated
+	 */
+	EReference getImage_Header();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Image#getHeight <em>Height</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Height</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Image#getHeight()
+	 * @see #getImage()
+	 * @generated
+	 */
+	EAttribute getImage_Height();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Image#getWidth <em>Width</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Width</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Image#getWidth()
+	 * @see #getImage()
+	 * @generated
+	 */
+	EAttribute getImage_Width();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Image#getEncoding <em>Encoding</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Encoding</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Image#getEncoding()
+	 * @see #getImage()
+	 * @generated
+	 */
+	EAttribute getImage_Encoding();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Image#getIs_bigendian
+	 * <em>Is bigendian</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Is bigendian</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Image#getIs_bigendian()
+	 * @see #getImage()
+	 * @generated
+	 */
+	EAttribute getImage_Is_bigendian();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Image#getStep <em>Step</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Step</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Image#getStep()
+	 * @see #getImage()
+	 * @generated
+	 */
+	EAttribute getImage_Step();
+
+	/**
+	 * Returns the meta object for the attribute list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Image#getData <em>Data</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute list '<em>Data</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Image#getData()
+	 * @see #getImage()
+	 * @generated
+	 */
+	EAttribute getImage_Data();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.ChannelFloat32 <em>Channel Float32</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Channel Float32</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.ChannelFloat32
+	 * @generated
+	 */
+	EClass getChannelFloat32();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.ChannelFloat32#getName <em>Name</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Name</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.ChannelFloat32#getName()
+	 * @see #getChannelFloat32()
+	 * @generated
+	 */
+	EAttribute getChannelFloat32_Name();
+
+	/**
+	 * Returns the meta object for the attribute list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.ChannelFloat32#getValues <em>Values</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute list '<em>Values</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.ChannelFloat32#getValues()
+	 * @see #getChannelFloat32()
+	 * @generated
+	 */
+	EAttribute getChannelFloat32_Values();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CompressedImage <em>Compressed Image</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Compressed Image</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CompressedImage
+	 * @generated
+	 */
+	EClass getCompressedImage();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CompressedImage#getHeader <em>Header</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Header</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CompressedImage#getHeader()
+	 * @see #getCompressedImage()
+	 * @generated
+	 */
+	EReference getCompressedImage_Header();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CompressedImage#getFormat <em>Format</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Format</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CompressedImage#getFormat()
+	 * @see #getCompressedImage()
+	 * @generated
+	 */
+	EAttribute getCompressedImage_Format();
+
+	/**
+	 * Returns the meta object for the attribute list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CompressedImage#getData <em>Data</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute list '<em>Data</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CompressedImage#getData()
+	 * @see #getCompressedImage()
+	 * @generated
+	 */
+	EAttribute getCompressedImage_Data();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud <em>Point Cloud</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Point Cloud</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud
+	 * @generated
+	 */
+	EClass getPointCloud();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud#getHeader <em>Header</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Header</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud#getHeader()
+	 * @see #getPointCloud()
+	 * @generated
+	 */
+	EReference getPointCloud_Header();
+
+	/**
+	 * Returns the meta object for the containment reference list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud#getPoints <em>Points</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference list '<em>Points</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud#getPoints()
+	 * @see #getPointCloud()
+	 * @generated
+	 */
+	EReference getPointCloud_Points();
+
+	/**
+	 * Returns the meta object for the containment reference list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud#getChannels <em>Channels</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference list '<em>Channels</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud#getChannels()
+	 * @see #getPointCloud()
+	 * @generated
+	 */
+	EReference getPointCloud_Channels();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointField <em>Point Field</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Point Field</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointField
+	 * @generated
+	 */
+	EClass getPointField();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointField#getName <em>Name</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Name</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointField#getName()
+	 * @see #getPointField()
+	 * @generated
+	 */
+	EAttribute getPointField_Name();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointField#getOffset <em>Offset</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Offset</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointField#getOffset()
+	 * @see #getPointField()
+	 * @generated
+	 */
+	EAttribute getPointField_Offset();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointField#getDatatype <em>Datatype</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Datatype</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointField#getDatatype()
+	 * @see #getPointField()
+	 * @generated
+	 */
+	EAttribute getPointField_Datatype();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointField#getCount <em>Count</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Count</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointField#getCount()
+	 * @see #getPointField()
+	 * @generated
+	 */
+	EAttribute getPointField_Count();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2 <em>Point Cloud2</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Point Cloud2</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2
+	 * @generated
+	 */
+	EClass getPointCloud2();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2#getHeader <em>Header</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Header</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2#getHeader()
+	 * @see #getPointCloud2()
+	 * @generated
+	 */
+	EReference getPointCloud2_Header();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2#getHeight <em>Height</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Height</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2#getHeight()
+	 * @see #getPointCloud2()
+	 * @generated
+	 */
+	EAttribute getPointCloud2_Height();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2#getWidth <em>Width</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Width</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2#getWidth()
+	 * @see #getPointCloud2()
+	 * @generated
+	 */
+	EAttribute getPointCloud2_Width();
+
+	/**
+	 * Returns the meta object for the containment reference list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2#getFields <em>Fields</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference list '<em>Fields</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2#getFields()
+	 * @see #getPointCloud2()
+	 * @generated
+	 */
+	EReference getPointCloud2_Fields();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2#isIs_bigendian
+	 * <em>Is bigendian</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Is bigendian</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2#isIs_bigendian()
+	 * @see #getPointCloud2()
+	 * @generated
+	 */
+	EAttribute getPointCloud2_Is_bigendian();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2#getPoint_step
+	 * <em>Point step</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Point step</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2#getPoint_step()
+	 * @see #getPointCloud2()
+	 * @generated
+	 */
+	EAttribute getPointCloud2_Point_step();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2#getRow_step <em>Row step</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Row step</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2#getRow_step()
+	 * @see #getPointCloud2()
+	 * @generated
+	 */
+	EAttribute getPointCloud2_Row_step();
+
+	/**
+	 * Returns the meta object for the attribute list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2#getData <em>Data</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute list '<em>Data</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2#getData()
+	 * @see #getPointCloud2()
+	 * @generated
+	 */
+	EAttribute getPointCloud2_Data();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2#isIs_dense <em>Is dense</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Is dense</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2#isIs_dense()
+	 * @see #getPointCloud2()
+	 * @generated
+	 */
+	EAttribute getPointCloud2_Is_dense();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JointState <em>Joint State</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Joint State</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JointState
+	 * @generated
+	 */
+	EClass getJointState();
+
+	/**
+	 * Returns the meta object for the attribute list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JointState#getName <em>Name</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute list '<em>Name</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JointState#getName()
+	 * @see #getJointState()
+	 * @generated
+	 */
+	EAttribute getJointState_Name();
+
+	/**
+	 * Returns the meta object for the attribute list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JointState#getPosition <em>Position</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute list '<em>Position</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JointState#getPosition()
+	 * @see #getJointState()
+	 * @generated
+	 */
+	EAttribute getJointState_Position();
+
+	/**
+	 * Returns the meta object for the attribute list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JointState#getVelocity <em>Velocity</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute list '<em>Velocity</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JointState#getVelocity()
+	 * @see #getJointState()
+	 * @generated
+	 */
+	EAttribute getJointState_Velocity();
+
+	/**
+	 * Returns the meta object for the attribute list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JointState#getEffort <em>Effort</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute list '<em>Effort</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JointState#getEffort()
+	 * @see #getJointState()
+	 * @generated
+	 */
+	EAttribute getJointState_Effort();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus <em>Nav Sat Status</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Nav Sat Status</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus
+	 * @generated
+	 */
+	EClass getNavSatStatus();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus#getSTATUS_NO_FIX
+	 * <em>STATUS NO FIX</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>STATUS NO FIX</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus#getSTATUS_NO_FIX()
+	 * @see #getNavSatStatus()
+	 * @generated
+	 */
+	EAttribute getNavSatStatus_STATUS_NO_FIX();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus#getSTATUS_FIX
+	 * <em>STATUS FIX</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>STATUS FIX</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus#getSTATUS_FIX()
+	 * @see #getNavSatStatus()
+	 * @generated
+	 */
+	EAttribute getNavSatStatus_STATUS_FIX();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus#getSTATUS_SBAS_FIX
+	 * <em>STATUS SBAS FIX</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>STATUS SBAS FIX</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus#getSTATUS_SBAS_FIX()
+	 * @see #getNavSatStatus()
+	 * @generated
+	 */
+	EAttribute getNavSatStatus_STATUS_SBAS_FIX();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus#getSTATUS_GBAS_FIX
+	 * <em>STATUS GBAS FIX</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>STATUS GBAS FIX</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus#getSTATUS_GBAS_FIX()
+	 * @see #getNavSatStatus()
+	 * @generated
+	 */
+	EAttribute getNavSatStatus_STATUS_GBAS_FIX();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus#getStatus <em>Status</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Status</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus#getStatus()
+	 * @see #getNavSatStatus()
+	 * @generated
+	 */
+	EAttribute getNavSatStatus_Status();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus#getSERVICE_GPS
+	 * <em>SERVICE GPS</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>SERVICE GPS</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus#getSERVICE_GPS()
+	 * @see #getNavSatStatus()
+	 * @generated
+	 */
+	EAttribute getNavSatStatus_SERVICE_GPS();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus#getSERVICE_GLONASS
+	 * <em>SERVICE GLONASS</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>SERVICE GLONASS</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus#getSERVICE_GLONASS()
+	 * @see #getNavSatStatus()
+	 * @generated
+	 */
+	EAttribute getNavSatStatus_SERVICE_GLONASS();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus#getSERVICE_COMPASS
+	 * <em>SERVICE COMPASS</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>SERVICE COMPASS</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus#getSERVICE_COMPASS()
+	 * @see #getNavSatStatus()
+	 * @generated
+	 */
+	EAttribute getNavSatStatus_SERVICE_COMPASS();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus#getSERVICE_GALILEO
+	 * <em>SERVICE GALILEO</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>SERVICE GALILEO</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus#getSERVICE_GALILEO()
+	 * @see #getNavSatStatus()
+	 * @generated
+	 */
+	EAttribute getNavSatStatus_SERVICE_GALILEO();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus#getService <em>Service</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Service</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus#getService()
+	 * @see #getNavSatStatus()
+	 * @generated
+	 */
+	EAttribute getNavSatStatus_Service();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix <em>Nav Sat Fix</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Nav Sat Fix</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix
+	 * @generated
+	 */
+	EClass getNavSatFix();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix#getStatus <em>Status</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Status</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix#getStatus()
+	 * @see #getNavSatFix()
+	 * @generated
+	 */
+	EAttribute getNavSatFix_Status();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix#getService <em>Service</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Service</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix#getService()
+	 * @see #getNavSatFix()
+	 * @generated
+	 */
+	EAttribute getNavSatFix_Service();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix#getHeader <em>Header</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Header</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix#getHeader()
+	 * @see #getNavSatFix()
+	 * @generated
+	 */
+	EReference getNavSatFix_Header();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix#getLatitude <em>Latitude</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Latitude</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix#getLatitude()
+	 * @see #getNavSatFix()
+	 * @generated
+	 */
+	EAttribute getNavSatFix_Latitude();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix#getLongitude <em>Longitude</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Longitude</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix#getLongitude()
+	 * @see #getNavSatFix()
+	 * @generated
+	 */
+	EAttribute getNavSatFix_Longitude();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix#getAltitude <em>Altitude</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Altitude</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix#getAltitude()
+	 * @see #getNavSatFix()
+	 * @generated
+	 */
+	EAttribute getNavSatFix_Altitude();
+
+	/**
+	 * Returns the meta object for the attribute list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix#getPosition_covariance
+	 * <em>Position covariance</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute list '<em>Position covariance</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix#getPosition_covariance()
+	 * @see #getNavSatFix()
+	 * @generated
+	 */
+	EAttribute getNavSatFix_Position_covariance();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix#getPosition_covariance_type
+	 * <em>Position covariance type</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Position covariance type</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix#getPosition_covariance_type()
+	 * @see #getNavSatFix()
+	 * @generated
+	 */
+	EAttribute getNavSatFix_Position_covariance_type();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Joy
+	 * <em>Joy</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Joy</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Joy
+	 * @generated
+	 */
+	EClass getJoy();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Joy#getHeader <em>Header</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Header</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Joy#getHeader()
+	 * @see #getJoy()
+	 * @generated
+	 */
+	EReference getJoy_Header();
+
+	/**
+	 * Returns the meta object for the attribute list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Joy#getAxes <em>Axes</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute list '<em>Axes</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Joy#getAxes()
+	 * @see #getJoy()
+	 * @generated
+	 */
+	EAttribute getJoy_Axes();
+
+	/**
+	 * Returns the meta object for the attribute list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Joy#getButtons <em>Buttons</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute list '<em>Buttons</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Joy#getButtons()
+	 * @see #getJoy()
+	 * @generated
+	 */
+	EAttribute getJoy_Buttons();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedback <em>Joy Feedback</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Joy Feedback</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedback
+	 * @generated
+	 */
+	EClass getJoyFeedback();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedback#getTYPE_LED <em>TYPE LED</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>TYPE LED</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedback#getTYPE_LED()
+	 * @see #getJoyFeedback()
+	 * @generated
+	 */
+	EAttribute getJoyFeedback_TYPE_LED();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedback#getTYPE_RUMBLE
+	 * <em>TYPE RUMBLE</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>TYPE RUMBLE</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedback#getTYPE_RUMBLE()
+	 * @see #getJoyFeedback()
+	 * @generated
+	 */
+	EAttribute getJoyFeedback_TYPE_RUMBLE();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedback#getTYPE_BUZZER
+	 * <em>TYPE BUZZER</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>TYPE BUZZER</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedback#getTYPE_BUZZER()
+	 * @see #getJoyFeedback()
+	 * @generated
+	 */
+	EAttribute getJoyFeedback_TYPE_BUZZER();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedback#getType <em>Type</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Type</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedback#getType()
+	 * @see #getJoyFeedback()
+	 * @generated
+	 */
+	EAttribute getJoyFeedback_Type();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedback#getId <em>Id</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Id</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedback#getId()
+	 * @see #getJoyFeedback()
+	 * @generated
+	 */
+	EAttribute getJoyFeedback_Id();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedback#getIntensity
+	 * <em>Intensity</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Intensity</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedback#getIntensity()
+	 * @see #getJoyFeedback()
+	 * @generated
+	 */
+	EAttribute getJoyFeedback_Intensity();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedbackArray
+	 * <em>Joy Feedback Array</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Joy Feedback Array</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedbackArray
+	 * @generated
+	 */
+	EClass getJoyFeedbackArray();
+
+	/**
+	 * Returns the meta object for the containment reference list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedbackArray#getArray <em>Array</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference list '<em>Array</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedbackArray#getArray()
+	 * @see #getJoyFeedbackArray()
+	 * @generated
+	 */
+	EReference getJoyFeedbackArray_Array();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CarLikeOdometry <em>Car Like Odometry</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Car Like Odometry</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CarLikeOdometry
+	 * @generated
+	 */
+	EClass getCarLikeOdometry();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CarLikeOdometry#getHeader <em>Header</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Header</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CarLikeOdometry#getHeader()
+	 * @see #getCarLikeOdometry()
+	 * @generated
+	 */
+	EReference getCarLikeOdometry_Header();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CarLikeOdometry#getSteering_angle
+	 * <em>Steering angle</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Steering angle</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CarLikeOdometry#getSteering_angle()
+	 * @see #getCarLikeOdometry()
+	 * @generated
+	 */
+	EAttribute getCarLikeOdometry_Steering_angle();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CarLikeOdometry#getLeft_rear_wheel_distance
+	 * <em>Left rear wheel distance</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Left rear wheel distance</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CarLikeOdometry#getLeft_rear_wheel_distance()
+	 * @see #getCarLikeOdometry()
+	 * @generated
+	 */
+	EAttribute getCarLikeOdometry_Left_rear_wheel_distance();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CarLikeOdometry#getRight_rear_wheel_distance
+	 * <em>Right rear wheel distance</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Right rear wheel distance</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CarLikeOdometry#getRight_rear_wheel_distance()
+	 * @see #getCarLikeOdometry()
+	 * @generated
+	 */
+	EAttribute getCarLikeOdometry_Right_rear_wheel_distance();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CarLikeOdometry#getRight_rear_wheel_velocity
+	 * <em>Right rear wheel velocity</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Right rear wheel velocity</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CarLikeOdometry#getRight_rear_wheel_velocity()
+	 * @see #getCarLikeOdometry()
+	 * @generated
+	 */
+	EAttribute getCarLikeOdometry_Right_rear_wheel_velocity();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CarLikeOdometry#getLeft_rear_wheel_velocity
+	 * <em>Left rear wheel velocity</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Left rear wheel velocity</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CarLikeOdometry#getLeft_rear_wheel_velocity()
+	 * @see #getCarLikeOdometry()
+	 * @generated
+	 */
+	EAttribute getCarLikeOdometry_Left_rear_wheel_velocity();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.DifferentialOdometry
+	 * <em>Differential Odometry</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Differential Odometry</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.DifferentialOdometry
+	 * @generated
+	 */
+	EClass getDifferentialOdometry();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.DifferentialOdometry#getHeader
+	 * <em>Header</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Header</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.DifferentialOdometry#getHeader()
+	 * @see #getDifferentialOdometry()
+	 * @generated
+	 */
+	EReference getDifferentialOdometry_Header();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.DifferentialOdometry#getRight_distance
+	 * <em>Right distance</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Right distance</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.DifferentialOdometry#getRight_distance()
+	 * @see #getDifferentialOdometry()
+	 * @generated
+	 */
+	EAttribute getDifferentialOdometry_Right_distance();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.DifferentialOdometry#getLeft_distance
+	 * <em>Left distance</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Left distance</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.DifferentialOdometry#getLeft_distance()
+	 * @see #getDifferentialOdometry()
+	 * @generated
+	 */
+	EAttribute getDifferentialOdometry_Left_distance();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.DifferentialOdometry#getLeft_velocity
+	 * <em>Left velocity</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Left velocity</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.DifferentialOdometry#getLeft_velocity()
+	 * @see #getDifferentialOdometry()
+	 * @generated
+	 */
+	EAttribute getDifferentialOdometry_Left_velocity();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.DifferentialOdometry#getRight_velocity
+	 * <em>Right velocity</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Right velocity</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.DifferentialOdometry#getRight_velocity()
+	 * @see #getDifferentialOdometry()
+	 * @generated
+	 */
+	EAttribute getDifferentialOdometry_Right_velocity();
+
+	/**
+	 * Returns the meta object for enum '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.STATUS_TYPE <em>STATUS TYPE</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for enum '<em>STATUS TYPE</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.STATUS_TYPE
+	 * @generated
+	 */
+	EEnum getSTATUS_TYPE();
+
+	/**
+	 * Returns the meta object for enum '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.SERVICE_TYPE <em>SERVICE TYPE</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for enum '<em>SERVICE TYPE</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.SERVICE_TYPE
+	 * @generated
+	 */
+	EEnum getSERVICE_TYPE();
+
+	/**
+	 * Returns the meta object for enum '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.COVARIANCE_TYPE <em>COVARIANCE TYPE</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for enum '<em>COVARIANCE TYPE</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.COVARIANCE_TYPE
+	 * @generated
+	 */
+	EEnum getCOVARIANCE_TYPE();
+
+	/**
+	 * Returns the factory that creates the instances of the model.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the factory that creates the instances of the model.
+	 * @generated
+	 */
+	Sensor_datatypesFactory getSensor_datatypesFactory();
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * Defines literals for the meta objects that represent
+	 * <ul>
+	 * <li>each class,</li>
+	 * <li>each feature of each class,</li>
+	 * <li>each enum,</li>
+	 * <li>and each data type</li>
+	 * </ul>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	interface Literals {
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.RegionOfInterestImpl
+		 * <em>Region Of Interest</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.RegionOfInterestImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getRegionOfInterest()
+		 * @generated
+		 */
+		EClass REGION_OF_INTEREST = eINSTANCE.getRegionOfInterest();
+
+		/**
+		 * The meta object literal for the '<em><b>Xoffset</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute REGION_OF_INTEREST__XOFFSET = eINSTANCE.getRegionOfInterest_X_offset();
+
+		/**
+		 * The meta object literal for the '<em><b>Yoffset</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute REGION_OF_INTEREST__YOFFSET = eINSTANCE.getRegionOfInterest_Y_offset();
+
+		/**
+		 * The meta object literal for the '<em><b>Height</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute REGION_OF_INTEREST__HEIGHT = eINSTANCE.getRegionOfInterest_Height();
+
+		/**
+		 * The meta object literal for the '<em><b>Do rectify</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute REGION_OF_INTEREST__DO_RECTIFY = eINSTANCE.getRegionOfInterest_Do_rectify();
+
+		/**
+		 * The meta object literal for the '<em><b>Width</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute REGION_OF_INTEREST__WIDTH = eINSTANCE.getRegionOfInterest_Width();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.RangeImpl <em>Range</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.RangeImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getRange()
+		 * @generated
+		 */
+		EClass RANGE = eINSTANCE.getRange();
+
+		/**
+		 * The meta object literal for the '<em><b>ULTRASOUND</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute RANGE__ULTRASOUND = eINSTANCE.getRange_ULTRASOUND();
+
+		/**
+		 * The meta object literal for the '<em><b>INFRARED</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute RANGE__INFRARED = eINSTANCE.getRange_INFRARED();
+
+		/**
+		 * The meta object literal for the '<em><b>Header</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference RANGE__HEADER = eINSTANCE.getRange_Header();
+
+		/**
+		 * The meta object literal for the '<em><b>Radiation type</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute RANGE__RADIATION_TYPE = eINSTANCE.getRange_Radiation_type();
+
+		/**
+		 * The meta object literal for the '<em><b>Field of view</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute RANGE__FIELD_OF_VIEW = eINSTANCE.getRange_Field_of_view();
+
+		/**
+		 * The meta object literal for the '<em><b>Min range</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute RANGE__MIN_RANGE = eINSTANCE.getRange_Min_range();
+
+		/**
+		 * The meta object literal for the '<em><b>Max range</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute RANGE__MAX_RANGE = eINSTANCE.getRange_Max_range();
+
+		/**
+		 * The meta object literal for the '<em><b>Range</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute RANGE__RANGE = eINSTANCE.getRange_Range();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.CameraInfoImpl
+		 * <em>Camera Info</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.CameraInfoImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getCameraInfo()
+		 * @generated
+		 */
+		EClass CAMERA_INFO = eINSTANCE.getCameraInfo();
+
+		/**
+		 * The meta object literal for the '<em><b>Header</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference CAMERA_INFO__HEADER = eINSTANCE.getCameraInfo_Header();
+
+		/**
+		 * The meta object literal for the '<em><b>Height</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute CAMERA_INFO__HEIGHT = eINSTANCE.getCameraInfo_Height();
+
+		/**
+		 * The meta object literal for the '<em><b>Width</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute CAMERA_INFO__WIDTH = eINSTANCE.getCameraInfo_Width();
+
+		/**
+		 * The meta object literal for the '<em><b>Distorsion model</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute CAMERA_INFO__DISTORSION_MODEL = eINSTANCE.getCameraInfo_Distorsion_model();
+
+		/**
+		 * The meta object literal for the '<em><b>D</b></em>' attribute list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute CAMERA_INFO__D = eINSTANCE.getCameraInfo_D();
+
+		/**
+		 * The meta object literal for the '<em><b>K</b></em>' attribute list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute CAMERA_INFO__K = eINSTANCE.getCameraInfo_K();
+
+		/**
+		 * The meta object literal for the '<em><b>R</b></em>' attribute list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute CAMERA_INFO__R = eINSTANCE.getCameraInfo_R();
+
+		/**
+		 * The meta object literal for the '<em><b>P</b></em>' attribute list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute CAMERA_INFO__P = eINSTANCE.getCameraInfo_P();
+
+		/**
+		 * The meta object literal for the '<em><b>Binning x</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute CAMERA_INFO__BINNING_X = eINSTANCE.getCameraInfo_Binning_x();
+
+		/**
+		 * The meta object literal for the '<em><b>Binning y</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute CAMERA_INFO__BINNING_Y = eINSTANCE.getCameraInfo_Binning_y();
+
+		/**
+		 * The meta object literal for the '<em><b>Roi</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference CAMERA_INFO__ROI = eINSTANCE.getCameraInfo_Roi();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.ImuImpl <em>Imu</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.ImuImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getImu()
+		 * @generated
+		 */
+		EClass IMU = eINSTANCE.getImu();
+
+		/**
+		 * The meta object literal for the '<em><b>Header</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference IMU__HEADER = eINSTANCE.getImu_Header();
+
+		/**
+		 * The meta object literal for the '<em><b>Orientation</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference IMU__ORIENTATION = eINSTANCE.getImu_Orientation();
+
+		/**
+		 * The meta object literal for the '<em><b>Orientation covariance</b></em>' attribute list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute IMU__ORIENTATION_COVARIANCE = eINSTANCE.getImu_Orientation_covariance();
+
+		/**
+		 * The meta object literal for the '<em><b>Angular velocity</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference IMU__ANGULAR_VELOCITY = eINSTANCE.getImu_Angular_velocity();
+
+		/**
+		 * The meta object literal for the '<em><b>Angular velocity covariance</b></em>' attribute list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute IMU__ANGULAR_VELOCITY_COVARIANCE = eINSTANCE.getImu_Angular_velocity_covariance();
+
+		/**
+		 * The meta object literal for the '<em><b>Linear acceleration</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference IMU__LINEAR_ACCELERATION = eINSTANCE.getImu_Linear_acceleration();
+
+		/**
+		 * The meta object literal for the '<em><b>Linear acceleration covariance</b></em>' attribute list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute IMU__LINEAR_ACCELERATION_COVARIANCE = eINSTANCE.getImu_Linear_acceleration_covariance();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.LaserScanImpl <em>Laser Scan</em>}
+		 * ' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.LaserScanImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getLaserScan()
+		 * @generated
+		 */
+		EClass LASER_SCAN = eINSTANCE.getLaserScan();
+
+		/**
+		 * The meta object literal for the '<em><b>Header</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference LASER_SCAN__HEADER = eINSTANCE.getLaserScan_Header();
+
+		/**
+		 * The meta object literal for the '<em><b>Angle min</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute LASER_SCAN__ANGLE_MIN = eINSTANCE.getLaserScan_Angle_min();
+
+		/**
+		 * The meta object literal for the '<em><b>Angle max</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute LASER_SCAN__ANGLE_MAX = eINSTANCE.getLaserScan_Angle_max();
+
+		/**
+		 * The meta object literal for the '<em><b>Angle increment</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute LASER_SCAN__ANGLE_INCREMENT = eINSTANCE.getLaserScan_Angle_increment();
+
+		/**
+		 * The meta object literal for the '<em><b>Time increment</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute LASER_SCAN__TIME_INCREMENT = eINSTANCE.getLaserScan_Time_increment();
+
+		/**
+		 * The meta object literal for the '<em><b>Scan time</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute LASER_SCAN__SCAN_TIME = eINSTANCE.getLaserScan_Scan_time();
+
+		/**
+		 * The meta object literal for the '<em><b>Range min</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute LASER_SCAN__RANGE_MIN = eINSTANCE.getLaserScan_Range_min();
+
+		/**
+		 * The meta object literal for the '<em><b>Range max</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute LASER_SCAN__RANGE_MAX = eINSTANCE.getLaserScan_Range_max();
+
+		/**
+		 * The meta object literal for the '<em><b>Range</b></em>' attribute list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute LASER_SCAN__RANGE = eINSTANCE.getLaserScan_Range();
+
+		/**
+		 * The meta object literal for the '<em><b>Intensities</b></em>' attribute list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute LASER_SCAN__INTENSITIES = eINSTANCE.getLaserScan_Intensities();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.ImageImpl <em>Image</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.ImageImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getImage()
+		 * @generated
+		 */
+		EClass IMAGE = eINSTANCE.getImage();
+
+		/**
+		 * The meta object literal for the '<em><b>Header</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference IMAGE__HEADER = eINSTANCE.getImage_Header();
+
+		/**
+		 * The meta object literal for the '<em><b>Height</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute IMAGE__HEIGHT = eINSTANCE.getImage_Height();
+
+		/**
+		 * The meta object literal for the '<em><b>Width</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute IMAGE__WIDTH = eINSTANCE.getImage_Width();
+
+		/**
+		 * The meta object literal for the '<em><b>Encoding</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute IMAGE__ENCODING = eINSTANCE.getImage_Encoding();
+
+		/**
+		 * The meta object literal for the '<em><b>Is bigendian</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute IMAGE__IS_BIGENDIAN = eINSTANCE.getImage_Is_bigendian();
+
+		/**
+		 * The meta object literal for the '<em><b>Step</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute IMAGE__STEP = eINSTANCE.getImage_Step();
+
+		/**
+		 * The meta object literal for the '<em><b>Data</b></em>' attribute list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute IMAGE__DATA = eINSTANCE.getImage_Data();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.ChannelFloat32Impl
+		 * <em>Channel Float32</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.ChannelFloat32Impl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getChannelFloat32()
+		 * @generated
+		 */
+		EClass CHANNEL_FLOAT32 = eINSTANCE.getChannelFloat32();
+
+		/**
+		 * The meta object literal for the '<em><b>Name</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute CHANNEL_FLOAT32__NAME = eINSTANCE.getChannelFloat32_Name();
+
+		/**
+		 * The meta object literal for the '<em><b>Values</b></em>' attribute list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute CHANNEL_FLOAT32__VALUES = eINSTANCE.getChannelFloat32_Values();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.CompressedImageImpl
+		 * <em>Compressed Image</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.CompressedImageImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getCompressedImage()
+		 * @generated
+		 */
+		EClass COMPRESSED_IMAGE = eINSTANCE.getCompressedImage();
+
+		/**
+		 * The meta object literal for the '<em><b>Header</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference COMPRESSED_IMAGE__HEADER = eINSTANCE.getCompressedImage_Header();
+
+		/**
+		 * The meta object literal for the '<em><b>Format</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute COMPRESSED_IMAGE__FORMAT = eINSTANCE.getCompressedImage_Format();
+
+		/**
+		 * The meta object literal for the '<em><b>Data</b></em>' attribute list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute COMPRESSED_IMAGE__DATA = eINSTANCE.getCompressedImage_Data();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.PointCloudImpl
+		 * <em>Point Cloud</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.PointCloudImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getPointCloud()
+		 * @generated
+		 */
+		EClass POINT_CLOUD = eINSTANCE.getPointCloud();
+
+		/**
+		 * The meta object literal for the '<em><b>Header</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference POINT_CLOUD__HEADER = eINSTANCE.getPointCloud_Header();
+
+		/**
+		 * The meta object literal for the '<em><b>Points</b></em>' containment reference list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference POINT_CLOUD__POINTS = eINSTANCE.getPointCloud_Points();
+
+		/**
+		 * The meta object literal for the '<em><b>Channels</b></em>' containment reference list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference POINT_CLOUD__CHANNELS = eINSTANCE.getPointCloud_Channels();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.PointFieldImpl
+		 * <em>Point Field</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.PointFieldImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getPointField()
+		 * @generated
+		 */
+		EClass POINT_FIELD = eINSTANCE.getPointField();
+
+		/**
+		 * The meta object literal for the '<em><b>Name</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute POINT_FIELD__NAME = eINSTANCE.getPointField_Name();
+
+		/**
+		 * The meta object literal for the '<em><b>Offset</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute POINT_FIELD__OFFSET = eINSTANCE.getPointField_Offset();
+
+		/**
+		 * The meta object literal for the '<em><b>Datatype</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute POINT_FIELD__DATATYPE = eINSTANCE.getPointField_Datatype();
+
+		/**
+		 * The meta object literal for the '<em><b>Count</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute POINT_FIELD__COUNT = eINSTANCE.getPointField_Count();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.PointCloud2Impl
+		 * <em>Point Cloud2</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.PointCloud2Impl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getPointCloud2()
+		 * @generated
+		 */
+		EClass POINT_CLOUD2 = eINSTANCE.getPointCloud2();
+
+		/**
+		 * The meta object literal for the '<em><b>Header</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference POINT_CLOUD2__HEADER = eINSTANCE.getPointCloud2_Header();
+
+		/**
+		 * The meta object literal for the '<em><b>Height</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute POINT_CLOUD2__HEIGHT = eINSTANCE.getPointCloud2_Height();
+
+		/**
+		 * The meta object literal for the '<em><b>Width</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute POINT_CLOUD2__WIDTH = eINSTANCE.getPointCloud2_Width();
+
+		/**
+		 * The meta object literal for the '<em><b>Fields</b></em>' containment reference list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference POINT_CLOUD2__FIELDS = eINSTANCE.getPointCloud2_Fields();
+
+		/**
+		 * The meta object literal for the '<em><b>Is bigendian</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute POINT_CLOUD2__IS_BIGENDIAN = eINSTANCE.getPointCloud2_Is_bigendian();
+
+		/**
+		 * The meta object literal for the '<em><b>Point step</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute POINT_CLOUD2__POINT_STEP = eINSTANCE.getPointCloud2_Point_step();
+
+		/**
+		 * The meta object literal for the '<em><b>Row step</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute POINT_CLOUD2__ROW_STEP = eINSTANCE.getPointCloud2_Row_step();
+
+		/**
+		 * The meta object literal for the '<em><b>Data</b></em>' attribute list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute POINT_CLOUD2__DATA = eINSTANCE.getPointCloud2_Data();
+
+		/**
+		 * The meta object literal for the '<em><b>Is dense</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute POINT_CLOUD2__IS_DENSE = eINSTANCE.getPointCloud2_Is_dense();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.JointStateImpl
+		 * <em>Joint State</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.JointStateImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getJointState()
+		 * @generated
+		 */
+		EClass JOINT_STATE = eINSTANCE.getJointState();
+
+		/**
+		 * The meta object literal for the '<em><b>Name</b></em>' attribute list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute JOINT_STATE__NAME = eINSTANCE.getJointState_Name();
+
+		/**
+		 * The meta object literal for the '<em><b>Position</b></em>' attribute list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute JOINT_STATE__POSITION = eINSTANCE.getJointState_Position();
+
+		/**
+		 * The meta object literal for the '<em><b>Velocity</b></em>' attribute list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute JOINT_STATE__VELOCITY = eINSTANCE.getJointState_Velocity();
+
+		/**
+		 * The meta object literal for the '<em><b>Effort</b></em>' attribute list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute JOINT_STATE__EFFORT = eINSTANCE.getJointState_Effort();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.NavSatStatusImpl
+		 * <em>Nav Sat Status</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.NavSatStatusImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getNavSatStatus()
+		 * @generated
+		 */
+		EClass NAV_SAT_STATUS = eINSTANCE.getNavSatStatus();
+
+		/**
+		 * The meta object literal for the '<em><b>STATUS NO FIX</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute NAV_SAT_STATUS__STATUS_NO_FIX = eINSTANCE.getNavSatStatus_STATUS_NO_FIX();
+
+		/**
+		 * The meta object literal for the '<em><b>STATUS FIX</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute NAV_SAT_STATUS__STATUS_FIX = eINSTANCE.getNavSatStatus_STATUS_FIX();
+
+		/**
+		 * The meta object literal for the '<em><b>STATUS SBAS FIX</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute NAV_SAT_STATUS__STATUS_SBAS_FIX = eINSTANCE.getNavSatStatus_STATUS_SBAS_FIX();
+
+		/**
+		 * The meta object literal for the '<em><b>STATUS GBAS FIX</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute NAV_SAT_STATUS__STATUS_GBAS_FIX = eINSTANCE.getNavSatStatus_STATUS_GBAS_FIX();
+
+		/**
+		 * The meta object literal for the '<em><b>Status</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute NAV_SAT_STATUS__STATUS = eINSTANCE.getNavSatStatus_Status();
+
+		/**
+		 * The meta object literal for the '<em><b>SERVICE GPS</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute NAV_SAT_STATUS__SERVICE_GPS = eINSTANCE.getNavSatStatus_SERVICE_GPS();
+
+		/**
+		 * The meta object literal for the '<em><b>SERVICE GLONASS</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute NAV_SAT_STATUS__SERVICE_GLONASS = eINSTANCE.getNavSatStatus_SERVICE_GLONASS();
+
+		/**
+		 * The meta object literal for the '<em><b>SERVICE COMPASS</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute NAV_SAT_STATUS__SERVICE_COMPASS = eINSTANCE.getNavSatStatus_SERVICE_COMPASS();
+
+		/**
+		 * The meta object literal for the '<em><b>SERVICE GALILEO</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute NAV_SAT_STATUS__SERVICE_GALILEO = eINSTANCE.getNavSatStatus_SERVICE_GALILEO();
+
+		/**
+		 * The meta object literal for the '<em><b>Service</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute NAV_SAT_STATUS__SERVICE = eINSTANCE.getNavSatStatus_Service();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.NavSatFixImpl
+		 * <em>Nav Sat Fix</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.NavSatFixImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getNavSatFix()
+		 * @generated
+		 */
+		EClass NAV_SAT_FIX = eINSTANCE.getNavSatFix();
+
+		/**
+		 * The meta object literal for the '<em><b>Status</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute NAV_SAT_FIX__STATUS = eINSTANCE.getNavSatFix_Status();
+
+		/**
+		 * The meta object literal for the '<em><b>Service</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute NAV_SAT_FIX__SERVICE = eINSTANCE.getNavSatFix_Service();
+
+		/**
+		 * The meta object literal for the '<em><b>Header</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference NAV_SAT_FIX__HEADER = eINSTANCE.getNavSatFix_Header();
+
+		/**
+		 * The meta object literal for the '<em><b>Latitude</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute NAV_SAT_FIX__LATITUDE = eINSTANCE.getNavSatFix_Latitude();
+
+		/**
+		 * The meta object literal for the '<em><b>Longitude</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute NAV_SAT_FIX__LONGITUDE = eINSTANCE.getNavSatFix_Longitude();
+
+		/**
+		 * The meta object literal for the '<em><b>Altitude</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute NAV_SAT_FIX__ALTITUDE = eINSTANCE.getNavSatFix_Altitude();
+
+		/**
+		 * The meta object literal for the '<em><b>Position covariance</b></em>' attribute list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute NAV_SAT_FIX__POSITION_COVARIANCE = eINSTANCE.getNavSatFix_Position_covariance();
+
+		/**
+		 * The meta object literal for the '<em><b>Position covariance type</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute NAV_SAT_FIX__POSITION_COVARIANCE_TYPE = eINSTANCE.getNavSatFix_Position_covariance_type();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.JoyImpl <em>Joy</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.JoyImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getJoy()
+		 * @generated
+		 */
+		EClass JOY = eINSTANCE.getJoy();
+
+		/**
+		 * The meta object literal for the '<em><b>Header</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference JOY__HEADER = eINSTANCE.getJoy_Header();
+
+		/**
+		 * The meta object literal for the '<em><b>Axes</b></em>' attribute list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute JOY__AXES = eINSTANCE.getJoy_Axes();
+
+		/**
+		 * The meta object literal for the '<em><b>Buttons</b></em>' attribute list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute JOY__BUTTONS = eINSTANCE.getJoy_Buttons();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.JoyFeedbackImpl
+		 * <em>Joy Feedback</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.JoyFeedbackImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getJoyFeedback()
+		 * @generated
+		 */
+		EClass JOY_FEEDBACK = eINSTANCE.getJoyFeedback();
+
+		/**
+		 * The meta object literal for the '<em><b>TYPE LED</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute JOY_FEEDBACK__TYPE_LED = eINSTANCE.getJoyFeedback_TYPE_LED();
+
+		/**
+		 * The meta object literal for the '<em><b>TYPE RUMBLE</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute JOY_FEEDBACK__TYPE_RUMBLE = eINSTANCE.getJoyFeedback_TYPE_RUMBLE();
+
+		/**
+		 * The meta object literal for the '<em><b>TYPE BUZZER</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute JOY_FEEDBACK__TYPE_BUZZER = eINSTANCE.getJoyFeedback_TYPE_BUZZER();
+
+		/**
+		 * The meta object literal for the '<em><b>Type</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute JOY_FEEDBACK__TYPE = eINSTANCE.getJoyFeedback_Type();
+
+		/**
+		 * The meta object literal for the '<em><b>Id</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute JOY_FEEDBACK__ID = eINSTANCE.getJoyFeedback_Id();
+
+		/**
+		 * The meta object literal for the '<em><b>Intensity</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute JOY_FEEDBACK__INTENSITY = eINSTANCE.getJoyFeedback_Intensity();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.JoyFeedbackArrayImpl
+		 * <em>Joy Feedback Array</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.JoyFeedbackArrayImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getJoyFeedbackArray()
+		 * @generated
+		 */
+		EClass JOY_FEEDBACK_ARRAY = eINSTANCE.getJoyFeedbackArray();
+
+		/**
+		 * The meta object literal for the '<em><b>Array</b></em>' containment reference list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference JOY_FEEDBACK_ARRAY__ARRAY = eINSTANCE.getJoyFeedbackArray_Array();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.CarLikeOdometryImpl
+		 * <em>Car Like Odometry</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.CarLikeOdometryImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getCarLikeOdometry()
+		 * @generated
+		 */
+		EClass CAR_LIKE_ODOMETRY = eINSTANCE.getCarLikeOdometry();
+
+		/**
+		 * The meta object literal for the '<em><b>Header</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference CAR_LIKE_ODOMETRY__HEADER = eINSTANCE.getCarLikeOdometry_Header();
+
+		/**
+		 * The meta object literal for the '<em><b>Steering angle</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute CAR_LIKE_ODOMETRY__STEERING_ANGLE = eINSTANCE.getCarLikeOdometry_Steering_angle();
+
+		/**
+		 * The meta object literal for the '<em><b>Left rear wheel distance</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute CAR_LIKE_ODOMETRY__LEFT_REAR_WHEEL_DISTANCE = eINSTANCE.getCarLikeOdometry_Left_rear_wheel_distance();
+
+		/**
+		 * The meta object literal for the '<em><b>Right rear wheel distance</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute CAR_LIKE_ODOMETRY__RIGHT_REAR_WHEEL_DISTANCE = eINSTANCE.getCarLikeOdometry_Right_rear_wheel_distance();
+
+		/**
+		 * The meta object literal for the '<em><b>Right rear wheel velocity</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute CAR_LIKE_ODOMETRY__RIGHT_REAR_WHEEL_VELOCITY = eINSTANCE.getCarLikeOdometry_Right_rear_wheel_velocity();
+
+		/**
+		 * The meta object literal for the '<em><b>Left rear wheel velocity</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute CAR_LIKE_ODOMETRY__LEFT_REAR_WHEEL_VELOCITY = eINSTANCE.getCarLikeOdometry_Left_rear_wheel_velocity();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.DifferentialOdometryImpl
+		 * <em>Differential Odometry</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.DifferentialOdometryImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getDifferentialOdometry()
+		 * @generated
+		 */
+		EClass DIFFERENTIAL_ODOMETRY = eINSTANCE.getDifferentialOdometry();
+
+		/**
+		 * The meta object literal for the '<em><b>Header</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference DIFFERENTIAL_ODOMETRY__HEADER = eINSTANCE.getDifferentialOdometry_Header();
+
+		/**
+		 * The meta object literal for the '<em><b>Right distance</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute DIFFERENTIAL_ODOMETRY__RIGHT_DISTANCE = eINSTANCE.getDifferentialOdometry_Right_distance();
+
+		/**
+		 * The meta object literal for the '<em><b>Left distance</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute DIFFERENTIAL_ODOMETRY__LEFT_DISTANCE = eINSTANCE.getDifferentialOdometry_Left_distance();
+
+		/**
+		 * The meta object literal for the '<em><b>Left velocity</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute DIFFERENTIAL_ODOMETRY__LEFT_VELOCITY = eINSTANCE.getDifferentialOdometry_Left_velocity();
+
+		/**
+		 * The meta object literal for the '<em><b>Right velocity</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute DIFFERENTIAL_ODOMETRY__RIGHT_VELOCITY = eINSTANCE.getDifferentialOdometry_Right_velocity();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.STATUS_TYPE <em>STATUS TYPE</em>}'
+		 * enum.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.STATUS_TYPE
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getSTATUS_TYPE()
+		 * @generated
+		 */
+		EEnum STATUS_TYPE = eINSTANCE.getSTATUS_TYPE();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.SERVICE_TYPE <em>SERVICE TYPE</em>}'
+		 * enum.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.SERVICE_TYPE
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getSERVICE_TYPE()
+		 * @generated
+		 */
+		EEnum SERVICE_TYPE = eINSTANCE.getSERVICE_TYPE();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.COVARIANCE_TYPE
+		 * <em>COVARIANCE TYPE</em>}' enum.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.COVARIANCE_TYPE
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl#getCOVARIANCE_TYPE()
+		 * @generated
+		 */
+		EEnum COVARIANCE_TYPE = eINSTANCE.getCOVARIANCE_TYPE();
+
+	}
+
+} //Sensor_datatypesPackage
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/CameraInfoImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/CameraInfoImpl.java
new file mode 100644
index 00000000000..995af0c1359
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/CameraInfoImpl.java
@@ -0,0 +1,740 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl;
+
+import java.util.Collection;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.emf.ecore.util.EDataTypeUniqueEList;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.RegionOfInterest;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Camera Info</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.CameraInfoImpl#getHeader <em>Header
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.CameraInfoImpl#getHeight <em>Height
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.CameraInfoImpl#getWidth <em>Width
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.CameraInfoImpl#getDistorsion_model
+ * <em>Distorsion model</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.CameraInfoImpl#getD <em>D</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.CameraInfoImpl#getK <em>K</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.CameraInfoImpl#getR <em>R</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.CameraInfoImpl#getP <em>P</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.CameraInfoImpl#getBinning_x <em>
+ * Binning x</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.CameraInfoImpl#getBinning_y <em>
+ * Binning y</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.CameraInfoImpl#getRoi <em>Roi</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class CameraInfoImpl extends EObjectImpl implements CameraInfo {
+
+	/**
+	 * The cached value of the '{@link #getHeader() <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHeader()
+	 * @generated
+	 * @ordered
+	 */
+	protected Header header;
+
+	/**
+	 * The default value of the '{@link #getHeight() <em>Height</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHeight()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final long HEIGHT_EDEFAULT = 0L;
+
+	/**
+	 * The cached value of the '{@link #getHeight() <em>Height</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHeight()
+	 * @generated
+	 * @ordered
+	 */
+	protected long height = HEIGHT_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getWidth() <em>Width</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWidth()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final long WIDTH_EDEFAULT = 0L;
+
+	/**
+	 * The cached value of the '{@link #getWidth() <em>Width</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWidth()
+	 * @generated
+	 * @ordered
+	 */
+	protected long width = WIDTH_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getDistorsion_model() <em>Distorsion model</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getDistorsion_model()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final String DISTORSION_MODEL_EDEFAULT = null;
+
+	/**
+	 * The cached value of the '{@link #getDistorsion_model() <em>Distorsion model</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getDistorsion_model()
+	 * @generated
+	 * @ordered
+	 */
+	protected String distorsion_model = DISTORSION_MODEL_EDEFAULT;
+
+	/**
+	 * The cached value of the '{@link #getD() <em>D</em>}' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getD()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Double> d;
+
+	/**
+	 * The cached value of the '{@link #getK() <em>K</em>}' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getK()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Double> k;
+
+	/**
+	 * The cached value of the '{@link #getR() <em>R</em>}' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getR()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Double> r;
+
+	/**
+	 * The cached value of the '{@link #getP() <em>P</em>}' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getP()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Double> p;
+
+	/**
+	 * The default value of the '{@link #getBinning_x() <em>Binning x</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getBinning_x()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final long BINNING_X_EDEFAULT = 0L;
+
+	/**
+	 * The cached value of the '{@link #getBinning_x() <em>Binning x</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getBinning_x()
+	 * @generated
+	 * @ordered
+	 */
+	protected long binning_x = BINNING_X_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getBinning_y() <em>Binning y</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getBinning_y()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final long BINNING_Y_EDEFAULT = 0L;
+
+	/**
+	 * The cached value of the '{@link #getBinning_y() <em>Binning y</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getBinning_y()
+	 * @generated
+	 * @ordered
+	 */
+	protected long binning_y = BINNING_Y_EDEFAULT;
+
+	/**
+	 * The cached value of the '{@link #getRoi() <em>Roi</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getRoi()
+	 * @generated
+	 * @ordered
+	 */
+	protected RegionOfInterest roi;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected CameraInfoImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Sensor_datatypesPackage.Literals.CAMERA_INFO;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Header getHeader() {
+		return header;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetHeader(Header newHeader, NotificationChain msgs) {
+		Header oldHeader = header;
+		header = newHeader;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.CAMERA_INFO__HEADER, oldHeader, newHeader);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setHeader(Header newHeader) {
+		if(newHeader != header) {
+			NotificationChain msgs = null;
+			if(header != null)
+				msgs = ((InternalEObject)header).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Sensor_datatypesPackage.CAMERA_INFO__HEADER, null, msgs);
+			if(newHeader != null)
+				msgs = ((InternalEObject)newHeader).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Sensor_datatypesPackage.CAMERA_INFO__HEADER, null, msgs);
+			msgs = basicSetHeader(newHeader, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.CAMERA_INFO__HEADER, newHeader, newHeader));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public long getHeight() {
+		return height;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setHeight(long newHeight) {
+		long oldHeight = height;
+		height = newHeight;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.CAMERA_INFO__HEIGHT, oldHeight, height));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public long getWidth() {
+		return width;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setWidth(long newWidth) {
+		long oldWidth = width;
+		width = newWidth;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.CAMERA_INFO__WIDTH, oldWidth, width));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getDistorsion_model() {
+		return distorsion_model;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setDistorsion_model(String newDistorsion_model) {
+		String oldDistorsion_model = distorsion_model;
+		distorsion_model = newDistorsion_model;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.CAMERA_INFO__DISTORSION_MODEL, oldDistorsion_model, distorsion_model));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Double> getD() {
+		if(d == null) {
+			d = new EDataTypeUniqueEList<Double>(Double.class, this, Sensor_datatypesPackage.CAMERA_INFO__D);
+		}
+		return d;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Double> getK() {
+		if(k == null) {
+			k = new EDataTypeUniqueEList<Double>(Double.class, this, Sensor_datatypesPackage.CAMERA_INFO__K);
+		}
+		return k;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Double> getR() {
+		if(r == null) {
+			r = new EDataTypeUniqueEList<Double>(Double.class, this, Sensor_datatypesPackage.CAMERA_INFO__R);
+		}
+		return r;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Double> getP() {
+		if(p == null) {
+			p = new EDataTypeUniqueEList<Double>(Double.class, this, Sensor_datatypesPackage.CAMERA_INFO__P);
+		}
+		return p;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public long getBinning_x() {
+		return binning_x;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setBinning_x(long newBinning_x) {
+		long oldBinning_x = binning_x;
+		binning_x = newBinning_x;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.CAMERA_INFO__BINNING_X, oldBinning_x, binning_x));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public long getBinning_y() {
+		return binning_y;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setBinning_y(long newBinning_y) {
+		long oldBinning_y = binning_y;
+		binning_y = newBinning_y;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.CAMERA_INFO__BINNING_Y, oldBinning_y, binning_y));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public RegionOfInterest getRoi() {
+		return roi;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetRoi(RegionOfInterest newRoi, NotificationChain msgs) {
+		RegionOfInterest oldRoi = roi;
+		roi = newRoi;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.CAMERA_INFO__ROI, oldRoi, newRoi);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setRoi(RegionOfInterest newRoi) {
+		if(newRoi != roi) {
+			NotificationChain msgs = null;
+			if(roi != null)
+				msgs = ((InternalEObject)roi).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Sensor_datatypesPackage.CAMERA_INFO__ROI, null, msgs);
+			if(newRoi != null)
+				msgs = ((InternalEObject)newRoi).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Sensor_datatypesPackage.CAMERA_INFO__ROI, null, msgs);
+			msgs = basicSetRoi(newRoi, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.CAMERA_INFO__ROI, newRoi, newRoi));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.CAMERA_INFO__HEADER:
+			return basicSetHeader(null, msgs);
+		case Sensor_datatypesPackage.CAMERA_INFO__ROI:
+			return basicSetRoi(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.CAMERA_INFO__HEADER:
+			return getHeader();
+		case Sensor_datatypesPackage.CAMERA_INFO__HEIGHT:
+			return getHeight();
+		case Sensor_datatypesPackage.CAMERA_INFO__WIDTH:
+			return getWidth();
+		case Sensor_datatypesPackage.CAMERA_INFO__DISTORSION_MODEL:
+			return getDistorsion_model();
+		case Sensor_datatypesPackage.CAMERA_INFO__D:
+			return getD();
+		case Sensor_datatypesPackage.CAMERA_INFO__K:
+			return getK();
+		case Sensor_datatypesPackage.CAMERA_INFO__R:
+			return getR();
+		case Sensor_datatypesPackage.CAMERA_INFO__P:
+			return getP();
+		case Sensor_datatypesPackage.CAMERA_INFO__BINNING_X:
+			return getBinning_x();
+		case Sensor_datatypesPackage.CAMERA_INFO__BINNING_Y:
+			return getBinning_y();
+		case Sensor_datatypesPackage.CAMERA_INFO__ROI:
+			return getRoi();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@SuppressWarnings("unchecked")
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.CAMERA_INFO__HEADER:
+			setHeader((Header)newValue);
+			return;
+		case Sensor_datatypesPackage.CAMERA_INFO__HEIGHT:
+			setHeight((Long)newValue);
+			return;
+		case Sensor_datatypesPackage.CAMERA_INFO__WIDTH:
+			setWidth((Long)newValue);
+			return;
+		case Sensor_datatypesPackage.CAMERA_INFO__DISTORSION_MODEL:
+			setDistorsion_model((String)newValue);
+			return;
+		case Sensor_datatypesPackage.CAMERA_INFO__D:
+			getD().clear();
+			getD().addAll((Collection<? extends Double>)newValue);
+			return;
+		case Sensor_datatypesPackage.CAMERA_INFO__K:
+			getK().clear();
+			getK().addAll((Collection<? extends Double>)newValue);
+			return;
+		case Sensor_datatypesPackage.CAMERA_INFO__R:
+			getR().clear();
+			getR().addAll((Collection<? extends Double>)newValue);
+			return;
+		case Sensor_datatypesPackage.CAMERA_INFO__P:
+			getP().clear();
+			getP().addAll((Collection<? extends Double>)newValue);
+			return;
+		case Sensor_datatypesPackage.CAMERA_INFO__BINNING_X:
+			setBinning_x((Long)newValue);
+			return;
+		case Sensor_datatypesPackage.CAMERA_INFO__BINNING_Y:
+			setBinning_y((Long)newValue);
+			return;
+		case Sensor_datatypesPackage.CAMERA_INFO__ROI:
+			setRoi((RegionOfInterest)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.CAMERA_INFO__HEADER:
+			setHeader((Header)null);
+			return;
+		case Sensor_datatypesPackage.CAMERA_INFO__HEIGHT:
+			setHeight(HEIGHT_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.CAMERA_INFO__WIDTH:
+			setWidth(WIDTH_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.CAMERA_INFO__DISTORSION_MODEL:
+			setDistorsion_model(DISTORSION_MODEL_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.CAMERA_INFO__D:
+			getD().clear();
+			return;
+		case Sensor_datatypesPackage.CAMERA_INFO__K:
+			getK().clear();
+			return;
+		case Sensor_datatypesPackage.CAMERA_INFO__R:
+			getR().clear();
+			return;
+		case Sensor_datatypesPackage.CAMERA_INFO__P:
+			getP().clear();
+			return;
+		case Sensor_datatypesPackage.CAMERA_INFO__BINNING_X:
+			setBinning_x(BINNING_X_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.CAMERA_INFO__BINNING_Y:
+			setBinning_y(BINNING_Y_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.CAMERA_INFO__ROI:
+			setRoi((RegionOfInterest)null);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.CAMERA_INFO__HEADER:
+			return header != null;
+		case Sensor_datatypesPackage.CAMERA_INFO__HEIGHT:
+			return height != HEIGHT_EDEFAULT;
+		case Sensor_datatypesPackage.CAMERA_INFO__WIDTH:
+			return width != WIDTH_EDEFAULT;
+		case Sensor_datatypesPackage.CAMERA_INFO__DISTORSION_MODEL:
+			return DISTORSION_MODEL_EDEFAULT == null ? distorsion_model != null : !DISTORSION_MODEL_EDEFAULT.equals(distorsion_model);
+		case Sensor_datatypesPackage.CAMERA_INFO__D:
+			return d != null && !d.isEmpty();
+		case Sensor_datatypesPackage.CAMERA_INFO__K:
+			return k != null && !k.isEmpty();
+		case Sensor_datatypesPackage.CAMERA_INFO__R:
+			return r != null && !r.isEmpty();
+		case Sensor_datatypesPackage.CAMERA_INFO__P:
+			return p != null && !p.isEmpty();
+		case Sensor_datatypesPackage.CAMERA_INFO__BINNING_X:
+			return binning_x != BINNING_X_EDEFAULT;
+		case Sensor_datatypesPackage.CAMERA_INFO__BINNING_Y:
+			return binning_y != BINNING_Y_EDEFAULT;
+		case Sensor_datatypesPackage.CAMERA_INFO__ROI:
+			return roi != null;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (height: ");
+		result.append(height);
+		result.append(", width: ");
+		result.append(width);
+		result.append(", distorsion_model: ");
+		result.append(distorsion_model);
+		result.append(", D: ");
+		result.append(d);
+		result.append(", K: ");
+		result.append(k);
+		result.append(", R: ");
+		result.append(r);
+		result.append(", P: ");
+		result.append(p);
+		result.append(", binning_x: ");
+		result.append(binning_x);
+		result.append(", binning_y: ");
+		result.append(binning_y);
+		result.append(')');
+		return result.toString();
+	}
+
+} //CameraInfoImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/CarLikeOdometryImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/CarLikeOdometryImpl.java
new file mode 100644
index 00000000000..53ddb908bd6
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/CarLikeOdometryImpl.java
@@ -0,0 +1,513 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CarLikeOdometry;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Car Like Odometry</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.CarLikeOdometryImpl#getHeader <em>
+ * Header</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.CarLikeOdometryImpl#getSteering_angle
+ * <em>Steering angle</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.CarLikeOdometryImpl#getLeft_rear_wheel_distance
+ * <em>Left rear wheel distance</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.CarLikeOdometryImpl#getRight_rear_wheel_distance
+ * <em>Right rear wheel distance</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.CarLikeOdometryImpl#getRight_rear_wheel_velocity
+ * <em>Right rear wheel velocity</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.CarLikeOdometryImpl#getLeft_rear_wheel_velocity
+ * <em>Left rear wheel velocity</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class CarLikeOdometryImpl extends EObjectImpl implements CarLikeOdometry {
+
+	/**
+	 * The cached value of the '{@link #getHeader() <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHeader()
+	 * @generated
+	 * @ordered
+	 */
+	protected Header header;
+
+	/**
+	 * The default value of the '{@link #getSteering_angle() <em>Steering angle</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSteering_angle()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final double STEERING_ANGLE_EDEFAULT = 0.0;
+
+	/**
+	 * The cached value of the '{@link #getSteering_angle() <em>Steering angle</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSteering_angle()
+	 * @generated
+	 * @ordered
+	 */
+	protected double steering_angle = STEERING_ANGLE_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getLeft_rear_wheel_distance() <em>Left rear wheel distance</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLeft_rear_wheel_distance()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final double LEFT_REAR_WHEEL_DISTANCE_EDEFAULT = 0.0;
+
+	/**
+	 * The cached value of the '{@link #getLeft_rear_wheel_distance() <em>Left rear wheel distance</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLeft_rear_wheel_distance()
+	 * @generated
+	 * @ordered
+	 */
+	protected double left_rear_wheel_distance = LEFT_REAR_WHEEL_DISTANCE_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getRight_rear_wheel_distance() <em>Right rear wheel distance</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getRight_rear_wheel_distance()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final double RIGHT_REAR_WHEEL_DISTANCE_EDEFAULT = 0.0;
+
+	/**
+	 * The cached value of the '{@link #getRight_rear_wheel_distance() <em>Right rear wheel distance</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getRight_rear_wheel_distance()
+	 * @generated
+	 * @ordered
+	 */
+	protected double right_rear_wheel_distance = RIGHT_REAR_WHEEL_DISTANCE_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getRight_rear_wheel_velocity() <em>Right rear wheel velocity</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getRight_rear_wheel_velocity()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final double RIGHT_REAR_WHEEL_VELOCITY_EDEFAULT = 0.0;
+
+	/**
+	 * The cached value of the '{@link #getRight_rear_wheel_velocity() <em>Right rear wheel velocity</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getRight_rear_wheel_velocity()
+	 * @generated
+	 * @ordered
+	 */
+	protected double right_rear_wheel_velocity = RIGHT_REAR_WHEEL_VELOCITY_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getLeft_rear_wheel_velocity() <em>Left rear wheel velocity</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLeft_rear_wheel_velocity()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final double LEFT_REAR_WHEEL_VELOCITY_EDEFAULT = 0.0;
+
+	/**
+	 * The cached value of the '{@link #getLeft_rear_wheel_velocity() <em>Left rear wheel velocity</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLeft_rear_wheel_velocity()
+	 * @generated
+	 * @ordered
+	 */
+	protected double left_rear_wheel_velocity = LEFT_REAR_WHEEL_VELOCITY_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected CarLikeOdometryImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Sensor_datatypesPackage.Literals.CAR_LIKE_ODOMETRY;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Header getHeader() {
+		return header;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetHeader(Header newHeader, NotificationChain msgs) {
+		Header oldHeader = header;
+		header = newHeader;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.CAR_LIKE_ODOMETRY__HEADER, oldHeader, newHeader);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setHeader(Header newHeader) {
+		if(newHeader != header) {
+			NotificationChain msgs = null;
+			if(header != null)
+				msgs = ((InternalEObject)header).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Sensor_datatypesPackage.CAR_LIKE_ODOMETRY__HEADER, null, msgs);
+			if(newHeader != null)
+				msgs = ((InternalEObject)newHeader).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Sensor_datatypesPackage.CAR_LIKE_ODOMETRY__HEADER, null, msgs);
+			msgs = basicSetHeader(newHeader, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.CAR_LIKE_ODOMETRY__HEADER, newHeader, newHeader));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public double getSteering_angle() {
+		return steering_angle;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setSteering_angle(double newSteering_angle) {
+		double oldSteering_angle = steering_angle;
+		steering_angle = newSteering_angle;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.CAR_LIKE_ODOMETRY__STEERING_ANGLE, oldSteering_angle, steering_angle));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public double getLeft_rear_wheel_distance() {
+		return left_rear_wheel_distance;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setLeft_rear_wheel_distance(double newLeft_rear_wheel_distance) {
+		double oldLeft_rear_wheel_distance = left_rear_wheel_distance;
+		left_rear_wheel_distance = newLeft_rear_wheel_distance;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.CAR_LIKE_ODOMETRY__LEFT_REAR_WHEEL_DISTANCE, oldLeft_rear_wheel_distance, left_rear_wheel_distance));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public double getRight_rear_wheel_distance() {
+		return right_rear_wheel_distance;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setRight_rear_wheel_distance(double newRight_rear_wheel_distance) {
+		double oldRight_rear_wheel_distance = right_rear_wheel_distance;
+		right_rear_wheel_distance = newRight_rear_wheel_distance;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.CAR_LIKE_ODOMETRY__RIGHT_REAR_WHEEL_DISTANCE, oldRight_rear_wheel_distance, right_rear_wheel_distance));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public double getRight_rear_wheel_velocity() {
+		return right_rear_wheel_velocity;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setRight_rear_wheel_velocity(double newRight_rear_wheel_velocity) {
+		double oldRight_rear_wheel_velocity = right_rear_wheel_velocity;
+		right_rear_wheel_velocity = newRight_rear_wheel_velocity;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.CAR_LIKE_ODOMETRY__RIGHT_REAR_WHEEL_VELOCITY, oldRight_rear_wheel_velocity, right_rear_wheel_velocity));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public double getLeft_rear_wheel_velocity() {
+		return left_rear_wheel_velocity;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setLeft_rear_wheel_velocity(double newLeft_rear_wheel_velocity) {
+		double oldLeft_rear_wheel_velocity = left_rear_wheel_velocity;
+		left_rear_wheel_velocity = newLeft_rear_wheel_velocity;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.CAR_LIKE_ODOMETRY__LEFT_REAR_WHEEL_VELOCITY, oldLeft_rear_wheel_velocity, left_rear_wheel_velocity));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.CAR_LIKE_ODOMETRY__HEADER:
+			return basicSetHeader(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.CAR_LIKE_ODOMETRY__HEADER:
+			return getHeader();
+		case Sensor_datatypesPackage.CAR_LIKE_ODOMETRY__STEERING_ANGLE:
+			return getSteering_angle();
+		case Sensor_datatypesPackage.CAR_LIKE_ODOMETRY__LEFT_REAR_WHEEL_DISTANCE:
+			return getLeft_rear_wheel_distance();
+		case Sensor_datatypesPackage.CAR_LIKE_ODOMETRY__RIGHT_REAR_WHEEL_DISTANCE:
+			return getRight_rear_wheel_distance();
+		case Sensor_datatypesPackage.CAR_LIKE_ODOMETRY__RIGHT_REAR_WHEEL_VELOCITY:
+			return getRight_rear_wheel_velocity();
+		case Sensor_datatypesPackage.CAR_LIKE_ODOMETRY__LEFT_REAR_WHEEL_VELOCITY:
+			return getLeft_rear_wheel_velocity();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.CAR_LIKE_ODOMETRY__HEADER:
+			setHeader((Header)newValue);
+			return;
+		case Sensor_datatypesPackage.CAR_LIKE_ODOMETRY__STEERING_ANGLE:
+			setSteering_angle((Double)newValue);
+			return;
+		case Sensor_datatypesPackage.CAR_LIKE_ODOMETRY__LEFT_REAR_WHEEL_DISTANCE:
+			setLeft_rear_wheel_distance((Double)newValue);
+			return;
+		case Sensor_datatypesPackage.CAR_LIKE_ODOMETRY__RIGHT_REAR_WHEEL_DISTANCE:
+			setRight_rear_wheel_distance((Double)newValue);
+			return;
+		case Sensor_datatypesPackage.CAR_LIKE_ODOMETRY__RIGHT_REAR_WHEEL_VELOCITY:
+			setRight_rear_wheel_velocity((Double)newValue);
+			return;
+		case Sensor_datatypesPackage.CAR_LIKE_ODOMETRY__LEFT_REAR_WHEEL_VELOCITY:
+			setLeft_rear_wheel_velocity((Double)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.CAR_LIKE_ODOMETRY__HEADER:
+			setHeader((Header)null);
+			return;
+		case Sensor_datatypesPackage.CAR_LIKE_ODOMETRY__STEERING_ANGLE:
+			setSteering_angle(STEERING_ANGLE_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.CAR_LIKE_ODOMETRY__LEFT_REAR_WHEEL_DISTANCE:
+			setLeft_rear_wheel_distance(LEFT_REAR_WHEEL_DISTANCE_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.CAR_LIKE_ODOMETRY__RIGHT_REAR_WHEEL_DISTANCE:
+			setRight_rear_wheel_distance(RIGHT_REAR_WHEEL_DISTANCE_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.CAR_LIKE_ODOMETRY__RIGHT_REAR_WHEEL_VELOCITY:
+			setRight_rear_wheel_velocity(RIGHT_REAR_WHEEL_VELOCITY_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.CAR_LIKE_ODOMETRY__LEFT_REAR_WHEEL_VELOCITY:
+			setLeft_rear_wheel_velocity(LEFT_REAR_WHEEL_VELOCITY_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.CAR_LIKE_ODOMETRY__HEADER:
+			return header != null;
+		case Sensor_datatypesPackage.CAR_LIKE_ODOMETRY__STEERING_ANGLE:
+			return steering_angle != STEERING_ANGLE_EDEFAULT;
+		case Sensor_datatypesPackage.CAR_LIKE_ODOMETRY__LEFT_REAR_WHEEL_DISTANCE:
+			return left_rear_wheel_distance != LEFT_REAR_WHEEL_DISTANCE_EDEFAULT;
+		case Sensor_datatypesPackage.CAR_LIKE_ODOMETRY__RIGHT_REAR_WHEEL_DISTANCE:
+			return right_rear_wheel_distance != RIGHT_REAR_WHEEL_DISTANCE_EDEFAULT;
+		case Sensor_datatypesPackage.CAR_LIKE_ODOMETRY__RIGHT_REAR_WHEEL_VELOCITY:
+			return right_rear_wheel_velocity != RIGHT_REAR_WHEEL_VELOCITY_EDEFAULT;
+		case Sensor_datatypesPackage.CAR_LIKE_ODOMETRY__LEFT_REAR_WHEEL_VELOCITY:
+			return left_rear_wheel_velocity != LEFT_REAR_WHEEL_VELOCITY_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (steering_angle: ");
+		result.append(steering_angle);
+		result.append(", left_rear_wheel_distance: ");
+		result.append(left_rear_wheel_distance);
+		result.append(", right_rear_wheel_distance: ");
+		result.append(right_rear_wheel_distance);
+		result.append(", right_rear_wheel_velocity: ");
+		result.append(right_rear_wheel_velocity);
+		result.append(", left_rear_wheel_velocity: ");
+		result.append(left_rear_wheel_velocity);
+		result.append(')');
+		return result.toString();
+	}
+
+} //CarLikeOdometryImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/ChannelFloat32Impl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/ChannelFloat32Impl.java
new file mode 100644
index 00000000000..60453df6230
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/ChannelFloat32Impl.java
@@ -0,0 +1,227 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl;
+
+import java.util.Collection;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.emf.ecore.util.EDataTypeUniqueEList;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.ChannelFloat32;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Channel Float32</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.ChannelFloat32Impl#getName <em>Name
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.ChannelFloat32Impl#getValues <em>
+ * Values</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class ChannelFloat32Impl extends EObjectImpl implements ChannelFloat32 {
+
+	/**
+	 * The default value of the '{@link #getName() <em>Name</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getName()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final String NAME_EDEFAULT = null;
+
+	/**
+	 * The cached value of the '{@link #getName() <em>Name</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getName()
+	 * @generated
+	 * @ordered
+	 */
+	protected String name = NAME_EDEFAULT;
+
+	/**
+	 * The cached value of the '{@link #getValues() <em>Values</em>}' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getValues()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Float> values;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected ChannelFloat32Impl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Sensor_datatypesPackage.Literals.CHANNEL_FLOAT32;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getName() {
+		return name;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setName(String newName) {
+		String oldName = name;
+		name = newName;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.CHANNEL_FLOAT32__NAME, oldName, name));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Float> getValues() {
+		if(values == null) {
+			values = new EDataTypeUniqueEList<Float>(Float.class, this, Sensor_datatypesPackage.CHANNEL_FLOAT32__VALUES);
+		}
+		return values;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.CHANNEL_FLOAT32__NAME:
+			return getName();
+		case Sensor_datatypesPackage.CHANNEL_FLOAT32__VALUES:
+			return getValues();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@SuppressWarnings("unchecked")
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.CHANNEL_FLOAT32__NAME:
+			setName((String)newValue);
+			return;
+		case Sensor_datatypesPackage.CHANNEL_FLOAT32__VALUES:
+			getValues().clear();
+			getValues().addAll((Collection<? extends Float>)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.CHANNEL_FLOAT32__NAME:
+			setName(NAME_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.CHANNEL_FLOAT32__VALUES:
+			getValues().clear();
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.CHANNEL_FLOAT32__NAME:
+			return NAME_EDEFAULT == null ? name != null : !NAME_EDEFAULT.equals(name);
+		case Sensor_datatypesPackage.CHANNEL_FLOAT32__VALUES:
+			return values != null && !values.isEmpty();
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (name: ");
+		result.append(name);
+		result.append(", values: ");
+		result.append(values);
+		result.append(')');
+		return result.toString();
+	}
+
+} //ChannelFloat32Impl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/CompressedImageImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/CompressedImageImpl.java
new file mode 100644
index 00000000000..a9715d478ea
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/CompressedImageImpl.java
@@ -0,0 +1,317 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl;
+
+import java.util.Collection;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.emf.ecore.util.EDataTypeUniqueEList;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CompressedImage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Compressed Image</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.CompressedImageImpl#getHeader <em>
+ * Header</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.CompressedImageImpl#getFormat <em>
+ * Format</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.CompressedImageImpl#getData <em>Data
+ * </em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class CompressedImageImpl extends EObjectImpl implements CompressedImage {
+
+	/**
+	 * The cached value of the '{@link #getHeader() <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHeader()
+	 * @generated
+	 * @ordered
+	 */
+	protected Header header;
+
+	/**
+	 * The default value of the '{@link #getFormat() <em>Format</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getFormat()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final String FORMAT_EDEFAULT = null;
+
+	/**
+	 * The cached value of the '{@link #getFormat() <em>Format</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getFormat()
+	 * @generated
+	 * @ordered
+	 */
+	protected String format = FORMAT_EDEFAULT;
+
+	/**
+	 * The cached value of the '{@link #getData() <em>Data</em>}' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getData()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Character> data;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected CompressedImageImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Sensor_datatypesPackage.Literals.COMPRESSED_IMAGE;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Header getHeader() {
+		return header;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetHeader(Header newHeader, NotificationChain msgs) {
+		Header oldHeader = header;
+		header = newHeader;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.COMPRESSED_IMAGE__HEADER, oldHeader, newHeader);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setHeader(Header newHeader) {
+		if(newHeader != header) {
+			NotificationChain msgs = null;
+			if(header != null)
+				msgs = ((InternalEObject)header).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Sensor_datatypesPackage.COMPRESSED_IMAGE__HEADER, null, msgs);
+			if(newHeader != null)
+				msgs = ((InternalEObject)newHeader).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Sensor_datatypesPackage.COMPRESSED_IMAGE__HEADER, null, msgs);
+			msgs = basicSetHeader(newHeader, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.COMPRESSED_IMAGE__HEADER, newHeader, newHeader));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getFormat() {
+		return format;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setFormat(String newFormat) {
+		String oldFormat = format;
+		format = newFormat;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.COMPRESSED_IMAGE__FORMAT, oldFormat, format));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Character> getData() {
+		if(data == null) {
+			data = new EDataTypeUniqueEList<Character>(Character.class, this, Sensor_datatypesPackage.COMPRESSED_IMAGE__DATA);
+		}
+		return data;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.COMPRESSED_IMAGE__HEADER:
+			return basicSetHeader(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.COMPRESSED_IMAGE__HEADER:
+			return getHeader();
+		case Sensor_datatypesPackage.COMPRESSED_IMAGE__FORMAT:
+			return getFormat();
+		case Sensor_datatypesPackage.COMPRESSED_IMAGE__DATA:
+			return getData();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@SuppressWarnings("unchecked")
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.COMPRESSED_IMAGE__HEADER:
+			setHeader((Header)newValue);
+			return;
+		case Sensor_datatypesPackage.COMPRESSED_IMAGE__FORMAT:
+			setFormat((String)newValue);
+			return;
+		case Sensor_datatypesPackage.COMPRESSED_IMAGE__DATA:
+			getData().clear();
+			getData().addAll((Collection<? extends Character>)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.COMPRESSED_IMAGE__HEADER:
+			setHeader((Header)null);
+			return;
+		case Sensor_datatypesPackage.COMPRESSED_IMAGE__FORMAT:
+			setFormat(FORMAT_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.COMPRESSED_IMAGE__DATA:
+			getData().clear();
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.COMPRESSED_IMAGE__HEADER:
+			return header != null;
+		case Sensor_datatypesPackage.COMPRESSED_IMAGE__FORMAT:
+			return FORMAT_EDEFAULT == null ? format != null : !FORMAT_EDEFAULT.equals(format);
+		case Sensor_datatypesPackage.COMPRESSED_IMAGE__DATA:
+			return data != null && !data.isEmpty();
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (format: ");
+		result.append(format);
+		result.append(", data: ");
+		result.append(data);
+		result.append(')');
+		return result.toString();
+	}
+
+} //CompressedImageImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/DifferentialOdometryImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/DifferentialOdometryImpl.java
new file mode 100644
index 00000000000..7b6adb83efa
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/DifferentialOdometryImpl.java
@@ -0,0 +1,454 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.DifferentialOdometry;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Differential Odometry</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.DifferentialOdometryImpl#getHeader
+ * <em>Header</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.DifferentialOdometryImpl#getRight_distance
+ * <em>Right distance</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.DifferentialOdometryImpl#getLeft_distance
+ * <em>Left distance</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.DifferentialOdometryImpl#getLeft_velocity
+ * <em>Left velocity</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.DifferentialOdometryImpl#getRight_velocity
+ * <em>Right velocity</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class DifferentialOdometryImpl extends EObjectImpl implements DifferentialOdometry {
+
+	/**
+	 * The cached value of the '{@link #getHeader() <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHeader()
+	 * @generated
+	 * @ordered
+	 */
+	protected Header header;
+
+	/**
+	 * The default value of the '{@link #getRight_distance() <em>Right distance</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getRight_distance()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final double RIGHT_DISTANCE_EDEFAULT = 0.0;
+
+	/**
+	 * The cached value of the '{@link #getRight_distance() <em>Right distance</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getRight_distance()
+	 * @generated
+	 * @ordered
+	 */
+	protected double right_distance = RIGHT_DISTANCE_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getLeft_distance() <em>Left distance</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLeft_distance()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final double LEFT_DISTANCE_EDEFAULT = 0.0;
+
+	/**
+	 * The cached value of the '{@link #getLeft_distance() <em>Left distance</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLeft_distance()
+	 * @generated
+	 * @ordered
+	 */
+	protected double left_distance = LEFT_DISTANCE_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getLeft_velocity() <em>Left velocity</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLeft_velocity()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final double LEFT_VELOCITY_EDEFAULT = 0.0;
+
+	/**
+	 * The cached value of the '{@link #getLeft_velocity() <em>Left velocity</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLeft_velocity()
+	 * @generated
+	 * @ordered
+	 */
+	protected double left_velocity = LEFT_VELOCITY_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getRight_velocity() <em>Right velocity</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getRight_velocity()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final double RIGHT_VELOCITY_EDEFAULT = 0.0;
+
+	/**
+	 * The cached value of the '{@link #getRight_velocity() <em>Right velocity</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getRight_velocity()
+	 * @generated
+	 * @ordered
+	 */
+	protected double right_velocity = RIGHT_VELOCITY_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected DifferentialOdometryImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Sensor_datatypesPackage.Literals.DIFFERENTIAL_ODOMETRY;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Header getHeader() {
+		return header;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetHeader(Header newHeader, NotificationChain msgs) {
+		Header oldHeader = header;
+		header = newHeader;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.DIFFERENTIAL_ODOMETRY__HEADER, oldHeader, newHeader);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setHeader(Header newHeader) {
+		if(newHeader != header) {
+			NotificationChain msgs = null;
+			if(header != null)
+				msgs = ((InternalEObject)header).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Sensor_datatypesPackage.DIFFERENTIAL_ODOMETRY__HEADER, null, msgs);
+			if(newHeader != null)
+				msgs = ((InternalEObject)newHeader).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Sensor_datatypesPackage.DIFFERENTIAL_ODOMETRY__HEADER, null, msgs);
+			msgs = basicSetHeader(newHeader, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.DIFFERENTIAL_ODOMETRY__HEADER, newHeader, newHeader));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public double getRight_distance() {
+		return right_distance;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setRight_distance(double newRight_distance) {
+		double oldRight_distance = right_distance;
+		right_distance = newRight_distance;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.DIFFERENTIAL_ODOMETRY__RIGHT_DISTANCE, oldRight_distance, right_distance));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public double getLeft_distance() {
+		return left_distance;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setLeft_distance(double newLeft_distance) {
+		double oldLeft_distance = left_distance;
+		left_distance = newLeft_distance;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.DIFFERENTIAL_ODOMETRY__LEFT_DISTANCE, oldLeft_distance, left_distance));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public double getLeft_velocity() {
+		return left_velocity;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setLeft_velocity(double newLeft_velocity) {
+		double oldLeft_velocity = left_velocity;
+		left_velocity = newLeft_velocity;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.DIFFERENTIAL_ODOMETRY__LEFT_VELOCITY, oldLeft_velocity, left_velocity));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public double getRight_velocity() {
+		return right_velocity;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setRight_velocity(double newRight_velocity) {
+		double oldRight_velocity = right_velocity;
+		right_velocity = newRight_velocity;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.DIFFERENTIAL_ODOMETRY__RIGHT_VELOCITY, oldRight_velocity, right_velocity));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.DIFFERENTIAL_ODOMETRY__HEADER:
+			return basicSetHeader(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.DIFFERENTIAL_ODOMETRY__HEADER:
+			return getHeader();
+		case Sensor_datatypesPackage.DIFFERENTIAL_ODOMETRY__RIGHT_DISTANCE:
+			return getRight_distance();
+		case Sensor_datatypesPackage.DIFFERENTIAL_ODOMETRY__LEFT_DISTANCE:
+			return getLeft_distance();
+		case Sensor_datatypesPackage.DIFFERENTIAL_ODOMETRY__LEFT_VELOCITY:
+			return getLeft_velocity();
+		case Sensor_datatypesPackage.DIFFERENTIAL_ODOMETRY__RIGHT_VELOCITY:
+			return getRight_velocity();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.DIFFERENTIAL_ODOMETRY__HEADER:
+			setHeader((Header)newValue);
+			return;
+		case Sensor_datatypesPackage.DIFFERENTIAL_ODOMETRY__RIGHT_DISTANCE:
+			setRight_distance((Double)newValue);
+			return;
+		case Sensor_datatypesPackage.DIFFERENTIAL_ODOMETRY__LEFT_DISTANCE:
+			setLeft_distance((Double)newValue);
+			return;
+		case Sensor_datatypesPackage.DIFFERENTIAL_ODOMETRY__LEFT_VELOCITY:
+			setLeft_velocity((Double)newValue);
+			return;
+		case Sensor_datatypesPackage.DIFFERENTIAL_ODOMETRY__RIGHT_VELOCITY:
+			setRight_velocity((Double)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.DIFFERENTIAL_ODOMETRY__HEADER:
+			setHeader((Header)null);
+			return;
+		case Sensor_datatypesPackage.DIFFERENTIAL_ODOMETRY__RIGHT_DISTANCE:
+			setRight_distance(RIGHT_DISTANCE_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.DIFFERENTIAL_ODOMETRY__LEFT_DISTANCE:
+			setLeft_distance(LEFT_DISTANCE_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.DIFFERENTIAL_ODOMETRY__LEFT_VELOCITY:
+			setLeft_velocity(LEFT_VELOCITY_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.DIFFERENTIAL_ODOMETRY__RIGHT_VELOCITY:
+			setRight_velocity(RIGHT_VELOCITY_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.DIFFERENTIAL_ODOMETRY__HEADER:
+			return header != null;
+		case Sensor_datatypesPackage.DIFFERENTIAL_ODOMETRY__RIGHT_DISTANCE:
+			return right_distance != RIGHT_DISTANCE_EDEFAULT;
+		case Sensor_datatypesPackage.DIFFERENTIAL_ODOMETRY__LEFT_DISTANCE:
+			return left_distance != LEFT_DISTANCE_EDEFAULT;
+		case Sensor_datatypesPackage.DIFFERENTIAL_ODOMETRY__LEFT_VELOCITY:
+			return left_velocity != LEFT_VELOCITY_EDEFAULT;
+		case Sensor_datatypesPackage.DIFFERENTIAL_ODOMETRY__RIGHT_VELOCITY:
+			return right_velocity != RIGHT_VELOCITY_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (right_distance: ");
+		result.append(right_distance);
+		result.append(", left_distance: ");
+		result.append(left_distance);
+		result.append(", left_velocity: ");
+		result.append(left_velocity);
+		result.append(", right_velocity: ");
+		result.append(right_velocity);
+		result.append(')');
+		return result.toString();
+	}
+
+} //DifferentialOdometryImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/ImageImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/ImageImpl.java
new file mode 100644
index 00000000000..e035213da7d
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/ImageImpl.java
@@ -0,0 +1,548 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl;
+
+import java.util.Collection;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.emf.ecore.util.EDataTypeUniqueEList;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Image;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Image</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.ImageImpl#getHeader <em>Header</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.ImageImpl#getHeight <em>Height</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.ImageImpl#getWidth <em>Width</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.ImageImpl#getEncoding <em>Encoding
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.ImageImpl#getIs_bigendian <em>Is
+ * bigendian</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.ImageImpl#getStep <em>Step</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.ImageImpl#getData <em>Data</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class ImageImpl extends EObjectImpl implements Image {
+
+	/**
+	 * The cached value of the '{@link #getHeader() <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHeader()
+	 * @generated
+	 * @ordered
+	 */
+	protected Header header;
+
+	/**
+	 * The default value of the '{@link #getHeight() <em>Height</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHeight()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final long HEIGHT_EDEFAULT = 0L;
+
+	/**
+	 * The cached value of the '{@link #getHeight() <em>Height</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHeight()
+	 * @generated
+	 * @ordered
+	 */
+	protected long height = HEIGHT_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getWidth() <em>Width</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWidth()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final long WIDTH_EDEFAULT = 0L;
+
+	/**
+	 * The cached value of the '{@link #getWidth() <em>Width</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWidth()
+	 * @generated
+	 * @ordered
+	 */
+	protected long width = WIDTH_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getEncoding() <em>Encoding</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getEncoding()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final String ENCODING_EDEFAULT = null;
+
+	/**
+	 * The cached value of the '{@link #getEncoding() <em>Encoding</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getEncoding()
+	 * @generated
+	 * @ordered
+	 */
+	protected String encoding = ENCODING_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getIs_bigendian() <em>Is bigendian</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getIs_bigendian()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final char IS_BIGENDIAN_EDEFAULT = '\u0000';
+
+	/**
+	 * The cached value of the '{@link #getIs_bigendian() <em>Is bigendian</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getIs_bigendian()
+	 * @generated
+	 * @ordered
+	 */
+	protected char is_bigendian = IS_BIGENDIAN_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getStep() <em>Step</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getStep()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final long STEP_EDEFAULT = 0L;
+
+	/**
+	 * The cached value of the '{@link #getStep() <em>Step</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getStep()
+	 * @generated
+	 * @ordered
+	 */
+	protected long step = STEP_EDEFAULT;
+
+	/**
+	 * The cached value of the '{@link #getData() <em>Data</em>}' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getData()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Character> data;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected ImageImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Sensor_datatypesPackage.Literals.IMAGE;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Header getHeader() {
+		return header;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetHeader(Header newHeader, NotificationChain msgs) {
+		Header oldHeader = header;
+		header = newHeader;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.IMAGE__HEADER, oldHeader, newHeader);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setHeader(Header newHeader) {
+		if(newHeader != header) {
+			NotificationChain msgs = null;
+			if(header != null)
+				msgs = ((InternalEObject)header).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Sensor_datatypesPackage.IMAGE__HEADER, null, msgs);
+			if(newHeader != null)
+				msgs = ((InternalEObject)newHeader).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Sensor_datatypesPackage.IMAGE__HEADER, null, msgs);
+			msgs = basicSetHeader(newHeader, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.IMAGE__HEADER, newHeader, newHeader));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public long getHeight() {
+		return height;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setHeight(long newHeight) {
+		long oldHeight = height;
+		height = newHeight;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.IMAGE__HEIGHT, oldHeight, height));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public long getWidth() {
+		return width;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setWidth(long newWidth) {
+		long oldWidth = width;
+		width = newWidth;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.IMAGE__WIDTH, oldWidth, width));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getEncoding() {
+		return encoding;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setEncoding(String newEncoding) {
+		String oldEncoding = encoding;
+		encoding = newEncoding;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.IMAGE__ENCODING, oldEncoding, encoding));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public char getIs_bigendian() {
+		return is_bigendian;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setIs_bigendian(char newIs_bigendian) {
+		char oldIs_bigendian = is_bigendian;
+		is_bigendian = newIs_bigendian;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.IMAGE__IS_BIGENDIAN, oldIs_bigendian, is_bigendian));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public long getStep() {
+		return step;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setStep(long newStep) {
+		long oldStep = step;
+		step = newStep;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.IMAGE__STEP, oldStep, step));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Character> getData() {
+		if(data == null) {
+			data = new EDataTypeUniqueEList<Character>(Character.class, this, Sensor_datatypesPackage.IMAGE__DATA);
+		}
+		return data;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.IMAGE__HEADER:
+			return basicSetHeader(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.IMAGE__HEADER:
+			return getHeader();
+		case Sensor_datatypesPackage.IMAGE__HEIGHT:
+			return getHeight();
+		case Sensor_datatypesPackage.IMAGE__WIDTH:
+			return getWidth();
+		case Sensor_datatypesPackage.IMAGE__ENCODING:
+			return getEncoding();
+		case Sensor_datatypesPackage.IMAGE__IS_BIGENDIAN:
+			return getIs_bigendian();
+		case Sensor_datatypesPackage.IMAGE__STEP:
+			return getStep();
+		case Sensor_datatypesPackage.IMAGE__DATA:
+			return getData();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@SuppressWarnings("unchecked")
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.IMAGE__HEADER:
+			setHeader((Header)newValue);
+			return;
+		case Sensor_datatypesPackage.IMAGE__HEIGHT:
+			setHeight((Long)newValue);
+			return;
+		case Sensor_datatypesPackage.IMAGE__WIDTH:
+			setWidth((Long)newValue);
+			return;
+		case Sensor_datatypesPackage.IMAGE__ENCODING:
+			setEncoding((String)newValue);
+			return;
+		case Sensor_datatypesPackage.IMAGE__IS_BIGENDIAN:
+			setIs_bigendian((Character)newValue);
+			return;
+		case Sensor_datatypesPackage.IMAGE__STEP:
+			setStep((Long)newValue);
+			return;
+		case Sensor_datatypesPackage.IMAGE__DATA:
+			getData().clear();
+			getData().addAll((Collection<? extends Character>)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.IMAGE__HEADER:
+			setHeader((Header)null);
+			return;
+		case Sensor_datatypesPackage.IMAGE__HEIGHT:
+			setHeight(HEIGHT_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.IMAGE__WIDTH:
+			setWidth(WIDTH_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.IMAGE__ENCODING:
+			setEncoding(ENCODING_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.IMAGE__IS_BIGENDIAN:
+			setIs_bigendian(IS_BIGENDIAN_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.IMAGE__STEP:
+			setStep(STEP_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.IMAGE__DATA:
+			getData().clear();
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.IMAGE__HEADER:
+			return header != null;
+		case Sensor_datatypesPackage.IMAGE__HEIGHT:
+			return height != HEIGHT_EDEFAULT;
+		case Sensor_datatypesPackage.IMAGE__WIDTH:
+			return width != WIDTH_EDEFAULT;
+		case Sensor_datatypesPackage.IMAGE__ENCODING:
+			return ENCODING_EDEFAULT == null ? encoding != null : !ENCODING_EDEFAULT.equals(encoding);
+		case Sensor_datatypesPackage.IMAGE__IS_BIGENDIAN:
+			return is_bigendian != IS_BIGENDIAN_EDEFAULT;
+		case Sensor_datatypesPackage.IMAGE__STEP:
+			return step != STEP_EDEFAULT;
+		case Sensor_datatypesPackage.IMAGE__DATA:
+			return data != null && !data.isEmpty();
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (height: ");
+		result.append(height);
+		result.append(", width: ");
+		result.append(width);
+		result.append(", encoding: ");
+		result.append(encoding);
+		result.append(", is_bigendian: ");
+		result.append(is_bigendian);
+		result.append(", step: ");
+		result.append(step);
+		result.append(", data: ");
+		result.append(data);
+		result.append(')');
+		return result.toString();
+	}
+
+} //ImageImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/ImuImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/ImuImpl.java
new file mode 100644
index 00000000000..85060fcb776
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/ImuImpl.java
@@ -0,0 +1,561 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl;
+
+import java.util.Collection;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.emf.ecore.util.EDataTypeUniqueEList;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Quaternion;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Vector3;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Imu;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Imu</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.ImuImpl#getHeader <em>Header</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.ImuImpl#getOrientation <em>Orientation
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.ImuImpl#getOrientation_covariance <em>
+ * Orientation covariance</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.ImuImpl#getAngular_velocity <em>
+ * Angular velocity</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.ImuImpl#getAngular_velocity_covariance
+ * <em>Angular velocity covariance</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.ImuImpl#getLinear_acceleration <em>
+ * Linear acceleration</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.ImuImpl#getLinear_acceleration_covariance
+ * <em>Linear acceleration covariance</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class ImuImpl extends EObjectImpl implements Imu {
+
+	/**
+	 * The cached value of the '{@link #getHeader() <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHeader()
+	 * @generated
+	 * @ordered
+	 */
+	protected Header header;
+
+	/**
+	 * The cached value of the '{@link #getOrientation() <em>Orientation</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getOrientation()
+	 * @generated
+	 * @ordered
+	 */
+	protected Quaternion orientation;
+
+	/**
+	 * The cached value of the '{@link #getOrientation_covariance() <em>Orientation covariance</em>}' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getOrientation_covariance()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Double> orientation_covariance;
+
+	/**
+	 * The cached value of the '{@link #getAngular_velocity() <em>Angular velocity</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getAngular_velocity()
+	 * @generated
+	 * @ordered
+	 */
+	protected Vector3 angular_velocity;
+
+	/**
+	 * The cached value of the '{@link #getAngular_velocity_covariance() <em>Angular velocity covariance</em>}' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getAngular_velocity_covariance()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Double> angular_velocity_covariance;
+
+	/**
+	 * The cached value of the '{@link #getLinear_acceleration() <em>Linear acceleration</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLinear_acceleration()
+	 * @generated
+	 * @ordered
+	 */
+	protected Vector3 linear_acceleration;
+
+	/**
+	 * The cached value of the '{@link #getLinear_acceleration_covariance() <em>Linear acceleration covariance</em>}' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLinear_acceleration_covariance()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Double> linear_acceleration_covariance;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected ImuImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Sensor_datatypesPackage.Literals.IMU;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Header getHeader() {
+		return header;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetHeader(Header newHeader, NotificationChain msgs) {
+		Header oldHeader = header;
+		header = newHeader;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.IMU__HEADER, oldHeader, newHeader);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setHeader(Header newHeader) {
+		if(newHeader != header) {
+			NotificationChain msgs = null;
+			if(header != null)
+				msgs = ((InternalEObject)header).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Sensor_datatypesPackage.IMU__HEADER, null, msgs);
+			if(newHeader != null)
+				msgs = ((InternalEObject)newHeader).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Sensor_datatypesPackage.IMU__HEADER, null, msgs);
+			msgs = basicSetHeader(newHeader, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.IMU__HEADER, newHeader, newHeader));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Quaternion getOrientation() {
+		return orientation;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetOrientation(Quaternion newOrientation, NotificationChain msgs) {
+		Quaternion oldOrientation = orientation;
+		orientation = newOrientation;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.IMU__ORIENTATION, oldOrientation, newOrientation);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setOrientation(Quaternion newOrientation) {
+		if(newOrientation != orientation) {
+			NotificationChain msgs = null;
+			if(orientation != null)
+				msgs = ((InternalEObject)orientation).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Sensor_datatypesPackage.IMU__ORIENTATION, null, msgs);
+			if(newOrientation != null)
+				msgs = ((InternalEObject)newOrientation).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Sensor_datatypesPackage.IMU__ORIENTATION, null, msgs);
+			msgs = basicSetOrientation(newOrientation, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.IMU__ORIENTATION, newOrientation, newOrientation));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Double> getOrientation_covariance() {
+		if(orientation_covariance == null) {
+			orientation_covariance = new EDataTypeUniqueEList<Double>(Double.class, this, Sensor_datatypesPackage.IMU__ORIENTATION_COVARIANCE);
+		}
+		return orientation_covariance;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Vector3 getAngular_velocity() {
+		return angular_velocity;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetAngular_velocity(Vector3 newAngular_velocity, NotificationChain msgs) {
+		Vector3 oldAngular_velocity = angular_velocity;
+		angular_velocity = newAngular_velocity;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.IMU__ANGULAR_VELOCITY, oldAngular_velocity, newAngular_velocity);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setAngular_velocity(Vector3 newAngular_velocity) {
+		if(newAngular_velocity != angular_velocity) {
+			NotificationChain msgs = null;
+			if(angular_velocity != null)
+				msgs = ((InternalEObject)angular_velocity).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Sensor_datatypesPackage.IMU__ANGULAR_VELOCITY, null, msgs);
+			if(newAngular_velocity != null)
+				msgs = ((InternalEObject)newAngular_velocity).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Sensor_datatypesPackage.IMU__ANGULAR_VELOCITY, null, msgs);
+			msgs = basicSetAngular_velocity(newAngular_velocity, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.IMU__ANGULAR_VELOCITY, newAngular_velocity, newAngular_velocity));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Double> getAngular_velocity_covariance() {
+		if(angular_velocity_covariance == null) {
+			angular_velocity_covariance = new EDataTypeUniqueEList<Double>(Double.class, this, Sensor_datatypesPackage.IMU__ANGULAR_VELOCITY_COVARIANCE);
+		}
+		return angular_velocity_covariance;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Vector3 getLinear_acceleration() {
+		return linear_acceleration;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetLinear_acceleration(Vector3 newLinear_acceleration, NotificationChain msgs) {
+		Vector3 oldLinear_acceleration = linear_acceleration;
+		linear_acceleration = newLinear_acceleration;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.IMU__LINEAR_ACCELERATION, oldLinear_acceleration, newLinear_acceleration);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setLinear_acceleration(Vector3 newLinear_acceleration) {
+		if(newLinear_acceleration != linear_acceleration) {
+			NotificationChain msgs = null;
+			if(linear_acceleration != null)
+				msgs = ((InternalEObject)linear_acceleration).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Sensor_datatypesPackage.IMU__LINEAR_ACCELERATION, null, msgs);
+			if(newLinear_acceleration != null)
+				msgs = ((InternalEObject)newLinear_acceleration).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Sensor_datatypesPackage.IMU__LINEAR_ACCELERATION, null, msgs);
+			msgs = basicSetLinear_acceleration(newLinear_acceleration, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.IMU__LINEAR_ACCELERATION, newLinear_acceleration, newLinear_acceleration));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Double> getLinear_acceleration_covariance() {
+		if(linear_acceleration_covariance == null) {
+			linear_acceleration_covariance = new EDataTypeUniqueEList<Double>(Double.class, this, Sensor_datatypesPackage.IMU__LINEAR_ACCELERATION_COVARIANCE);
+		}
+		return linear_acceleration_covariance;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.IMU__HEADER:
+			return basicSetHeader(null, msgs);
+		case Sensor_datatypesPackage.IMU__ORIENTATION:
+			return basicSetOrientation(null, msgs);
+		case Sensor_datatypesPackage.IMU__ANGULAR_VELOCITY:
+			return basicSetAngular_velocity(null, msgs);
+		case Sensor_datatypesPackage.IMU__LINEAR_ACCELERATION:
+			return basicSetLinear_acceleration(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.IMU__HEADER:
+			return getHeader();
+		case Sensor_datatypesPackage.IMU__ORIENTATION:
+			return getOrientation();
+		case Sensor_datatypesPackage.IMU__ORIENTATION_COVARIANCE:
+			return getOrientation_covariance();
+		case Sensor_datatypesPackage.IMU__ANGULAR_VELOCITY:
+			return getAngular_velocity();
+		case Sensor_datatypesPackage.IMU__ANGULAR_VELOCITY_COVARIANCE:
+			return getAngular_velocity_covariance();
+		case Sensor_datatypesPackage.IMU__LINEAR_ACCELERATION:
+			return getLinear_acceleration();
+		case Sensor_datatypesPackage.IMU__LINEAR_ACCELERATION_COVARIANCE:
+			return getLinear_acceleration_covariance();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@SuppressWarnings("unchecked")
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.IMU__HEADER:
+			setHeader((Header)newValue);
+			return;
+		case Sensor_datatypesPackage.IMU__ORIENTATION:
+			setOrientation((Quaternion)newValue);
+			return;
+		case Sensor_datatypesPackage.IMU__ORIENTATION_COVARIANCE:
+			getOrientation_covariance().clear();
+			getOrientation_covariance().addAll((Collection<? extends Double>)newValue);
+			return;
+		case Sensor_datatypesPackage.IMU__ANGULAR_VELOCITY:
+			setAngular_velocity((Vector3)newValue);
+			return;
+		case Sensor_datatypesPackage.IMU__ANGULAR_VELOCITY_COVARIANCE:
+			getAngular_velocity_covariance().clear();
+			getAngular_velocity_covariance().addAll((Collection<? extends Double>)newValue);
+			return;
+		case Sensor_datatypesPackage.IMU__LINEAR_ACCELERATION:
+			setLinear_acceleration((Vector3)newValue);
+			return;
+		case Sensor_datatypesPackage.IMU__LINEAR_ACCELERATION_COVARIANCE:
+			getLinear_acceleration_covariance().clear();
+			getLinear_acceleration_covariance().addAll((Collection<? extends Double>)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.IMU__HEADER:
+			setHeader((Header)null);
+			return;
+		case Sensor_datatypesPackage.IMU__ORIENTATION:
+			setOrientation((Quaternion)null);
+			return;
+		case Sensor_datatypesPackage.IMU__ORIENTATION_COVARIANCE:
+			getOrientation_covariance().clear();
+			return;
+		case Sensor_datatypesPackage.IMU__ANGULAR_VELOCITY:
+			setAngular_velocity((Vector3)null);
+			return;
+		case Sensor_datatypesPackage.IMU__ANGULAR_VELOCITY_COVARIANCE:
+			getAngular_velocity_covariance().clear();
+			return;
+		case Sensor_datatypesPackage.IMU__LINEAR_ACCELERATION:
+			setLinear_acceleration((Vector3)null);
+			return;
+		case Sensor_datatypesPackage.IMU__LINEAR_ACCELERATION_COVARIANCE:
+			getLinear_acceleration_covariance().clear();
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.IMU__HEADER:
+			return header != null;
+		case Sensor_datatypesPackage.IMU__ORIENTATION:
+			return orientation != null;
+		case Sensor_datatypesPackage.IMU__ORIENTATION_COVARIANCE:
+			return orientation_covariance != null && !orientation_covariance.isEmpty();
+		case Sensor_datatypesPackage.IMU__ANGULAR_VELOCITY:
+			return angular_velocity != null;
+		case Sensor_datatypesPackage.IMU__ANGULAR_VELOCITY_COVARIANCE:
+			return angular_velocity_covariance != null && !angular_velocity_covariance.isEmpty();
+		case Sensor_datatypesPackage.IMU__LINEAR_ACCELERATION:
+			return linear_acceleration != null;
+		case Sensor_datatypesPackage.IMU__LINEAR_ACCELERATION_COVARIANCE:
+			return linear_acceleration_covariance != null && !linear_acceleration_covariance.isEmpty();
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (orientation_covariance: ");
+		result.append(orientation_covariance);
+		result.append(", angular_velocity_covariance: ");
+		result.append(angular_velocity_covariance);
+		result.append(", linear_acceleration_covariance: ");
+		result.append(linear_acceleration_covariance);
+		result.append(')');
+		return result.toString();
+	}
+
+} //ImuImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/JointStateImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/JointStateImpl.java
new file mode 100644
index 00000000000..45328bbfe0d
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/JointStateImpl.java
@@ -0,0 +1,282 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl;
+
+import java.util.Collection;
+
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.emf.ecore.util.EDataTypeUniqueEList;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JointState;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Joint State</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.JointStateImpl#getName <em>Name</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.JointStateImpl#getPosition <em>
+ * Position</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.JointStateImpl#getVelocity <em>
+ * Velocity</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.JointStateImpl#getEffort <em>Effort
+ * </em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class JointStateImpl extends EObjectImpl implements JointState {
+
+	/**
+	 * The cached value of the '{@link #getName() <em>Name</em>}' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getName()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<String> name;
+
+	/**
+	 * The cached value of the '{@link #getPosition() <em>Position</em>}' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getPosition()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Double> position;
+
+	/**
+	 * The cached value of the '{@link #getVelocity() <em>Velocity</em>}' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getVelocity()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Double> velocity;
+
+	/**
+	 * The cached value of the '{@link #getEffort() <em>Effort</em>}' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getEffort()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Double> effort;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected JointStateImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Sensor_datatypesPackage.Literals.JOINT_STATE;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<String> getName() {
+		if(name == null) {
+			name = new EDataTypeUniqueEList<String>(String.class, this, Sensor_datatypesPackage.JOINT_STATE__NAME);
+		}
+		return name;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Double> getPosition() {
+		if(position == null) {
+			position = new EDataTypeUniqueEList<Double>(Double.class, this, Sensor_datatypesPackage.JOINT_STATE__POSITION);
+		}
+		return position;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Double> getVelocity() {
+		if(velocity == null) {
+			velocity = new EDataTypeUniqueEList<Double>(Double.class, this, Sensor_datatypesPackage.JOINT_STATE__VELOCITY);
+		}
+		return velocity;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Double> getEffort() {
+		if(effort == null) {
+			effort = new EDataTypeUniqueEList<Double>(Double.class, this, Sensor_datatypesPackage.JOINT_STATE__EFFORT);
+		}
+		return effort;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.JOINT_STATE__NAME:
+			return getName();
+		case Sensor_datatypesPackage.JOINT_STATE__POSITION:
+			return getPosition();
+		case Sensor_datatypesPackage.JOINT_STATE__VELOCITY:
+			return getVelocity();
+		case Sensor_datatypesPackage.JOINT_STATE__EFFORT:
+			return getEffort();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@SuppressWarnings("unchecked")
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.JOINT_STATE__NAME:
+			getName().clear();
+			getName().addAll((Collection<? extends String>)newValue);
+			return;
+		case Sensor_datatypesPackage.JOINT_STATE__POSITION:
+			getPosition().clear();
+			getPosition().addAll((Collection<? extends Double>)newValue);
+			return;
+		case Sensor_datatypesPackage.JOINT_STATE__VELOCITY:
+			getVelocity().clear();
+			getVelocity().addAll((Collection<? extends Double>)newValue);
+			return;
+		case Sensor_datatypesPackage.JOINT_STATE__EFFORT:
+			getEffort().clear();
+			getEffort().addAll((Collection<? extends Double>)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.JOINT_STATE__NAME:
+			getName().clear();
+			return;
+		case Sensor_datatypesPackage.JOINT_STATE__POSITION:
+			getPosition().clear();
+			return;
+		case Sensor_datatypesPackage.JOINT_STATE__VELOCITY:
+			getVelocity().clear();
+			return;
+		case Sensor_datatypesPackage.JOINT_STATE__EFFORT:
+			getEffort().clear();
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.JOINT_STATE__NAME:
+			return name != null && !name.isEmpty();
+		case Sensor_datatypesPackage.JOINT_STATE__POSITION:
+			return position != null && !position.isEmpty();
+		case Sensor_datatypesPackage.JOINT_STATE__VELOCITY:
+			return velocity != null && !velocity.isEmpty();
+		case Sensor_datatypesPackage.JOINT_STATE__EFFORT:
+			return effort != null && !effort.isEmpty();
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (name: ");
+		result.append(name);
+		result.append(", position: ");
+		result.append(position);
+		result.append(", velocity: ");
+		result.append(velocity);
+		result.append(", effort: ");
+		result.append(effort);
+		result.append(')');
+		return result.toString();
+	}
+
+} //JointStateImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/JoyFeedbackArrayImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/JoyFeedbackArrayImpl.java
new file mode 100644
index 00000000000..79aa75fa8f3
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/JoyFeedbackArrayImpl.java
@@ -0,0 +1,167 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl;
+
+import java.util.Collection;
+
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.emf.ecore.util.EObjectContainmentEList;
+import org.eclipse.emf.ecore.util.InternalEList;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedback;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedbackArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Joy Feedback Array</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.JoyFeedbackArrayImpl#getArray <em>
+ * Array</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class JoyFeedbackArrayImpl extends EObjectImpl implements JoyFeedbackArray {
+
+	/**
+	 * The cached value of the '{@link #getArray() <em>Array</em>}' containment reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getArray()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<JoyFeedback> array;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected JoyFeedbackArrayImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Sensor_datatypesPackage.Literals.JOY_FEEDBACK_ARRAY;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<JoyFeedback> getArray() {
+		if(array == null) {
+			array = new EObjectContainmentEList<JoyFeedback>(JoyFeedback.class, this, Sensor_datatypesPackage.JOY_FEEDBACK_ARRAY__ARRAY);
+		}
+		return array;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.JOY_FEEDBACK_ARRAY__ARRAY:
+			return ((InternalEList<?>)getArray()).basicRemove(otherEnd, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.JOY_FEEDBACK_ARRAY__ARRAY:
+			return getArray();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@SuppressWarnings("unchecked")
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.JOY_FEEDBACK_ARRAY__ARRAY:
+			getArray().clear();
+			getArray().addAll((Collection<? extends JoyFeedback>)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.JOY_FEEDBACK_ARRAY__ARRAY:
+			getArray().clear();
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.JOY_FEEDBACK_ARRAY__ARRAY:
+			return array != null && !array.isEmpty();
+		}
+		return super.eIsSet(featureID);
+	}
+
+} //JoyFeedbackArrayImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/JoyFeedbackImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/JoyFeedbackImpl.java
new file mode 100644
index 00000000000..75981266490
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/JoyFeedbackImpl.java
@@ -0,0 +1,477 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedback;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Joy Feedback</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.JoyFeedbackImpl#getTYPE_LED <em>TYPE
+ * LED</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.JoyFeedbackImpl#getTYPE_RUMBLE <em>
+ * TYPE RUMBLE</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.JoyFeedbackImpl#getTYPE_BUZZER <em>
+ * TYPE BUZZER</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.JoyFeedbackImpl#getType <em>Type</em>}
+ * </li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.JoyFeedbackImpl#getId <em>Id</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.JoyFeedbackImpl#getIntensity <em>
+ * Intensity</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class JoyFeedbackImpl extends EObjectImpl implements JoyFeedback {
+
+	/**
+	 * The default value of the '{@link #getTYPE_LED() <em>TYPE LED</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getTYPE_LED()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final char TYPE_LED_EDEFAULT = '\u0000';
+
+	/**
+	 * The cached value of the '{@link #getTYPE_LED() <em>TYPE LED</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getTYPE_LED()
+	 * @generated
+	 * @ordered
+	 */
+	protected char typE_LED = TYPE_LED_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getTYPE_RUMBLE() <em>TYPE RUMBLE</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getTYPE_RUMBLE()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final char TYPE_RUMBLE_EDEFAULT = '\u0001';
+
+	/**
+	 * The cached value of the '{@link #getTYPE_RUMBLE() <em>TYPE RUMBLE</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getTYPE_RUMBLE()
+	 * @generated
+	 * @ordered
+	 */
+	protected char typE_RUMBLE = TYPE_RUMBLE_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getTYPE_BUZZER() <em>TYPE BUZZER</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getTYPE_BUZZER()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final char TYPE_BUZZER_EDEFAULT = '\u0002';
+
+	/**
+	 * The cached value of the '{@link #getTYPE_BUZZER() <em>TYPE BUZZER</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getTYPE_BUZZER()
+	 * @generated
+	 * @ordered
+	 */
+	protected char typE_BUZZER = TYPE_BUZZER_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getType() <em>Type</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getType()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final char TYPE_EDEFAULT = '\u0000';
+
+	/**
+	 * The cached value of the '{@link #getType() <em>Type</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getType()
+	 * @generated
+	 * @ordered
+	 */
+	protected char type = TYPE_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getId() <em>Id</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getId()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final char ID_EDEFAULT = '\u0000';
+
+	/**
+	 * The cached value of the '{@link #getId() <em>Id</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getId()
+	 * @generated
+	 * @ordered
+	 */
+	protected char id = ID_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getIntensity() <em>Intensity</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getIntensity()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float INTENSITY_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getIntensity() <em>Intensity</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getIntensity()
+	 * @generated
+	 * @ordered
+	 */
+	protected float intensity = INTENSITY_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected JoyFeedbackImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Sensor_datatypesPackage.Literals.JOY_FEEDBACK;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public char getTYPE_LED() {
+		return typE_LED;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setTYPE_LED(char newTYPE_LED) {
+		char oldTYPE_LED = typE_LED;
+		typE_LED = newTYPE_LED;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.JOY_FEEDBACK__TYPE_LED, oldTYPE_LED, typE_LED));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public char getTYPE_RUMBLE() {
+		return typE_RUMBLE;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setTYPE_RUMBLE(char newTYPE_RUMBLE) {
+		char oldTYPE_RUMBLE = typE_RUMBLE;
+		typE_RUMBLE = newTYPE_RUMBLE;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.JOY_FEEDBACK__TYPE_RUMBLE, oldTYPE_RUMBLE, typE_RUMBLE));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public char getTYPE_BUZZER() {
+		return typE_BUZZER;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setTYPE_BUZZER(char newTYPE_BUZZER) {
+		char oldTYPE_BUZZER = typE_BUZZER;
+		typE_BUZZER = newTYPE_BUZZER;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.JOY_FEEDBACK__TYPE_BUZZER, oldTYPE_BUZZER, typE_BUZZER));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public char getType() {
+		return type;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setType(char newType) {
+		char oldType = type;
+		type = newType;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.JOY_FEEDBACK__TYPE, oldType, type));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public char getId() {
+		return id;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setId(char newId) {
+		char oldId = id;
+		id = newId;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.JOY_FEEDBACK__ID, oldId, id));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getIntensity() {
+		return intensity;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setIntensity(float newIntensity) {
+		float oldIntensity = intensity;
+		intensity = newIntensity;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.JOY_FEEDBACK__INTENSITY, oldIntensity, intensity));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.JOY_FEEDBACK__TYPE_LED:
+			return getTYPE_LED();
+		case Sensor_datatypesPackage.JOY_FEEDBACK__TYPE_RUMBLE:
+			return getTYPE_RUMBLE();
+		case Sensor_datatypesPackage.JOY_FEEDBACK__TYPE_BUZZER:
+			return getTYPE_BUZZER();
+		case Sensor_datatypesPackage.JOY_FEEDBACK__TYPE:
+			return getType();
+		case Sensor_datatypesPackage.JOY_FEEDBACK__ID:
+			return getId();
+		case Sensor_datatypesPackage.JOY_FEEDBACK__INTENSITY:
+			return getIntensity();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.JOY_FEEDBACK__TYPE_LED:
+			setTYPE_LED((Character)newValue);
+			return;
+		case Sensor_datatypesPackage.JOY_FEEDBACK__TYPE_RUMBLE:
+			setTYPE_RUMBLE((Character)newValue);
+			return;
+		case Sensor_datatypesPackage.JOY_FEEDBACK__TYPE_BUZZER:
+			setTYPE_BUZZER((Character)newValue);
+			return;
+		case Sensor_datatypesPackage.JOY_FEEDBACK__TYPE:
+			setType((Character)newValue);
+			return;
+		case Sensor_datatypesPackage.JOY_FEEDBACK__ID:
+			setId((Character)newValue);
+			return;
+		case Sensor_datatypesPackage.JOY_FEEDBACK__INTENSITY:
+			setIntensity((Float)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.JOY_FEEDBACK__TYPE_LED:
+			setTYPE_LED(TYPE_LED_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.JOY_FEEDBACK__TYPE_RUMBLE:
+			setTYPE_RUMBLE(TYPE_RUMBLE_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.JOY_FEEDBACK__TYPE_BUZZER:
+			setTYPE_BUZZER(TYPE_BUZZER_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.JOY_FEEDBACK__TYPE:
+			setType(TYPE_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.JOY_FEEDBACK__ID:
+			setId(ID_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.JOY_FEEDBACK__INTENSITY:
+			setIntensity(INTENSITY_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.JOY_FEEDBACK__TYPE_LED:
+			return typE_LED != TYPE_LED_EDEFAULT;
+		case Sensor_datatypesPackage.JOY_FEEDBACK__TYPE_RUMBLE:
+			return typE_RUMBLE != TYPE_RUMBLE_EDEFAULT;
+		case Sensor_datatypesPackage.JOY_FEEDBACK__TYPE_BUZZER:
+			return typE_BUZZER != TYPE_BUZZER_EDEFAULT;
+		case Sensor_datatypesPackage.JOY_FEEDBACK__TYPE:
+			return type != TYPE_EDEFAULT;
+		case Sensor_datatypesPackage.JOY_FEEDBACK__ID:
+			return id != ID_EDEFAULT;
+		case Sensor_datatypesPackage.JOY_FEEDBACK__INTENSITY:
+			return intensity != INTENSITY_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (TYPE_LED: ");
+		result.append(typE_LED);
+		result.append(", TYPE_RUMBLE: ");
+		result.append(typE_RUMBLE);
+		result.append(", TYPE_BUZZER: ");
+		result.append(typE_BUZZER);
+		result.append(", type: ");
+		result.append(type);
+		result.append(", id: ");
+		result.append(id);
+		result.append(", intensity: ");
+		result.append(intensity);
+		result.append(')');
+		return result.toString();
+	}
+
+} //JoyFeedbackImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/JoyImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/JoyImpl.java
new file mode 100644
index 00000000000..11eaa19ea5b
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/JoyImpl.java
@@ -0,0 +1,294 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl;
+
+import java.util.Collection;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.emf.ecore.util.EDataTypeUniqueEList;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Joy;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Joy</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.JoyImpl#getHeader <em>Header</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.JoyImpl#getAxes <em>Axes</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.JoyImpl#getButtons <em>Buttons</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class JoyImpl extends EObjectImpl implements Joy {
+
+	/**
+	 * The cached value of the '{@link #getHeader() <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHeader()
+	 * @generated
+	 * @ordered
+	 */
+	protected Header header;
+
+	/**
+	 * The cached value of the '{@link #getAxes() <em>Axes</em>}' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getAxes()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Float> axes;
+
+	/**
+	 * The cached value of the '{@link #getButtons() <em>Buttons</em>}' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getButtons()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Integer> buttons;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected JoyImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Sensor_datatypesPackage.Literals.JOY;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Header getHeader() {
+		return header;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetHeader(Header newHeader, NotificationChain msgs) {
+		Header oldHeader = header;
+		header = newHeader;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.JOY__HEADER, oldHeader, newHeader);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setHeader(Header newHeader) {
+		if(newHeader != header) {
+			NotificationChain msgs = null;
+			if(header != null)
+				msgs = ((InternalEObject)header).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Sensor_datatypesPackage.JOY__HEADER, null, msgs);
+			if(newHeader != null)
+				msgs = ((InternalEObject)newHeader).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Sensor_datatypesPackage.JOY__HEADER, null, msgs);
+			msgs = basicSetHeader(newHeader, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.JOY__HEADER, newHeader, newHeader));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Float> getAxes() {
+		if(axes == null) {
+			axes = new EDataTypeUniqueEList<Float>(Float.class, this, Sensor_datatypesPackage.JOY__AXES);
+		}
+		return axes;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Integer> getButtons() {
+		if(buttons == null) {
+			buttons = new EDataTypeUniqueEList<Integer>(Integer.class, this, Sensor_datatypesPackage.JOY__BUTTONS);
+		}
+		return buttons;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.JOY__HEADER:
+			return basicSetHeader(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.JOY__HEADER:
+			return getHeader();
+		case Sensor_datatypesPackage.JOY__AXES:
+			return getAxes();
+		case Sensor_datatypesPackage.JOY__BUTTONS:
+			return getButtons();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@SuppressWarnings("unchecked")
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.JOY__HEADER:
+			setHeader((Header)newValue);
+			return;
+		case Sensor_datatypesPackage.JOY__AXES:
+			getAxes().clear();
+			getAxes().addAll((Collection<? extends Float>)newValue);
+			return;
+		case Sensor_datatypesPackage.JOY__BUTTONS:
+			getButtons().clear();
+			getButtons().addAll((Collection<? extends Integer>)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.JOY__HEADER:
+			setHeader((Header)null);
+			return;
+		case Sensor_datatypesPackage.JOY__AXES:
+			getAxes().clear();
+			return;
+		case Sensor_datatypesPackage.JOY__BUTTONS:
+			getButtons().clear();
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.JOY__HEADER:
+			return header != null;
+		case Sensor_datatypesPackage.JOY__AXES:
+			return axes != null && !axes.isEmpty();
+		case Sensor_datatypesPackage.JOY__BUTTONS:
+			return buttons != null && !buttons.isEmpty();
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (axes: ");
+		result.append(axes);
+		result.append(", buttons: ");
+		result.append(buttons);
+		result.append(')');
+		return result.toString();
+	}
+
+} //JoyImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/LaserScanImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/LaserScanImpl.java
new file mode 100644
index 00000000000..84b4ecb8712
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/LaserScanImpl.java
@@ -0,0 +1,710 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl;
+
+import java.util.Collection;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.emf.ecore.util.EDataTypeUniqueEList;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Laser Scan</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.LaserScanImpl#getHeader <em>Header
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.LaserScanImpl#getAngle_min <em>Angle
+ * min</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.LaserScanImpl#getAngle_max <em>Angle
+ * max</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.LaserScanImpl#getAngle_increment <em>
+ * Angle increment</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.LaserScanImpl#getTime_increment <em>
+ * Time increment</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.LaserScanImpl#getScan_time <em>Scan
+ * time</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.LaserScanImpl#getRange_min <em>Range
+ * min</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.LaserScanImpl#getRange_max <em>Range
+ * max</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.LaserScanImpl#getRange <em>Range</em>}
+ * </li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.LaserScanImpl#getIntensities <em>
+ * Intensities</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class LaserScanImpl extends EObjectImpl implements LaserScan {
+
+	/**
+	 * The cached value of the '{@link #getHeader() <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHeader()
+	 * @generated
+	 * @ordered
+	 */
+	protected Header header;
+
+	/**
+	 * The default value of the '{@link #getAngle_min() <em>Angle min</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getAngle_min()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float ANGLE_MIN_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getAngle_min() <em>Angle min</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getAngle_min()
+	 * @generated
+	 * @ordered
+	 */
+	protected float angle_min = ANGLE_MIN_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getAngle_max() <em>Angle max</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getAngle_max()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float ANGLE_MAX_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getAngle_max() <em>Angle max</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getAngle_max()
+	 * @generated
+	 * @ordered
+	 */
+	protected float angle_max = ANGLE_MAX_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getAngle_increment() <em>Angle increment</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getAngle_increment()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float ANGLE_INCREMENT_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getAngle_increment() <em>Angle increment</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getAngle_increment()
+	 * @generated
+	 * @ordered
+	 */
+	protected float angle_increment = ANGLE_INCREMENT_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getTime_increment() <em>Time increment</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getTime_increment()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float TIME_INCREMENT_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getTime_increment() <em>Time increment</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getTime_increment()
+	 * @generated
+	 * @ordered
+	 */
+	protected float time_increment = TIME_INCREMENT_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getScan_time() <em>Scan time</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getScan_time()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float SCAN_TIME_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getScan_time() <em>Scan time</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getScan_time()
+	 * @generated
+	 * @ordered
+	 */
+	protected float scan_time = SCAN_TIME_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getRange_min() <em>Range min</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getRange_min()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float RANGE_MIN_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getRange_min() <em>Range min</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getRange_min()
+	 * @generated
+	 * @ordered
+	 */
+	protected float range_min = RANGE_MIN_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getRange_max() <em>Range max</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getRange_max()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float RANGE_MAX_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getRange_max() <em>Range max</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getRange_max()
+	 * @generated
+	 * @ordered
+	 */
+	protected float range_max = RANGE_MAX_EDEFAULT;
+
+	/**
+	 * The cached value of the '{@link #getRange() <em>Range</em>}' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getRange()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Float> range;
+
+	/**
+	 * The cached value of the '{@link #getIntensities() <em>Intensities</em>}' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getIntensities()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Float> intensities;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected LaserScanImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Sensor_datatypesPackage.Literals.LASER_SCAN;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Header getHeader() {
+		return header;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetHeader(Header newHeader, NotificationChain msgs) {
+		Header oldHeader = header;
+		header = newHeader;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.LASER_SCAN__HEADER, oldHeader, newHeader);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setHeader(Header newHeader) {
+		if(newHeader != header) {
+			NotificationChain msgs = null;
+			if(header != null)
+				msgs = ((InternalEObject)header).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Sensor_datatypesPackage.LASER_SCAN__HEADER, null, msgs);
+			if(newHeader != null)
+				msgs = ((InternalEObject)newHeader).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Sensor_datatypesPackage.LASER_SCAN__HEADER, null, msgs);
+			msgs = basicSetHeader(newHeader, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.LASER_SCAN__HEADER, newHeader, newHeader));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getAngle_min() {
+		return angle_min;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setAngle_min(float newAngle_min) {
+		float oldAngle_min = angle_min;
+		angle_min = newAngle_min;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.LASER_SCAN__ANGLE_MIN, oldAngle_min, angle_min));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getAngle_max() {
+		return angle_max;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setAngle_max(float newAngle_max) {
+		float oldAngle_max = angle_max;
+		angle_max = newAngle_max;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.LASER_SCAN__ANGLE_MAX, oldAngle_max, angle_max));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getAngle_increment() {
+		return angle_increment;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setAngle_increment(float newAngle_increment) {
+		float oldAngle_increment = angle_increment;
+		angle_increment = newAngle_increment;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.LASER_SCAN__ANGLE_INCREMENT, oldAngle_increment, angle_increment));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getTime_increment() {
+		return time_increment;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setTime_increment(float newTime_increment) {
+		float oldTime_increment = time_increment;
+		time_increment = newTime_increment;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.LASER_SCAN__TIME_INCREMENT, oldTime_increment, time_increment));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getScan_time() {
+		return scan_time;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setScan_time(float newScan_time) {
+		float oldScan_time = scan_time;
+		scan_time = newScan_time;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.LASER_SCAN__SCAN_TIME, oldScan_time, scan_time));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getRange_min() {
+		return range_min;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setRange_min(float newRange_min) {
+		float oldRange_min = range_min;
+		range_min = newRange_min;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.LASER_SCAN__RANGE_MIN, oldRange_min, range_min));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getRange_max() {
+		return range_max;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setRange_max(float newRange_max) {
+		float oldRange_max = range_max;
+		range_max = newRange_max;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.LASER_SCAN__RANGE_MAX, oldRange_max, range_max));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Float> getRange() {
+		if(range == null) {
+			range = new EDataTypeUniqueEList<Float>(Float.class, this, Sensor_datatypesPackage.LASER_SCAN__RANGE);
+		}
+		return range;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Float> getIntensities() {
+		if(intensities == null) {
+			intensities = new EDataTypeUniqueEList<Float>(Float.class, this, Sensor_datatypesPackage.LASER_SCAN__INTENSITIES);
+		}
+		return intensities;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.LASER_SCAN__HEADER:
+			return basicSetHeader(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.LASER_SCAN__HEADER:
+			return getHeader();
+		case Sensor_datatypesPackage.LASER_SCAN__ANGLE_MIN:
+			return getAngle_min();
+		case Sensor_datatypesPackage.LASER_SCAN__ANGLE_MAX:
+			return getAngle_max();
+		case Sensor_datatypesPackage.LASER_SCAN__ANGLE_INCREMENT:
+			return getAngle_increment();
+		case Sensor_datatypesPackage.LASER_SCAN__TIME_INCREMENT:
+			return getTime_increment();
+		case Sensor_datatypesPackage.LASER_SCAN__SCAN_TIME:
+			return getScan_time();
+		case Sensor_datatypesPackage.LASER_SCAN__RANGE_MIN:
+			return getRange_min();
+		case Sensor_datatypesPackage.LASER_SCAN__RANGE_MAX:
+			return getRange_max();
+		case Sensor_datatypesPackage.LASER_SCAN__RANGE:
+			return getRange();
+		case Sensor_datatypesPackage.LASER_SCAN__INTENSITIES:
+			return getIntensities();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@SuppressWarnings("unchecked")
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.LASER_SCAN__HEADER:
+			setHeader((Header)newValue);
+			return;
+		case Sensor_datatypesPackage.LASER_SCAN__ANGLE_MIN:
+			setAngle_min((Float)newValue);
+			return;
+		case Sensor_datatypesPackage.LASER_SCAN__ANGLE_MAX:
+			setAngle_max((Float)newValue);
+			return;
+		case Sensor_datatypesPackage.LASER_SCAN__ANGLE_INCREMENT:
+			setAngle_increment((Float)newValue);
+			return;
+		case Sensor_datatypesPackage.LASER_SCAN__TIME_INCREMENT:
+			setTime_increment((Float)newValue);
+			return;
+		case Sensor_datatypesPackage.LASER_SCAN__SCAN_TIME:
+			setScan_time((Float)newValue);
+			return;
+		case Sensor_datatypesPackage.LASER_SCAN__RANGE_MIN:
+			setRange_min((Float)newValue);
+			return;
+		case Sensor_datatypesPackage.LASER_SCAN__RANGE_MAX:
+			setRange_max((Float)newValue);
+			return;
+		case Sensor_datatypesPackage.LASER_SCAN__RANGE:
+			getRange().clear();
+			getRange().addAll((Collection<? extends Float>)newValue);
+			return;
+		case Sensor_datatypesPackage.LASER_SCAN__INTENSITIES:
+			getIntensities().clear();
+			getIntensities().addAll((Collection<? extends Float>)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.LASER_SCAN__HEADER:
+			setHeader((Header)null);
+			return;
+		case Sensor_datatypesPackage.LASER_SCAN__ANGLE_MIN:
+			setAngle_min(ANGLE_MIN_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.LASER_SCAN__ANGLE_MAX:
+			setAngle_max(ANGLE_MAX_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.LASER_SCAN__ANGLE_INCREMENT:
+			setAngle_increment(ANGLE_INCREMENT_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.LASER_SCAN__TIME_INCREMENT:
+			setTime_increment(TIME_INCREMENT_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.LASER_SCAN__SCAN_TIME:
+			setScan_time(SCAN_TIME_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.LASER_SCAN__RANGE_MIN:
+			setRange_min(RANGE_MIN_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.LASER_SCAN__RANGE_MAX:
+			setRange_max(RANGE_MAX_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.LASER_SCAN__RANGE:
+			getRange().clear();
+			return;
+		case Sensor_datatypesPackage.LASER_SCAN__INTENSITIES:
+			getIntensities().clear();
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.LASER_SCAN__HEADER:
+			return header != null;
+		case Sensor_datatypesPackage.LASER_SCAN__ANGLE_MIN:
+			return angle_min != ANGLE_MIN_EDEFAULT;
+		case Sensor_datatypesPackage.LASER_SCAN__ANGLE_MAX:
+			return angle_max != ANGLE_MAX_EDEFAULT;
+		case Sensor_datatypesPackage.LASER_SCAN__ANGLE_INCREMENT:
+			return angle_increment != ANGLE_INCREMENT_EDEFAULT;
+		case Sensor_datatypesPackage.LASER_SCAN__TIME_INCREMENT:
+			return time_increment != TIME_INCREMENT_EDEFAULT;
+		case Sensor_datatypesPackage.LASER_SCAN__SCAN_TIME:
+			return scan_time != SCAN_TIME_EDEFAULT;
+		case Sensor_datatypesPackage.LASER_SCAN__RANGE_MIN:
+			return range_min != RANGE_MIN_EDEFAULT;
+		case Sensor_datatypesPackage.LASER_SCAN__RANGE_MAX:
+			return range_max != RANGE_MAX_EDEFAULT;
+		case Sensor_datatypesPackage.LASER_SCAN__RANGE:
+			return range != null && !range.isEmpty();
+		case Sensor_datatypesPackage.LASER_SCAN__INTENSITIES:
+			return intensities != null && !intensities.isEmpty();
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (angle_min: ");
+		result.append(angle_min);
+		result.append(", angle_max: ");
+		result.append(angle_max);
+		result.append(", angle_increment: ");
+		result.append(angle_increment);
+		result.append(", time_increment: ");
+		result.append(time_increment);
+		result.append(", scan_time: ");
+		result.append(scan_time);
+		result.append(", range_min: ");
+		result.append(range_min);
+		result.append(", range_max: ");
+		result.append(range_max);
+		result.append(", range: ");
+		result.append(range);
+		result.append(", intensities: ");
+		result.append(intensities);
+		result.append(')');
+		return result.toString();
+	}
+
+} //LaserScanImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/NavSatFixImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/NavSatFixImpl.java
new file mode 100644
index 00000000000..203c431e39c
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/NavSatFixImpl.java
@@ -0,0 +1,616 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl;
+
+import java.util.Collection;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.emf.ecore.util.EDataTypeUniqueEList;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.COVARIANCE_TYPE;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.SERVICE_TYPE;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.STATUS_TYPE;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Nav Sat Fix</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.NavSatFixImpl#getStatus <em>Status
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.NavSatFixImpl#getService <em>Service
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.NavSatFixImpl#getHeader <em>Header
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.NavSatFixImpl#getLatitude <em>Latitude
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.NavSatFixImpl#getLongitude <em>
+ * Longitude</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.NavSatFixImpl#getAltitude <em>Altitude
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.NavSatFixImpl#getPosition_covariance
+ * <em>Position covariance</em>}</li>
+ * <li>
+ * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.NavSatFixImpl#getPosition_covariance_type
+ * <em>Position covariance type</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class NavSatFixImpl extends EObjectImpl implements NavSatFix {
+
+	/**
+	 * The default value of the '{@link #getStatus() <em>Status</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getStatus()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final STATUS_TYPE STATUS_EDEFAULT = STATUS_TYPE.STATUS_NO_FIX;
+
+	/**
+	 * The cached value of the '{@link #getStatus() <em>Status</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getStatus()
+	 * @generated
+	 * @ordered
+	 */
+	protected STATUS_TYPE status = STATUS_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getService() <em>Service</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getService()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final SERVICE_TYPE SERVICE_EDEFAULT = SERVICE_TYPE.SERVICE_GPS;
+
+	/**
+	 * The cached value of the '{@link #getService() <em>Service</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getService()
+	 * @generated
+	 * @ordered
+	 */
+	protected SERVICE_TYPE service = SERVICE_EDEFAULT;
+
+	/**
+	 * The cached value of the '{@link #getHeader() <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHeader()
+	 * @generated
+	 * @ordered
+	 */
+	protected Header header;
+
+	/**
+	 * The default value of the '{@link #getLatitude() <em>Latitude</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLatitude()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final double LATITUDE_EDEFAULT = 0.0;
+
+	/**
+	 * The cached value of the '{@link #getLatitude() <em>Latitude</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLatitude()
+	 * @generated
+	 * @ordered
+	 */
+	protected double latitude = LATITUDE_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getLongitude() <em>Longitude</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLongitude()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final double LONGITUDE_EDEFAULT = 0.0;
+
+	/**
+	 * The cached value of the '{@link #getLongitude() <em>Longitude</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLongitude()
+	 * @generated
+	 * @ordered
+	 */
+	protected double longitude = LONGITUDE_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getAltitude() <em>Altitude</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getAltitude()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final double ALTITUDE_EDEFAULT = 0.0;
+
+	/**
+	 * The cached value of the '{@link #getAltitude() <em>Altitude</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getAltitude()
+	 * @generated
+	 * @ordered
+	 */
+	protected double altitude = ALTITUDE_EDEFAULT;
+
+	/**
+	 * The cached value of the '{@link #getPosition_covariance() <em>Position covariance</em>}' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getPosition_covariance()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Double> position_covariance;
+
+	/**
+	 * The default value of the '{@link #getPosition_covariance_type() <em>Position covariance type</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getPosition_covariance_type()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final COVARIANCE_TYPE POSITION_COVARIANCE_TYPE_EDEFAULT = COVARIANCE_TYPE.COVARIANCE_TYPE_UNKNOWN;
+
+	/**
+	 * The cached value of the '{@link #getPosition_covariance_type() <em>Position covariance type</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getPosition_covariance_type()
+	 * @generated
+	 * @ordered
+	 */
+	protected COVARIANCE_TYPE position_covariance_type = POSITION_COVARIANCE_TYPE_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected NavSatFixImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Sensor_datatypesPackage.Literals.NAV_SAT_FIX;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public STATUS_TYPE getStatus() {
+		return status;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setStatus(STATUS_TYPE newStatus) {
+		STATUS_TYPE oldStatus = status;
+		status = newStatus == null ? STATUS_EDEFAULT : newStatus;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.NAV_SAT_FIX__STATUS, oldStatus, status));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public SERVICE_TYPE getService() {
+		return service;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setService(SERVICE_TYPE newService) {
+		SERVICE_TYPE oldService = service;
+		service = newService == null ? SERVICE_EDEFAULT : newService;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.NAV_SAT_FIX__SERVICE, oldService, service));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Header getHeader() {
+		return header;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetHeader(Header newHeader, NotificationChain msgs) {
+		Header oldHeader = header;
+		header = newHeader;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.NAV_SAT_FIX__HEADER, oldHeader, newHeader);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setHeader(Header newHeader) {
+		if(newHeader != header) {
+			NotificationChain msgs = null;
+			if(header != null)
+				msgs = ((InternalEObject)header).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Sensor_datatypesPackage.NAV_SAT_FIX__HEADER, null, msgs);
+			if(newHeader != null)
+				msgs = ((InternalEObject)newHeader).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Sensor_datatypesPackage.NAV_SAT_FIX__HEADER, null, msgs);
+			msgs = basicSetHeader(newHeader, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.NAV_SAT_FIX__HEADER, newHeader, newHeader));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public double getLatitude() {
+		return latitude;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setLatitude(double newLatitude) {
+		double oldLatitude = latitude;
+		latitude = newLatitude;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.NAV_SAT_FIX__LATITUDE, oldLatitude, latitude));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public double getLongitude() {
+		return longitude;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setLongitude(double newLongitude) {
+		double oldLongitude = longitude;
+		longitude = newLongitude;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.NAV_SAT_FIX__LONGITUDE, oldLongitude, longitude));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public double getAltitude() {
+		return altitude;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setAltitude(double newAltitude) {
+		double oldAltitude = altitude;
+		altitude = newAltitude;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.NAV_SAT_FIX__ALTITUDE, oldAltitude, altitude));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Double> getPosition_covariance() {
+		if(position_covariance == null) {
+			position_covariance = new EDataTypeUniqueEList<Double>(Double.class, this, Sensor_datatypesPackage.NAV_SAT_FIX__POSITION_COVARIANCE);
+		}
+		return position_covariance;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public COVARIANCE_TYPE getPosition_covariance_type() {
+		return position_covariance_type;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setPosition_covariance_type(COVARIANCE_TYPE newPosition_covariance_type) {
+		COVARIANCE_TYPE oldPosition_covariance_type = position_covariance_type;
+		position_covariance_type = newPosition_covariance_type == null ? POSITION_COVARIANCE_TYPE_EDEFAULT : newPosition_covariance_type;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.NAV_SAT_FIX__POSITION_COVARIANCE_TYPE, oldPosition_covariance_type, position_covariance_type));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.NAV_SAT_FIX__HEADER:
+			return basicSetHeader(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.NAV_SAT_FIX__STATUS:
+			return getStatus();
+		case Sensor_datatypesPackage.NAV_SAT_FIX__SERVICE:
+			return getService();
+		case Sensor_datatypesPackage.NAV_SAT_FIX__HEADER:
+			return getHeader();
+		case Sensor_datatypesPackage.NAV_SAT_FIX__LATITUDE:
+			return getLatitude();
+		case Sensor_datatypesPackage.NAV_SAT_FIX__LONGITUDE:
+			return getLongitude();
+		case Sensor_datatypesPackage.NAV_SAT_FIX__ALTITUDE:
+			return getAltitude();
+		case Sensor_datatypesPackage.NAV_SAT_FIX__POSITION_COVARIANCE:
+			return getPosition_covariance();
+		case Sensor_datatypesPackage.NAV_SAT_FIX__POSITION_COVARIANCE_TYPE:
+			return getPosition_covariance_type();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@SuppressWarnings("unchecked")
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.NAV_SAT_FIX__STATUS:
+			setStatus((STATUS_TYPE)newValue);
+			return;
+		case Sensor_datatypesPackage.NAV_SAT_FIX__SERVICE:
+			setService((SERVICE_TYPE)newValue);
+			return;
+		case Sensor_datatypesPackage.NAV_SAT_FIX__HEADER:
+			setHeader((Header)newValue);
+			return;
+		case Sensor_datatypesPackage.NAV_SAT_FIX__LATITUDE:
+			setLatitude((Double)newValue);
+			return;
+		case Sensor_datatypesPackage.NAV_SAT_FIX__LONGITUDE:
+			setLongitude((Double)newValue);
+			return;
+		case Sensor_datatypesPackage.NAV_SAT_FIX__ALTITUDE:
+			setAltitude((Double)newValue);
+			return;
+		case Sensor_datatypesPackage.NAV_SAT_FIX__POSITION_COVARIANCE:
+			getPosition_covariance().clear();
+			getPosition_covariance().addAll((Collection<? extends Double>)newValue);
+			return;
+		case Sensor_datatypesPackage.NAV_SAT_FIX__POSITION_COVARIANCE_TYPE:
+			setPosition_covariance_type((COVARIANCE_TYPE)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.NAV_SAT_FIX__STATUS:
+			setStatus(STATUS_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.NAV_SAT_FIX__SERVICE:
+			setService(SERVICE_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.NAV_SAT_FIX__HEADER:
+			setHeader((Header)null);
+			return;
+		case Sensor_datatypesPackage.NAV_SAT_FIX__LATITUDE:
+			setLatitude(LATITUDE_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.NAV_SAT_FIX__LONGITUDE:
+			setLongitude(LONGITUDE_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.NAV_SAT_FIX__ALTITUDE:
+			setAltitude(ALTITUDE_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.NAV_SAT_FIX__POSITION_COVARIANCE:
+			getPosition_covariance().clear();
+			return;
+		case Sensor_datatypesPackage.NAV_SAT_FIX__POSITION_COVARIANCE_TYPE:
+			setPosition_covariance_type(POSITION_COVARIANCE_TYPE_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.NAV_SAT_FIX__STATUS:
+			return status != STATUS_EDEFAULT;
+		case Sensor_datatypesPackage.NAV_SAT_FIX__SERVICE:
+			return service != SERVICE_EDEFAULT;
+		case Sensor_datatypesPackage.NAV_SAT_FIX__HEADER:
+			return header != null;
+		case Sensor_datatypesPackage.NAV_SAT_FIX__LATITUDE:
+			return latitude != LATITUDE_EDEFAULT;
+		case Sensor_datatypesPackage.NAV_SAT_FIX__LONGITUDE:
+			return longitude != LONGITUDE_EDEFAULT;
+		case Sensor_datatypesPackage.NAV_SAT_FIX__ALTITUDE:
+			return altitude != ALTITUDE_EDEFAULT;
+		case Sensor_datatypesPackage.NAV_SAT_FIX__POSITION_COVARIANCE:
+			return position_covariance != null && !position_covariance.isEmpty();
+		case Sensor_datatypesPackage.NAV_SAT_FIX__POSITION_COVARIANCE_TYPE:
+			return position_covariance_type != POSITION_COVARIANCE_TYPE_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (status: ");
+		result.append(status);
+		result.append(", service: ");
+		result.append(service);
+		result.append(", latitude: ");
+		result.append(latitude);
+		result.append(", longitude: ");
+		result.append(longitude);
+		result.append(", altitude: ");
+		result.append(altitude);
+		result.append(", position_covariance: ");
+		result.append(position_covariance);
+		result.append(", position_covariance_type: ");
+		result.append(position_covariance_type);
+		result.append(')');
+		return result.toString();
+	}
+
+} //NavSatFixImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/NavSatStatusImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/NavSatStatusImpl.java
new file mode 100644
index 00000000000..478f423b693
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/NavSatStatusImpl.java
@@ -0,0 +1,562 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Nav Sat Status</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.NavSatStatusImpl#getSTATUS_NO_FIX <em>
+ * STATUS NO FIX</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.NavSatStatusImpl#getSTATUS_FIX <em>
+ * STATUS FIX</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.NavSatStatusImpl#getSTATUS_SBAS_FIX
+ * <em>STATUS SBAS FIX</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.NavSatStatusImpl#getSTATUS_GBAS_FIX
+ * <em>STATUS GBAS FIX</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.NavSatStatusImpl#getStatus <em>Status
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.NavSatStatusImpl#getSERVICE_GPS <em>
+ * SERVICE GPS</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.NavSatStatusImpl#getSERVICE_GLONASS
+ * <em>SERVICE GLONASS</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.NavSatStatusImpl#getSERVICE_COMPASS
+ * <em>SERVICE COMPASS</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.NavSatStatusImpl#getSERVICE_GALILEO
+ * <em>SERVICE GALILEO</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.NavSatStatusImpl#getService <em>
+ * Service</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class NavSatStatusImpl extends EObjectImpl implements NavSatStatus {
+
+	/**
+	 * The default value of the '{@link #getSTATUS_NO_FIX() <em>STATUS NO FIX</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSTATUS_NO_FIX()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final char STATUS_NO_FIX_EDEFAULT = '\uffff';
+
+	/**
+	 * The cached value of the '{@link #getSTATUS_NO_FIX() <em>STATUS NO FIX</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSTATUS_NO_FIX()
+	 * @generated
+	 * @ordered
+	 */
+	protected char statuS_NO_FIX = STATUS_NO_FIX_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getSTATUS_FIX() <em>STATUS FIX</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSTATUS_FIX()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final char STATUS_FIX_EDEFAULT = '\u0000';
+
+	/**
+	 * The cached value of the '{@link #getSTATUS_FIX() <em>STATUS FIX</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSTATUS_FIX()
+	 * @generated
+	 * @ordered
+	 */
+	protected char statuS_FIX = STATUS_FIX_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getSTATUS_SBAS_FIX() <em>STATUS SBAS FIX</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSTATUS_SBAS_FIX()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final char STATUS_SBAS_FIX_EDEFAULT = '\u0001';
+
+	/**
+	 * The cached value of the '{@link #getSTATUS_SBAS_FIX() <em>STATUS SBAS FIX</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSTATUS_SBAS_FIX()
+	 * @generated
+	 * @ordered
+	 */
+	protected char statuS_SBAS_FIX = STATUS_SBAS_FIX_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getSTATUS_GBAS_FIX() <em>STATUS GBAS FIX</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSTATUS_GBAS_FIX()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final char STATUS_GBAS_FIX_EDEFAULT = '\u0002';
+
+	/**
+	 * The cached value of the '{@link #getSTATUS_GBAS_FIX() <em>STATUS GBAS FIX</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSTATUS_GBAS_FIX()
+	 * @generated
+	 * @ordered
+	 */
+	protected char statuS_GBAS_FIX = STATUS_GBAS_FIX_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getStatus() <em>Status</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getStatus()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final char STATUS_EDEFAULT = '\u0000';
+
+	/**
+	 * The cached value of the '{@link #getStatus() <em>Status</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getStatus()
+	 * @generated
+	 * @ordered
+	 */
+	protected char status = STATUS_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getSERVICE_GPS() <em>SERVICE GPS</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSERVICE_GPS()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final int SERVICE_GPS_EDEFAULT = 1;
+
+	/**
+	 * The cached value of the '{@link #getSERVICE_GPS() <em>SERVICE GPS</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSERVICE_GPS()
+	 * @generated
+	 * @ordered
+	 */
+	protected int servicE_GPS = SERVICE_GPS_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getSERVICE_GLONASS() <em>SERVICE GLONASS</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSERVICE_GLONASS()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final int SERVICE_GLONASS_EDEFAULT = 2;
+
+	/**
+	 * The cached value of the '{@link #getSERVICE_GLONASS() <em>SERVICE GLONASS</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSERVICE_GLONASS()
+	 * @generated
+	 * @ordered
+	 */
+	protected int servicE_GLONASS = SERVICE_GLONASS_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getSERVICE_COMPASS() <em>SERVICE COMPASS</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSERVICE_COMPASS()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final int SERVICE_COMPASS_EDEFAULT = 4;
+
+	/**
+	 * The cached value of the '{@link #getSERVICE_COMPASS() <em>SERVICE COMPASS</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSERVICE_COMPASS()
+	 * @generated
+	 * @ordered
+	 */
+	protected int servicE_COMPASS = SERVICE_COMPASS_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getSERVICE_GALILEO() <em>SERVICE GALILEO</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSERVICE_GALILEO()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final int SERVICE_GALILEO_EDEFAULT = 8;
+
+	/**
+	 * The cached value of the '{@link #getSERVICE_GALILEO() <em>SERVICE GALILEO</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSERVICE_GALILEO()
+	 * @generated
+	 * @ordered
+	 */
+	protected int servicE_GALILEO = SERVICE_GALILEO_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getService() <em>Service</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getService()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final int SERVICE_EDEFAULT = 0;
+
+	/**
+	 * The cached value of the '{@link #getService() <em>Service</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getService()
+	 * @generated
+	 * @ordered
+	 */
+	protected int service = SERVICE_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected NavSatStatusImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Sensor_datatypesPackage.Literals.NAV_SAT_STATUS;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public char getSTATUS_NO_FIX() {
+		return statuS_NO_FIX;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public char getSTATUS_FIX() {
+		return statuS_FIX;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public char getSTATUS_SBAS_FIX() {
+		return statuS_SBAS_FIX;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public char getSTATUS_GBAS_FIX() {
+		return statuS_GBAS_FIX;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public char getStatus() {
+		return status;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setStatus(char newStatus) {
+		char oldStatus = status;
+		status = newStatus;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.NAV_SAT_STATUS__STATUS, oldStatus, status));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public int getSERVICE_GPS() {
+		return servicE_GPS;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public int getSERVICE_GLONASS() {
+		return servicE_GLONASS;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public int getSERVICE_COMPASS() {
+		return servicE_COMPASS;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public int getSERVICE_GALILEO() {
+		return servicE_GALILEO;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public int getService() {
+		return service;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setService(int newService) {
+		int oldService = service;
+		service = newService;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.NAV_SAT_STATUS__SERVICE, oldService, service));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.NAV_SAT_STATUS__STATUS_NO_FIX:
+			return getSTATUS_NO_FIX();
+		case Sensor_datatypesPackage.NAV_SAT_STATUS__STATUS_FIX:
+			return getSTATUS_FIX();
+		case Sensor_datatypesPackage.NAV_SAT_STATUS__STATUS_SBAS_FIX:
+			return getSTATUS_SBAS_FIX();
+		case Sensor_datatypesPackage.NAV_SAT_STATUS__STATUS_GBAS_FIX:
+			return getSTATUS_GBAS_FIX();
+		case Sensor_datatypesPackage.NAV_SAT_STATUS__STATUS:
+			return getStatus();
+		case Sensor_datatypesPackage.NAV_SAT_STATUS__SERVICE_GPS:
+			return getSERVICE_GPS();
+		case Sensor_datatypesPackage.NAV_SAT_STATUS__SERVICE_GLONASS:
+			return getSERVICE_GLONASS();
+		case Sensor_datatypesPackage.NAV_SAT_STATUS__SERVICE_COMPASS:
+			return getSERVICE_COMPASS();
+		case Sensor_datatypesPackage.NAV_SAT_STATUS__SERVICE_GALILEO:
+			return getSERVICE_GALILEO();
+		case Sensor_datatypesPackage.NAV_SAT_STATUS__SERVICE:
+			return getService();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.NAV_SAT_STATUS__STATUS:
+			setStatus((Character)newValue);
+			return;
+		case Sensor_datatypesPackage.NAV_SAT_STATUS__SERVICE:
+			setService((Integer)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.NAV_SAT_STATUS__STATUS:
+			setStatus(STATUS_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.NAV_SAT_STATUS__SERVICE:
+			setService(SERVICE_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.NAV_SAT_STATUS__STATUS_NO_FIX:
+			return statuS_NO_FIX != STATUS_NO_FIX_EDEFAULT;
+		case Sensor_datatypesPackage.NAV_SAT_STATUS__STATUS_FIX:
+			return statuS_FIX != STATUS_FIX_EDEFAULT;
+		case Sensor_datatypesPackage.NAV_SAT_STATUS__STATUS_SBAS_FIX:
+			return statuS_SBAS_FIX != STATUS_SBAS_FIX_EDEFAULT;
+		case Sensor_datatypesPackage.NAV_SAT_STATUS__STATUS_GBAS_FIX:
+			return statuS_GBAS_FIX != STATUS_GBAS_FIX_EDEFAULT;
+		case Sensor_datatypesPackage.NAV_SAT_STATUS__STATUS:
+			return status != STATUS_EDEFAULT;
+		case Sensor_datatypesPackage.NAV_SAT_STATUS__SERVICE_GPS:
+			return servicE_GPS != SERVICE_GPS_EDEFAULT;
+		case Sensor_datatypesPackage.NAV_SAT_STATUS__SERVICE_GLONASS:
+			return servicE_GLONASS != SERVICE_GLONASS_EDEFAULT;
+		case Sensor_datatypesPackage.NAV_SAT_STATUS__SERVICE_COMPASS:
+			return servicE_COMPASS != SERVICE_COMPASS_EDEFAULT;
+		case Sensor_datatypesPackage.NAV_SAT_STATUS__SERVICE_GALILEO:
+			return servicE_GALILEO != SERVICE_GALILEO_EDEFAULT;
+		case Sensor_datatypesPackage.NAV_SAT_STATUS__SERVICE:
+			return service != SERVICE_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (STATUS_NO_FIX: ");
+		result.append(statuS_NO_FIX);
+		result.append(", STATUS_FIX: ");
+		result.append(statuS_FIX);
+		result.append(", STATUS_SBAS_FIX: ");
+		result.append(statuS_SBAS_FIX);
+		result.append(", STATUS_GBAS_FIX: ");
+		result.append(statuS_GBAS_FIX);
+		result.append(", status: ");
+		result.append(status);
+		result.append(", SERVICE_GPS: ");
+		result.append(servicE_GPS);
+		result.append(", SERVICE_GLONASS: ");
+		result.append(servicE_GLONASS);
+		result.append(", SERVICE_COMPASS: ");
+		result.append(servicE_COMPASS);
+		result.append(", SERVICE_GALILEO: ");
+		result.append(servicE_GALILEO);
+		result.append(", service: ");
+		result.append(service);
+		result.append(')');
+		return result.toString();
+	}
+
+} //NavSatStatusImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/PointCloud2Impl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/PointCloud2Impl.java
new file mode 100644
index 00000000000..175ea611df1
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/PointCloud2Impl.java
@@ -0,0 +1,654 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl;
+
+import java.util.Collection;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.emf.ecore.util.EDataTypeUniqueEList;
+import org.eclipse.emf.ecore.util.EObjectContainmentEList;
+import org.eclipse.emf.ecore.util.InternalEList;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointField;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Point Cloud2</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.PointCloud2Impl#getHeader <em>Header
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.PointCloud2Impl#getHeight <em>Height
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.PointCloud2Impl#getWidth <em>Width
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.PointCloud2Impl#getFields <em>Fields
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.PointCloud2Impl#isIs_bigendian <em>Is
+ * bigendian</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.PointCloud2Impl#getPoint_step <em>
+ * Point step</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.PointCloud2Impl#getRow_step <em>Row
+ * step</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.PointCloud2Impl#getData <em>Data</em>}
+ * </li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.PointCloud2Impl#isIs_dense <em>Is
+ * dense</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class PointCloud2Impl extends EObjectImpl implements PointCloud2 {
+
+	/**
+	 * The cached value of the '{@link #getHeader() <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHeader()
+	 * @generated
+	 * @ordered
+	 */
+	protected Header header;
+
+	/**
+	 * The default value of the '{@link #getHeight() <em>Height</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHeight()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final long HEIGHT_EDEFAULT = 0L;
+
+	/**
+	 * The cached value of the '{@link #getHeight() <em>Height</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHeight()
+	 * @generated
+	 * @ordered
+	 */
+	protected long height = HEIGHT_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getWidth() <em>Width</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWidth()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final long WIDTH_EDEFAULT = 0L;
+
+	/**
+	 * The cached value of the '{@link #getWidth() <em>Width</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWidth()
+	 * @generated
+	 * @ordered
+	 */
+	protected long width = WIDTH_EDEFAULT;
+
+	/**
+	 * The cached value of the '{@link #getFields() <em>Fields</em>}' containment reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getFields()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<PointField> fields;
+
+	/**
+	 * The default value of the '{@link #isIs_bigendian() <em>Is bigendian</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #isIs_bigendian()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final boolean IS_BIGENDIAN_EDEFAULT = false;
+
+	/**
+	 * The cached value of the '{@link #isIs_bigendian() <em>Is bigendian</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #isIs_bigendian()
+	 * @generated
+	 * @ordered
+	 */
+	protected boolean is_bigendian = IS_BIGENDIAN_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getPoint_step() <em>Point step</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getPoint_step()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final long POINT_STEP_EDEFAULT = 0L;
+
+	/**
+	 * The cached value of the '{@link #getPoint_step() <em>Point step</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getPoint_step()
+	 * @generated
+	 * @ordered
+	 */
+	protected long point_step = POINT_STEP_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getRow_step() <em>Row step</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getRow_step()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final long ROW_STEP_EDEFAULT = 0L;
+
+	/**
+	 * The cached value of the '{@link #getRow_step() <em>Row step</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getRow_step()
+	 * @generated
+	 * @ordered
+	 */
+	protected long row_step = ROW_STEP_EDEFAULT;
+
+	/**
+	 * The cached value of the '{@link #getData() <em>Data</em>}' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getData()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Character> data;
+
+	/**
+	 * The default value of the '{@link #isIs_dense() <em>Is dense</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #isIs_dense()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final boolean IS_DENSE_EDEFAULT = false;
+
+	/**
+	 * The cached value of the '{@link #isIs_dense() <em>Is dense</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #isIs_dense()
+	 * @generated
+	 * @ordered
+	 */
+	protected boolean is_dense = IS_DENSE_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected PointCloud2Impl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Sensor_datatypesPackage.Literals.POINT_CLOUD2;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Header getHeader() {
+		return header;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetHeader(Header newHeader, NotificationChain msgs) {
+		Header oldHeader = header;
+		header = newHeader;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.POINT_CLOUD2__HEADER, oldHeader, newHeader);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setHeader(Header newHeader) {
+		if(newHeader != header) {
+			NotificationChain msgs = null;
+			if(header != null)
+				msgs = ((InternalEObject)header).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Sensor_datatypesPackage.POINT_CLOUD2__HEADER, null, msgs);
+			if(newHeader != null)
+				msgs = ((InternalEObject)newHeader).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Sensor_datatypesPackage.POINT_CLOUD2__HEADER, null, msgs);
+			msgs = basicSetHeader(newHeader, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.POINT_CLOUD2__HEADER, newHeader, newHeader));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public long getHeight() {
+		return height;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setHeight(long newHeight) {
+		long oldHeight = height;
+		height = newHeight;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.POINT_CLOUD2__HEIGHT, oldHeight, height));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public long getWidth() {
+		return width;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setWidth(long newWidth) {
+		long oldWidth = width;
+		width = newWidth;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.POINT_CLOUD2__WIDTH, oldWidth, width));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<PointField> getFields() {
+		if(fields == null) {
+			fields = new EObjectContainmentEList<PointField>(PointField.class, this, Sensor_datatypesPackage.POINT_CLOUD2__FIELDS);
+		}
+		return fields;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public boolean isIs_bigendian() {
+		return is_bigendian;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setIs_bigendian(boolean newIs_bigendian) {
+		boolean oldIs_bigendian = is_bigendian;
+		is_bigendian = newIs_bigendian;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.POINT_CLOUD2__IS_BIGENDIAN, oldIs_bigendian, is_bigendian));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public long getPoint_step() {
+		return point_step;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setPoint_step(long newPoint_step) {
+		long oldPoint_step = point_step;
+		point_step = newPoint_step;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.POINT_CLOUD2__POINT_STEP, oldPoint_step, point_step));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public long getRow_step() {
+		return row_step;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setRow_step(long newRow_step) {
+		long oldRow_step = row_step;
+		row_step = newRow_step;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.POINT_CLOUD2__ROW_STEP, oldRow_step, row_step));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Character> getData() {
+		if(data == null) {
+			data = new EDataTypeUniqueEList<Character>(Character.class, this, Sensor_datatypesPackage.POINT_CLOUD2__DATA);
+		}
+		return data;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public boolean isIs_dense() {
+		return is_dense;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setIs_dense(boolean newIs_dense) {
+		boolean oldIs_dense = is_dense;
+		is_dense = newIs_dense;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.POINT_CLOUD2__IS_DENSE, oldIs_dense, is_dense));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.POINT_CLOUD2__HEADER:
+			return basicSetHeader(null, msgs);
+		case Sensor_datatypesPackage.POINT_CLOUD2__FIELDS:
+			return ((InternalEList<?>)getFields()).basicRemove(otherEnd, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.POINT_CLOUD2__HEADER:
+			return getHeader();
+		case Sensor_datatypesPackage.POINT_CLOUD2__HEIGHT:
+			return getHeight();
+		case Sensor_datatypesPackage.POINT_CLOUD2__WIDTH:
+			return getWidth();
+		case Sensor_datatypesPackage.POINT_CLOUD2__FIELDS:
+			return getFields();
+		case Sensor_datatypesPackage.POINT_CLOUD2__IS_BIGENDIAN:
+			return isIs_bigendian();
+		case Sensor_datatypesPackage.POINT_CLOUD2__POINT_STEP:
+			return getPoint_step();
+		case Sensor_datatypesPackage.POINT_CLOUD2__ROW_STEP:
+			return getRow_step();
+		case Sensor_datatypesPackage.POINT_CLOUD2__DATA:
+			return getData();
+		case Sensor_datatypesPackage.POINT_CLOUD2__IS_DENSE:
+			return isIs_dense();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@SuppressWarnings("unchecked")
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.POINT_CLOUD2__HEADER:
+			setHeader((Header)newValue);
+			return;
+		case Sensor_datatypesPackage.POINT_CLOUD2__HEIGHT:
+			setHeight((Long)newValue);
+			return;
+		case Sensor_datatypesPackage.POINT_CLOUD2__WIDTH:
+			setWidth((Long)newValue);
+			return;
+		case Sensor_datatypesPackage.POINT_CLOUD2__FIELDS:
+			getFields().clear();
+			getFields().addAll((Collection<? extends PointField>)newValue);
+			return;
+		case Sensor_datatypesPackage.POINT_CLOUD2__IS_BIGENDIAN:
+			setIs_bigendian((Boolean)newValue);
+			return;
+		case Sensor_datatypesPackage.POINT_CLOUD2__POINT_STEP:
+			setPoint_step((Long)newValue);
+			return;
+		case Sensor_datatypesPackage.POINT_CLOUD2__ROW_STEP:
+			setRow_step((Long)newValue);
+			return;
+		case Sensor_datatypesPackage.POINT_CLOUD2__DATA:
+			getData().clear();
+			getData().addAll((Collection<? extends Character>)newValue);
+			return;
+		case Sensor_datatypesPackage.POINT_CLOUD2__IS_DENSE:
+			setIs_dense((Boolean)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.POINT_CLOUD2__HEADER:
+			setHeader((Header)null);
+			return;
+		case Sensor_datatypesPackage.POINT_CLOUD2__HEIGHT:
+			setHeight(HEIGHT_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.POINT_CLOUD2__WIDTH:
+			setWidth(WIDTH_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.POINT_CLOUD2__FIELDS:
+			getFields().clear();
+			return;
+		case Sensor_datatypesPackage.POINT_CLOUD2__IS_BIGENDIAN:
+			setIs_bigendian(IS_BIGENDIAN_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.POINT_CLOUD2__POINT_STEP:
+			setPoint_step(POINT_STEP_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.POINT_CLOUD2__ROW_STEP:
+			setRow_step(ROW_STEP_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.POINT_CLOUD2__DATA:
+			getData().clear();
+			return;
+		case Sensor_datatypesPackage.POINT_CLOUD2__IS_DENSE:
+			setIs_dense(IS_DENSE_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.POINT_CLOUD2__HEADER:
+			return header != null;
+		case Sensor_datatypesPackage.POINT_CLOUD2__HEIGHT:
+			return height != HEIGHT_EDEFAULT;
+		case Sensor_datatypesPackage.POINT_CLOUD2__WIDTH:
+			return width != WIDTH_EDEFAULT;
+		case Sensor_datatypesPackage.POINT_CLOUD2__FIELDS:
+			return fields != null && !fields.isEmpty();
+		case Sensor_datatypesPackage.POINT_CLOUD2__IS_BIGENDIAN:
+			return is_bigendian != IS_BIGENDIAN_EDEFAULT;
+		case Sensor_datatypesPackage.POINT_CLOUD2__POINT_STEP:
+			return point_step != POINT_STEP_EDEFAULT;
+		case Sensor_datatypesPackage.POINT_CLOUD2__ROW_STEP:
+			return row_step != ROW_STEP_EDEFAULT;
+		case Sensor_datatypesPackage.POINT_CLOUD2__DATA:
+			return data != null && !data.isEmpty();
+		case Sensor_datatypesPackage.POINT_CLOUD2__IS_DENSE:
+			return is_dense != IS_DENSE_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (height: ");
+		result.append(height);
+		result.append(", width: ");
+		result.append(width);
+		result.append(", is_bigendian: ");
+		result.append(is_bigendian);
+		result.append(", point_step: ");
+		result.append(point_step);
+		result.append(", row_step: ");
+		result.append(row_step);
+		result.append(", data: ");
+		result.append(data);
+		result.append(", is_dense: ");
+		result.append(is_dense);
+		result.append(')');
+		return result.toString();
+	}
+
+} //PointCloud2Impl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/PointCloudImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/PointCloudImpl.java
new file mode 100644
index 00000000000..ad23efc8507
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/PointCloudImpl.java
@@ -0,0 +1,284 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl;
+
+import java.util.Collection;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.emf.ecore.util.EObjectContainmentEList;
+import org.eclipse.emf.ecore.util.InternalEList;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Point32;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.ChannelFloat32;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Point Cloud</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.PointCloudImpl#getHeader <em>Header
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.PointCloudImpl#getPoints <em>Points
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.PointCloudImpl#getChannels <em>
+ * Channels</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class PointCloudImpl extends EObjectImpl implements PointCloud {
+
+	/**
+	 * The cached value of the '{@link #getHeader() <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHeader()
+	 * @generated
+	 * @ordered
+	 */
+	protected Header header;
+
+	/**
+	 * The cached value of the '{@link #getPoints() <em>Points</em>}' containment reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getPoints()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Point32> points;
+
+	/**
+	 * The cached value of the '{@link #getChannels() <em>Channels</em>}' containment reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getChannels()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<ChannelFloat32> channels;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected PointCloudImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Sensor_datatypesPackage.Literals.POINT_CLOUD;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Header getHeader() {
+		return header;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetHeader(Header newHeader, NotificationChain msgs) {
+		Header oldHeader = header;
+		header = newHeader;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.POINT_CLOUD__HEADER, oldHeader, newHeader);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setHeader(Header newHeader) {
+		if(newHeader != header) {
+			NotificationChain msgs = null;
+			if(header != null)
+				msgs = ((InternalEObject)header).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Sensor_datatypesPackage.POINT_CLOUD__HEADER, null, msgs);
+			if(newHeader != null)
+				msgs = ((InternalEObject)newHeader).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Sensor_datatypesPackage.POINT_CLOUD__HEADER, null, msgs);
+			msgs = basicSetHeader(newHeader, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.POINT_CLOUD__HEADER, newHeader, newHeader));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Point32> getPoints() {
+		if(points == null) {
+			points = new EObjectContainmentEList<Point32>(Point32.class, this, Sensor_datatypesPackage.POINT_CLOUD__POINTS);
+		}
+		return points;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<ChannelFloat32> getChannels() {
+		if(channels == null) {
+			channels = new EObjectContainmentEList<ChannelFloat32>(ChannelFloat32.class, this, Sensor_datatypesPackage.POINT_CLOUD__CHANNELS);
+		}
+		return channels;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.POINT_CLOUD__HEADER:
+			return basicSetHeader(null, msgs);
+		case Sensor_datatypesPackage.POINT_CLOUD__POINTS:
+			return ((InternalEList<?>)getPoints()).basicRemove(otherEnd, msgs);
+		case Sensor_datatypesPackage.POINT_CLOUD__CHANNELS:
+			return ((InternalEList<?>)getChannels()).basicRemove(otherEnd, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.POINT_CLOUD__HEADER:
+			return getHeader();
+		case Sensor_datatypesPackage.POINT_CLOUD__POINTS:
+			return getPoints();
+		case Sensor_datatypesPackage.POINT_CLOUD__CHANNELS:
+			return getChannels();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@SuppressWarnings("unchecked")
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.POINT_CLOUD__HEADER:
+			setHeader((Header)newValue);
+			return;
+		case Sensor_datatypesPackage.POINT_CLOUD__POINTS:
+			getPoints().clear();
+			getPoints().addAll((Collection<? extends Point32>)newValue);
+			return;
+		case Sensor_datatypesPackage.POINT_CLOUD__CHANNELS:
+			getChannels().clear();
+			getChannels().addAll((Collection<? extends ChannelFloat32>)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.POINT_CLOUD__HEADER:
+			setHeader((Header)null);
+			return;
+		case Sensor_datatypesPackage.POINT_CLOUD__POINTS:
+			getPoints().clear();
+			return;
+		case Sensor_datatypesPackage.POINT_CLOUD__CHANNELS:
+			getChannels().clear();
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.POINT_CLOUD__HEADER:
+			return header != null;
+		case Sensor_datatypesPackage.POINT_CLOUD__POINTS:
+			return points != null && !points.isEmpty();
+		case Sensor_datatypesPackage.POINT_CLOUD__CHANNELS:
+			return channels != null && !channels.isEmpty();
+		}
+		return super.eIsSet(featureID);
+	}
+
+} //PointCloudImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/PointFieldImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/PointFieldImpl.java
new file mode 100644
index 00000000000..d44f5e4e061
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/PointFieldImpl.java
@@ -0,0 +1,359 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointField;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Point Field</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.PointFieldImpl#getName <em>Name</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.PointFieldImpl#getOffset <em>Offset
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.PointFieldImpl#getDatatype <em>
+ * Datatype</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.PointFieldImpl#getCount <em>Count
+ * </em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class PointFieldImpl extends EObjectImpl implements PointField {
+
+	/**
+	 * The default value of the '{@link #getName() <em>Name</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getName()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final String NAME_EDEFAULT = null;
+
+	/**
+	 * The cached value of the '{@link #getName() <em>Name</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getName()
+	 * @generated
+	 * @ordered
+	 */
+	protected String name = NAME_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getOffset() <em>Offset</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getOffset()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final long OFFSET_EDEFAULT = 0L;
+
+	/**
+	 * The cached value of the '{@link #getOffset() <em>Offset</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getOffset()
+	 * @generated
+	 * @ordered
+	 */
+	protected long offset = OFFSET_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getDatatype() <em>Datatype</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getDatatype()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final char DATATYPE_EDEFAULT = '\u0000';
+
+	/**
+	 * The cached value of the '{@link #getDatatype() <em>Datatype</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getDatatype()
+	 * @generated
+	 * @ordered
+	 */
+	protected char datatype = DATATYPE_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getCount() <em>Count</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getCount()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final long COUNT_EDEFAULT = 0L;
+
+	/**
+	 * The cached value of the '{@link #getCount() <em>Count</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getCount()
+	 * @generated
+	 * @ordered
+	 */
+	protected long count = COUNT_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected PointFieldImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Sensor_datatypesPackage.Literals.POINT_FIELD;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getName() {
+		return name;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setName(String newName) {
+		String oldName = name;
+		name = newName;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.POINT_FIELD__NAME, oldName, name));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public long getOffset() {
+		return offset;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setOffset(long newOffset) {
+		long oldOffset = offset;
+		offset = newOffset;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.POINT_FIELD__OFFSET, oldOffset, offset));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public char getDatatype() {
+		return datatype;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setDatatype(char newDatatype) {
+		char oldDatatype = datatype;
+		datatype = newDatatype;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.POINT_FIELD__DATATYPE, oldDatatype, datatype));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public long getCount() {
+		return count;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setCount(long newCount) {
+		long oldCount = count;
+		count = newCount;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.POINT_FIELD__COUNT, oldCount, count));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.POINT_FIELD__NAME:
+			return getName();
+		case Sensor_datatypesPackage.POINT_FIELD__OFFSET:
+			return getOffset();
+		case Sensor_datatypesPackage.POINT_FIELD__DATATYPE:
+			return getDatatype();
+		case Sensor_datatypesPackage.POINT_FIELD__COUNT:
+			return getCount();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.POINT_FIELD__NAME:
+			setName((String)newValue);
+			return;
+		case Sensor_datatypesPackage.POINT_FIELD__OFFSET:
+			setOffset((Long)newValue);
+			return;
+		case Sensor_datatypesPackage.POINT_FIELD__DATATYPE:
+			setDatatype((Character)newValue);
+			return;
+		case Sensor_datatypesPackage.POINT_FIELD__COUNT:
+			setCount((Long)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.POINT_FIELD__NAME:
+			setName(NAME_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.POINT_FIELD__OFFSET:
+			setOffset(OFFSET_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.POINT_FIELD__DATATYPE:
+			setDatatype(DATATYPE_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.POINT_FIELD__COUNT:
+			setCount(COUNT_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.POINT_FIELD__NAME:
+			return NAME_EDEFAULT == null ? name != null : !NAME_EDEFAULT.equals(name);
+		case Sensor_datatypesPackage.POINT_FIELD__OFFSET:
+			return offset != OFFSET_EDEFAULT;
+		case Sensor_datatypesPackage.POINT_FIELD__DATATYPE:
+			return datatype != DATATYPE_EDEFAULT;
+		case Sensor_datatypesPackage.POINT_FIELD__COUNT:
+			return count != COUNT_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (name: ");
+		result.append(name);
+		result.append(", offset: ");
+		result.append(offset);
+		result.append(", datatype: ");
+		result.append(datatype);
+		result.append(", count: ");
+		result.append(count);
+		result.append(')');
+		return result.toString();
+	}
+
+} //PointFieldImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/RangeImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/RangeImpl.java
new file mode 100644
index 00000000000..18549f40b02
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/RangeImpl.java
@@ -0,0 +1,625 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Range</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.RangeImpl#getULTRASOUND <em>ULTRASOUND
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.RangeImpl#getINFRARED <em>INFRARED
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.RangeImpl#getHeader <em>Header</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.RangeImpl#getRadiation_type <em>
+ * Radiation type</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.RangeImpl#getField_of_view <em>Field
+ * of view</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.RangeImpl#getMin_range <em>Min range
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.RangeImpl#getMax_range <em>Max range
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.RangeImpl#getRange <em>Range</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class RangeImpl extends EObjectImpl implements Range {
+
+	/**
+	 * The default value of the '{@link #getULTRASOUND() <em>ULTRASOUND</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getULTRASOUND()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final char ULTRASOUND_EDEFAULT = '\u0000';
+
+	/**
+	 * The cached value of the '{@link #getULTRASOUND() <em>ULTRASOUND</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getULTRASOUND()
+	 * @generated
+	 * @ordered
+	 */
+	protected char ultrasound = ULTRASOUND_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getINFRARED() <em>INFRARED</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getINFRARED()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final char INFRARED_EDEFAULT = '\u0000';
+
+	/**
+	 * The cached value of the '{@link #getINFRARED() <em>INFRARED</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getINFRARED()
+	 * @generated
+	 * @ordered
+	 */
+	protected char infrared = INFRARED_EDEFAULT;
+
+	/**
+	 * The cached value of the '{@link #getHeader() <em>Header</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHeader()
+	 * @generated
+	 * @ordered
+	 */
+	protected Header header;
+
+	/**
+	 * The default value of the '{@link #getRadiation_type() <em>Radiation type</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getRadiation_type()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final char RADIATION_TYPE_EDEFAULT = '\u0000';
+
+	/**
+	 * The cached value of the '{@link #getRadiation_type() <em>Radiation type</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getRadiation_type()
+	 * @generated
+	 * @ordered
+	 */
+	protected char radiation_type = RADIATION_TYPE_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getField_of_view() <em>Field of view</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getField_of_view()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float FIELD_OF_VIEW_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getField_of_view() <em>Field of view</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getField_of_view()
+	 * @generated
+	 * @ordered
+	 */
+	protected float field_of_view = FIELD_OF_VIEW_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getMin_range() <em>Min range</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getMin_range()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float MIN_RANGE_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getMin_range() <em>Min range</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getMin_range()
+	 * @generated
+	 * @ordered
+	 */
+	protected float min_range = MIN_RANGE_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getMax_range() <em>Max range</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getMax_range()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float MAX_RANGE_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getMax_range() <em>Max range</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getMax_range()
+	 * @generated
+	 * @ordered
+	 */
+	protected float max_range = MAX_RANGE_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getRange() <em>Range</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getRange()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float RANGE_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getRange() <em>Range</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getRange()
+	 * @generated
+	 * @ordered
+	 */
+	protected float range = RANGE_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected RangeImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Sensor_datatypesPackage.Literals.RANGE;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public char getULTRASOUND() {
+		return ultrasound;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setULTRASOUND(char newULTRASOUND) {
+		char oldULTRASOUND = ultrasound;
+		ultrasound = newULTRASOUND;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.RANGE__ULTRASOUND, oldULTRASOUND, ultrasound));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public char getINFRARED() {
+		return infrared;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setINFRARED(char newINFRARED) {
+		char oldINFRARED = infrared;
+		infrared = newINFRARED;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.RANGE__INFRARED, oldINFRARED, infrared));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Header getHeader() {
+		return header;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetHeader(Header newHeader, NotificationChain msgs) {
+		Header oldHeader = header;
+		header = newHeader;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.RANGE__HEADER, oldHeader, newHeader);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setHeader(Header newHeader) {
+		if(newHeader != header) {
+			NotificationChain msgs = null;
+			if(header != null)
+				msgs = ((InternalEObject)header).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Sensor_datatypesPackage.RANGE__HEADER, null, msgs);
+			if(newHeader != null)
+				msgs = ((InternalEObject)newHeader).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Sensor_datatypesPackage.RANGE__HEADER, null, msgs);
+			msgs = basicSetHeader(newHeader, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.RANGE__HEADER, newHeader, newHeader));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public char getRadiation_type() {
+		return radiation_type;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setRadiation_type(char newRadiation_type) {
+		char oldRadiation_type = radiation_type;
+		radiation_type = newRadiation_type;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.RANGE__RADIATION_TYPE, oldRadiation_type, radiation_type));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getField_of_view() {
+		return field_of_view;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setField_of_view(float newField_of_view) {
+		float oldField_of_view = field_of_view;
+		field_of_view = newField_of_view;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.RANGE__FIELD_OF_VIEW, oldField_of_view, field_of_view));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getMin_range() {
+		return min_range;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setMin_range(float newMin_range) {
+		float oldMin_range = min_range;
+		min_range = newMin_range;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.RANGE__MIN_RANGE, oldMin_range, min_range));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getMax_range() {
+		return max_range;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setMax_range(float newMax_range) {
+		float oldMax_range = max_range;
+		max_range = newMax_range;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.RANGE__MAX_RANGE, oldMax_range, max_range));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getRange() {
+		return range;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setRange(float newRange) {
+		float oldRange = range;
+		range = newRange;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.RANGE__RANGE, oldRange, range));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.RANGE__HEADER:
+			return basicSetHeader(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.RANGE__ULTRASOUND:
+			return getULTRASOUND();
+		case Sensor_datatypesPackage.RANGE__INFRARED:
+			return getINFRARED();
+		case Sensor_datatypesPackage.RANGE__HEADER:
+			return getHeader();
+		case Sensor_datatypesPackage.RANGE__RADIATION_TYPE:
+			return getRadiation_type();
+		case Sensor_datatypesPackage.RANGE__FIELD_OF_VIEW:
+			return getField_of_view();
+		case Sensor_datatypesPackage.RANGE__MIN_RANGE:
+			return getMin_range();
+		case Sensor_datatypesPackage.RANGE__MAX_RANGE:
+			return getMax_range();
+		case Sensor_datatypesPackage.RANGE__RANGE:
+			return getRange();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.RANGE__ULTRASOUND:
+			setULTRASOUND((Character)newValue);
+			return;
+		case Sensor_datatypesPackage.RANGE__INFRARED:
+			setINFRARED((Character)newValue);
+			return;
+		case Sensor_datatypesPackage.RANGE__HEADER:
+			setHeader((Header)newValue);
+			return;
+		case Sensor_datatypesPackage.RANGE__RADIATION_TYPE:
+			setRadiation_type((Character)newValue);
+			return;
+		case Sensor_datatypesPackage.RANGE__FIELD_OF_VIEW:
+			setField_of_view((Float)newValue);
+			return;
+		case Sensor_datatypesPackage.RANGE__MIN_RANGE:
+			setMin_range((Float)newValue);
+			return;
+		case Sensor_datatypesPackage.RANGE__MAX_RANGE:
+			setMax_range((Float)newValue);
+			return;
+		case Sensor_datatypesPackage.RANGE__RANGE:
+			setRange((Float)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.RANGE__ULTRASOUND:
+			setULTRASOUND(ULTRASOUND_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.RANGE__INFRARED:
+			setINFRARED(INFRARED_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.RANGE__HEADER:
+			setHeader((Header)null);
+			return;
+		case Sensor_datatypesPackage.RANGE__RADIATION_TYPE:
+			setRadiation_type(RADIATION_TYPE_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.RANGE__FIELD_OF_VIEW:
+			setField_of_view(FIELD_OF_VIEW_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.RANGE__MIN_RANGE:
+			setMin_range(MIN_RANGE_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.RANGE__MAX_RANGE:
+			setMax_range(MAX_RANGE_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.RANGE__RANGE:
+			setRange(RANGE_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.RANGE__ULTRASOUND:
+			return ultrasound != ULTRASOUND_EDEFAULT;
+		case Sensor_datatypesPackage.RANGE__INFRARED:
+			return infrared != INFRARED_EDEFAULT;
+		case Sensor_datatypesPackage.RANGE__HEADER:
+			return header != null;
+		case Sensor_datatypesPackage.RANGE__RADIATION_TYPE:
+			return radiation_type != RADIATION_TYPE_EDEFAULT;
+		case Sensor_datatypesPackage.RANGE__FIELD_OF_VIEW:
+			return field_of_view != FIELD_OF_VIEW_EDEFAULT;
+		case Sensor_datatypesPackage.RANGE__MIN_RANGE:
+			return min_range != MIN_RANGE_EDEFAULT;
+		case Sensor_datatypesPackage.RANGE__MAX_RANGE:
+			return max_range != MAX_RANGE_EDEFAULT;
+		case Sensor_datatypesPackage.RANGE__RANGE:
+			return range != RANGE_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (ULTRASOUND: ");
+		result.append(ultrasound);
+		result.append(", INFRARED: ");
+		result.append(infrared);
+		result.append(", radiation_type: ");
+		result.append(radiation_type);
+		result.append(", field_of_view: ");
+		result.append(field_of_view);
+		result.append(", min_range: ");
+		result.append(min_range);
+		result.append(", max_range: ");
+		result.append(max_range);
+		result.append(", range: ");
+		result.append(range);
+		result.append(')');
+		return result.toString();
+	}
+
+} //RangeImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/RegionOfInterestImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/RegionOfInterestImpl.java
new file mode 100644
index 00000000000..316b1e162cd
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/RegionOfInterestImpl.java
@@ -0,0 +1,419 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.RegionOfInterest;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Region Of Interest</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.RegionOfInterestImpl#getX_offset <em>
+ * Xoffset</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.RegionOfInterestImpl#getY_offset <em>
+ * Yoffset</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.RegionOfInterestImpl#getHeight <em>
+ * Height</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.RegionOfInterestImpl#isDo_rectify <em>
+ * Do rectify</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.RegionOfInterestImpl#getWidth <em>
+ * Width</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class RegionOfInterestImpl extends EObjectImpl implements RegionOfInterest {
+
+	/**
+	 * The default value of the '{@link #getX_offset() <em>Xoffset</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getX_offset()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final long XOFFSET_EDEFAULT = 0L;
+
+	/**
+	 * The cached value of the '{@link #getX_offset() <em>Xoffset</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getX_offset()
+	 * @generated
+	 * @ordered
+	 */
+	protected long x_offset = XOFFSET_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getY_offset() <em>Yoffset</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getY_offset()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final long YOFFSET_EDEFAULT = 0L;
+
+	/**
+	 * The cached value of the '{@link #getY_offset() <em>Yoffset</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getY_offset()
+	 * @generated
+	 * @ordered
+	 */
+	protected long y_offset = YOFFSET_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getHeight() <em>Height</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHeight()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final long HEIGHT_EDEFAULT = 0L;
+
+	/**
+	 * The cached value of the '{@link #getHeight() <em>Height</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getHeight()
+	 * @generated
+	 * @ordered
+	 */
+	protected long height = HEIGHT_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #isDo_rectify() <em>Do rectify</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #isDo_rectify()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final boolean DO_RECTIFY_EDEFAULT = false;
+
+	/**
+	 * The cached value of the '{@link #isDo_rectify() <em>Do rectify</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #isDo_rectify()
+	 * @generated
+	 * @ordered
+	 */
+	protected boolean do_rectify = DO_RECTIFY_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getWidth() <em>Width</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWidth()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final long WIDTH_EDEFAULT = 0L;
+
+	/**
+	 * The cached value of the '{@link #getWidth() <em>Width</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getWidth()
+	 * @generated
+	 * @ordered
+	 */
+	protected long width = WIDTH_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected RegionOfInterestImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Sensor_datatypesPackage.Literals.REGION_OF_INTEREST;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public long getX_offset() {
+		return x_offset;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setX_offset(long newX_offset) {
+		long oldX_offset = x_offset;
+		x_offset = newX_offset;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.REGION_OF_INTEREST__XOFFSET, oldX_offset, x_offset));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public long getY_offset() {
+		return y_offset;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setY_offset(long newY_offset) {
+		long oldY_offset = y_offset;
+		y_offset = newY_offset;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.REGION_OF_INTEREST__YOFFSET, oldY_offset, y_offset));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public long getHeight() {
+		return height;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setHeight(long newHeight) {
+		long oldHeight = height;
+		height = newHeight;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.REGION_OF_INTEREST__HEIGHT, oldHeight, height));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public boolean isDo_rectify() {
+		return do_rectify;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setDo_rectify(boolean newDo_rectify) {
+		boolean oldDo_rectify = do_rectify;
+		do_rectify = newDo_rectify;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.REGION_OF_INTEREST__DO_RECTIFY, oldDo_rectify, do_rectify));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public long getWidth() {
+		return width;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setWidth(long newWidth) {
+		long oldWidth = width;
+		width = newWidth;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Sensor_datatypesPackage.REGION_OF_INTEREST__WIDTH, oldWidth, width));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.REGION_OF_INTEREST__XOFFSET:
+			return getX_offset();
+		case Sensor_datatypesPackage.REGION_OF_INTEREST__YOFFSET:
+			return getY_offset();
+		case Sensor_datatypesPackage.REGION_OF_INTEREST__HEIGHT:
+			return getHeight();
+		case Sensor_datatypesPackage.REGION_OF_INTEREST__DO_RECTIFY:
+			return isDo_rectify();
+		case Sensor_datatypesPackage.REGION_OF_INTEREST__WIDTH:
+			return getWidth();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.REGION_OF_INTEREST__XOFFSET:
+			setX_offset((Long)newValue);
+			return;
+		case Sensor_datatypesPackage.REGION_OF_INTEREST__YOFFSET:
+			setY_offset((Long)newValue);
+			return;
+		case Sensor_datatypesPackage.REGION_OF_INTEREST__HEIGHT:
+			setHeight((Long)newValue);
+			return;
+		case Sensor_datatypesPackage.REGION_OF_INTEREST__DO_RECTIFY:
+			setDo_rectify((Boolean)newValue);
+			return;
+		case Sensor_datatypesPackage.REGION_OF_INTEREST__WIDTH:
+			setWidth((Long)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.REGION_OF_INTEREST__XOFFSET:
+			setX_offset(XOFFSET_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.REGION_OF_INTEREST__YOFFSET:
+			setY_offset(YOFFSET_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.REGION_OF_INTEREST__HEIGHT:
+			setHeight(HEIGHT_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.REGION_OF_INTEREST__DO_RECTIFY:
+			setDo_rectify(DO_RECTIFY_EDEFAULT);
+			return;
+		case Sensor_datatypesPackage.REGION_OF_INTEREST__WIDTH:
+			setWidth(WIDTH_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Sensor_datatypesPackage.REGION_OF_INTEREST__XOFFSET:
+			return x_offset != XOFFSET_EDEFAULT;
+		case Sensor_datatypesPackage.REGION_OF_INTEREST__YOFFSET:
+			return y_offset != YOFFSET_EDEFAULT;
+		case Sensor_datatypesPackage.REGION_OF_INTEREST__HEIGHT:
+			return height != HEIGHT_EDEFAULT;
+		case Sensor_datatypesPackage.REGION_OF_INTEREST__DO_RECTIFY:
+			return do_rectify != DO_RECTIFY_EDEFAULT;
+		case Sensor_datatypesPackage.REGION_OF_INTEREST__WIDTH:
+			return width != WIDTH_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (x_offset: ");
+		result.append(x_offset);
+		result.append(", y_offset: ");
+		result.append(y_offset);
+		result.append(", height: ");
+		result.append(height);
+		result.append(", do_rectify: ");
+		result.append(do_rectify);
+		result.append(", width: ");
+		result.append(width);
+		result.append(')');
+		return result.toString();
+	}
+
+} //RegionOfInterestImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/Sensor_datatypesFactoryImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/Sensor_datatypesFactoryImpl.java
new file mode 100644
index 00000000000..96e805e1080
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/Sensor_datatypesFactoryImpl.java
@@ -0,0 +1,476 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl;
+
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.EDataType;
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.emf.ecore.EPackage;
+import org.eclipse.emf.ecore.impl.EFactoryImpl;
+import org.eclipse.emf.ecore.plugin.EcorePlugin;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.COVARIANCE_TYPE;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CarLikeOdometry;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.ChannelFloat32;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CompressedImage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.DifferentialOdometry;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Image;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Imu;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JointState;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Joy;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedback;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedbackArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointField;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.RegionOfInterest;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.SERVICE_TYPE;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.STATUS_TYPE;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesFactory;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model <b>Factory</b>.
+ * <!-- end-user-doc -->
+ * 
+ * @generated
+ */
+public class Sensor_datatypesFactoryImpl extends EFactoryImpl implements Sensor_datatypesFactory {
+
+	/**
+	 * Creates the default factory implementation.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static Sensor_datatypesFactory init() {
+		try {
+			Sensor_datatypesFactory theSensor_datatypesFactory = (Sensor_datatypesFactory)EPackage.Registry.INSTANCE.getEFactory("http:///RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes.ecore");
+			if(theSensor_datatypesFactory != null) {
+				return theSensor_datatypesFactory;
+			}
+		} catch (Exception exception) {
+			EcorePlugin.INSTANCE.log(exception);
+		}
+		return new Sensor_datatypesFactoryImpl();
+	}
+
+	/**
+	 * Creates an instance of the factory.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Sensor_datatypesFactoryImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public EObject create(EClass eClass) {
+		switch(eClass.getClassifierID()) {
+		case Sensor_datatypesPackage.REGION_OF_INTEREST:
+			return createRegionOfInterest();
+		case Sensor_datatypesPackage.RANGE:
+			return createRange();
+		case Sensor_datatypesPackage.CAMERA_INFO:
+			return createCameraInfo();
+		case Sensor_datatypesPackage.IMU:
+			return createImu();
+		case Sensor_datatypesPackage.LASER_SCAN:
+			return createLaserScan();
+		case Sensor_datatypesPackage.IMAGE:
+			return createImage();
+		case Sensor_datatypesPackage.CHANNEL_FLOAT32:
+			return createChannelFloat32();
+		case Sensor_datatypesPackage.COMPRESSED_IMAGE:
+			return createCompressedImage();
+		case Sensor_datatypesPackage.POINT_CLOUD:
+			return createPointCloud();
+		case Sensor_datatypesPackage.POINT_FIELD:
+			return createPointField();
+		case Sensor_datatypesPackage.POINT_CLOUD2:
+			return createPointCloud2();
+		case Sensor_datatypesPackage.JOINT_STATE:
+			return createJointState();
+		case Sensor_datatypesPackage.NAV_SAT_STATUS:
+			return createNavSatStatus();
+		case Sensor_datatypesPackage.NAV_SAT_FIX:
+			return createNavSatFix();
+		case Sensor_datatypesPackage.JOY:
+			return createJoy();
+		case Sensor_datatypesPackage.JOY_FEEDBACK:
+			return createJoyFeedback();
+		case Sensor_datatypesPackage.JOY_FEEDBACK_ARRAY:
+			return createJoyFeedbackArray();
+		case Sensor_datatypesPackage.CAR_LIKE_ODOMETRY:
+			return createCarLikeOdometry();
+		case Sensor_datatypesPackage.DIFFERENTIAL_ODOMETRY:
+			return createDifferentialOdometry();
+		default:
+			throw new IllegalArgumentException("The class '" + eClass.getName() + "' is not a valid classifier");
+		}
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object createFromString(EDataType eDataType, String initialValue) {
+		switch(eDataType.getClassifierID()) {
+		case Sensor_datatypesPackage.STATUS_TYPE:
+			return createSTATUS_TYPEFromString(eDataType, initialValue);
+		case Sensor_datatypesPackage.SERVICE_TYPE:
+			return createSERVICE_TYPEFromString(eDataType, initialValue);
+		case Sensor_datatypesPackage.COVARIANCE_TYPE:
+			return createCOVARIANCE_TYPEFromString(eDataType, initialValue);
+		default:
+			throw new IllegalArgumentException("The datatype '" + eDataType.getName() + "' is not a valid classifier");
+		}
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String convertToString(EDataType eDataType, Object instanceValue) {
+		switch(eDataType.getClassifierID()) {
+		case Sensor_datatypesPackage.STATUS_TYPE:
+			return convertSTATUS_TYPEToString(eDataType, instanceValue);
+		case Sensor_datatypesPackage.SERVICE_TYPE:
+			return convertSERVICE_TYPEToString(eDataType, instanceValue);
+		case Sensor_datatypesPackage.COVARIANCE_TYPE:
+			return convertCOVARIANCE_TYPEToString(eDataType, instanceValue);
+		default:
+			throw new IllegalArgumentException("The datatype '" + eDataType.getName() + "' is not a valid classifier");
+		}
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public RegionOfInterest createRegionOfInterest() {
+		RegionOfInterestImpl regionOfInterest = new RegionOfInterestImpl();
+		return regionOfInterest;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Range createRange() {
+		RangeImpl range = new RangeImpl();
+		return range;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public CameraInfo createCameraInfo() {
+		CameraInfoImpl cameraInfo = new CameraInfoImpl();
+		return cameraInfo;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Imu createImu() {
+		ImuImpl imu = new ImuImpl();
+		return imu;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public LaserScan createLaserScan() {
+		LaserScanImpl laserScan = new LaserScanImpl();
+		return laserScan;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Image createImage() {
+		ImageImpl image = new ImageImpl();
+		return image;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public ChannelFloat32 createChannelFloat32() {
+		ChannelFloat32Impl channelFloat32 = new ChannelFloat32Impl();
+		return channelFloat32;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public CompressedImage createCompressedImage() {
+		CompressedImageImpl compressedImage = new CompressedImageImpl();
+		return compressedImage;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public PointCloud createPointCloud() {
+		PointCloudImpl pointCloud = new PointCloudImpl();
+		return pointCloud;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public PointField createPointField() {
+		PointFieldImpl pointField = new PointFieldImpl();
+		return pointField;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public PointCloud2 createPointCloud2() {
+		PointCloud2Impl pointCloud2 = new PointCloud2Impl();
+		return pointCloud2;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public JointState createJointState() {
+		JointStateImpl jointState = new JointStateImpl();
+		return jointState;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NavSatStatus createNavSatStatus() {
+		NavSatStatusImpl navSatStatus = new NavSatStatusImpl();
+		return navSatStatus;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NavSatFix createNavSatFix() {
+		NavSatFixImpl navSatFix = new NavSatFixImpl();
+		return navSatFix;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Joy createJoy() {
+		JoyImpl joy = new JoyImpl();
+		return joy;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public JoyFeedback createJoyFeedback() {
+		JoyFeedbackImpl joyFeedback = new JoyFeedbackImpl();
+		return joyFeedback;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public JoyFeedbackArray createJoyFeedbackArray() {
+		JoyFeedbackArrayImpl joyFeedbackArray = new JoyFeedbackArrayImpl();
+		return joyFeedbackArray;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public CarLikeOdometry createCarLikeOdometry() {
+		CarLikeOdometryImpl carLikeOdometry = new CarLikeOdometryImpl();
+		return carLikeOdometry;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public DifferentialOdometry createDifferentialOdometry() {
+		DifferentialOdometryImpl differentialOdometry = new DifferentialOdometryImpl();
+		return differentialOdometry;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public STATUS_TYPE createSTATUS_TYPEFromString(EDataType eDataType, String initialValue) {
+		STATUS_TYPE result = STATUS_TYPE.get(initialValue);
+		if(result == null)
+			throw new IllegalArgumentException("The value '" + initialValue + "' is not a valid enumerator of '" + eDataType.getName() + "'");
+		return result;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String convertSTATUS_TYPEToString(EDataType eDataType, Object instanceValue) {
+		return instanceValue == null ? null : instanceValue.toString();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public SERVICE_TYPE createSERVICE_TYPEFromString(EDataType eDataType, String initialValue) {
+		SERVICE_TYPE result = SERVICE_TYPE.get(initialValue);
+		if(result == null)
+			throw new IllegalArgumentException("The value '" + initialValue + "' is not a valid enumerator of '" + eDataType.getName() + "'");
+		return result;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String convertSERVICE_TYPEToString(EDataType eDataType, Object instanceValue) {
+		return instanceValue == null ? null : instanceValue.toString();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public COVARIANCE_TYPE createCOVARIANCE_TYPEFromString(EDataType eDataType, String initialValue) {
+		COVARIANCE_TYPE result = COVARIANCE_TYPE.get(initialValue);
+		if(result == null)
+			throw new IllegalArgumentException("The value '" + initialValue + "' is not a valid enumerator of '" + eDataType.getName() + "'");
+		return result;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String convertCOVARIANCE_TYPEToString(EDataType eDataType, Object instanceValue) {
+		return instanceValue == null ? null : instanceValue.toString();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Sensor_datatypesPackage getSensor_datatypesPackage() {
+		return (Sensor_datatypesPackage)getEPackage();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @deprecated
+	 * @generated
+	 */
+	@Deprecated
+	public static Sensor_datatypesPackage getPackage() {
+		return Sensor_datatypesPackage.eINSTANCE;
+	}
+
+} //Sensor_datatypesFactoryImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/Sensor_datatypesPackageImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/Sensor_datatypesPackageImpl.java
new file mode 100644
index 00000000000..70799ea6110
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/impl/Sensor_datatypesPackageImpl.java
@@ -0,0 +1,2072 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl;
+
+import org.eclipse.emf.ecore.EAttribute;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.EEnum;
+import org.eclipse.emf.ecore.EPackage;
+import org.eclipse.emf.ecore.EReference;
+import org.eclipse.emf.ecore.impl.EPackageImpl;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.Actionlib_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.Diagnostic_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.Nav_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.Oarp1_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl.Oarp1_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CarLikeOdometry;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.ChannelFloat32;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CompressedImage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.DifferentialOdometry;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Image;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Imu;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JointState;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Joy;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedback;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedbackArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointField;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.RegionOfInterest;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesFactory;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl;
+import org.eclipse.uml2.uml.UMLPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model <b>Package</b>.
+ * <!-- end-user-doc -->
+ * 
+ * @generated
+ */
+public class Sensor_datatypesPackageImpl extends EPackageImpl implements Sensor_datatypesPackage {
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass regionOfInterestEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass rangeEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass cameraInfoEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass imuEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass laserScanEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass imageEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass channelFloat32EClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass compressedImageEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass pointCloudEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass pointFieldEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass pointCloud2EClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass jointStateEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass navSatStatusEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass navSatFixEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass joyEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass joyFeedbackEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass joyFeedbackArrayEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass carLikeOdometryEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass differentialOdometryEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EEnum statuS_TYPEEEnum = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EEnum servicE_TYPEEEnum = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EEnum covariancE_TYPEEEnum = null;
+
+	/**
+	 * Creates an instance of the model <b>Package</b>, registered with {@link org.eclipse.emf.ecore.EPackage.Registry EPackage.Registry} by the
+	 * package
+	 * package URI value.
+	 * <p>
+	 * Note: the correct way to create the package is via the static factory method {@link #init init()}, which also performs initialization of the
+	 * package, or returns the registered package, if one already exists. <!-- begin-user-doc --> <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.emf.ecore.EPackage.Registry
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage#eNS_URI
+	 * @see #init()
+	 * @generated
+	 */
+	private Sensor_datatypesPackageImpl() {
+		super(eNS_URI, Sensor_datatypesFactory.eINSTANCE);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private static boolean isInited = false;
+
+	/**
+	 * Creates, registers, and initializes the <b>Package</b> for this model, and for any others upon which it depends.
+	 * 
+	 * <p>
+	 * This method is used to initialize {@link Sensor_datatypesPackage#eINSTANCE} when that field is accessed. Clients should not invoke it directly.
+	 * Instead, they should simply access that field to obtain the package. <!-- begin-user-doc --> <!-- end-user-doc -->
+	 * 
+	 * @see #eNS_URI
+	 * @see #createPackageContents()
+	 * @see #initializePackageContents()
+	 * @generated
+	 */
+	public static Sensor_datatypesPackage init() {
+		if(isInited)
+			return (Sensor_datatypesPackage)EPackage.Registry.INSTANCE.getEPackage(Sensor_datatypesPackage.eNS_URI);
+
+		// Obtain or create and register package
+		Sensor_datatypesPackageImpl theSensor_datatypesPackage = (Sensor_datatypesPackageImpl)(EPackage.Registry.INSTANCE.get(eNS_URI) instanceof Sensor_datatypesPackageImpl ? EPackage.Registry.INSTANCE.get(eNS_URI) : new Sensor_datatypesPackageImpl());
+
+		isInited = true;
+
+		// Initialize simple dependencies
+		UMLPackage.eINSTANCE.eClass();
+
+		// Obtain or create and register interdependencies
+		RobotMLPackageImpl theRobotMLPackage = (RobotMLPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(RobotMLPackage.eNS_URI) instanceof RobotMLPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(RobotMLPackage.eNS_URI) : RobotMLPackage.eINSTANCE);
+		Diagnostic_datatypesPackageImpl theDiagnostic_datatypesPackage = (Diagnostic_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Diagnostic_datatypesPackage.eNS_URI) instanceof Diagnostic_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Diagnostic_datatypesPackage.eNS_URI) : Diagnostic_datatypesPackage.eINSTANCE);
+		Geometry_datatypesPackageImpl theGeometry_datatypesPackage = (Geometry_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Geometry_datatypesPackage.eNS_URI) instanceof Geometry_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Geometry_datatypesPackage.eNS_URI) : Geometry_datatypesPackage.eINSTANCE);
+		Nav_datatypesPackageImpl theNav_datatypesPackage = (Nav_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Nav_datatypesPackage.eNS_URI) instanceof Nav_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Nav_datatypesPackage.eNS_URI) : Nav_datatypesPackage.eINSTANCE);
+		Actionlib_datatypesPackageImpl theActionlib_datatypesPackage = (Actionlib_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Actionlib_datatypesPackage.eNS_URI) instanceof Actionlib_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Actionlib_datatypesPackage.eNS_URI) : Actionlib_datatypesPackage.eINSTANCE);
+		Oarp1_datatypesPackageImpl theOarp1_datatypesPackage = (Oarp1_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Oarp1_datatypesPackage.eNS_URI) instanceof Oarp1_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Oarp1_datatypesPackage.eNS_URI) : Oarp1_datatypesPackage.eINSTANCE);
+		Oarp4_datatypesPackageImpl theOarp4_datatypesPackage = (Oarp4_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Oarp4_datatypesPackage.eNS_URI) instanceof Oarp4_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Oarp4_datatypesPackage.eNS_URI) : Oarp4_datatypesPackage.eINSTANCE);
+		Std_datatypesPackageImpl theStd_datatypesPackage = (Std_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Std_datatypesPackage.eNS_URI) instanceof Std_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Std_datatypesPackage.eNS_URI) : Std_datatypesPackage.eINSTANCE);
+
+		// Create package meta-data objects
+		theSensor_datatypesPackage.createPackageContents();
+		theRobotMLPackage.createPackageContents();
+		theDiagnostic_datatypesPackage.createPackageContents();
+		theGeometry_datatypesPackage.createPackageContents();
+		theNav_datatypesPackage.createPackageContents();
+		theActionlib_datatypesPackage.createPackageContents();
+		theOarp1_datatypesPackage.createPackageContents();
+		theOarp4_datatypesPackage.createPackageContents();
+		theStd_datatypesPackage.createPackageContents();
+
+		// Initialize created meta-data
+		theSensor_datatypesPackage.initializePackageContents();
+		theRobotMLPackage.initializePackageContents();
+		theDiagnostic_datatypesPackage.initializePackageContents();
+		theGeometry_datatypesPackage.initializePackageContents();
+		theNav_datatypesPackage.initializePackageContents();
+		theActionlib_datatypesPackage.initializePackageContents();
+		theOarp1_datatypesPackage.initializePackageContents();
+		theOarp4_datatypesPackage.initializePackageContents();
+		theStd_datatypesPackage.initializePackageContents();
+
+		// Mark meta-data to indicate it can't be changed
+		theSensor_datatypesPackage.freeze();
+
+
+		// Update the registry and return the package
+		EPackage.Registry.INSTANCE.put(Sensor_datatypesPackage.eNS_URI, theSensor_datatypesPackage);
+		return theSensor_datatypesPackage;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getRegionOfInterest() {
+		return regionOfInterestEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getRegionOfInterest_X_offset() {
+		return (EAttribute)regionOfInterestEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getRegionOfInterest_Y_offset() {
+		return (EAttribute)regionOfInterestEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getRegionOfInterest_Height() {
+		return (EAttribute)regionOfInterestEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getRegionOfInterest_Do_rectify() {
+		return (EAttribute)regionOfInterestEClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getRegionOfInterest_Width() {
+		return (EAttribute)regionOfInterestEClass.getEStructuralFeatures().get(4);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getRange() {
+		return rangeEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getRange_ULTRASOUND() {
+		return (EAttribute)rangeEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getRange_INFRARED() {
+		return (EAttribute)rangeEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getRange_Header() {
+		return (EReference)rangeEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getRange_Radiation_type() {
+		return (EAttribute)rangeEClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getRange_Field_of_view() {
+		return (EAttribute)rangeEClass.getEStructuralFeatures().get(4);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getRange_Min_range() {
+		return (EAttribute)rangeEClass.getEStructuralFeatures().get(5);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getRange_Max_range() {
+		return (EAttribute)rangeEClass.getEStructuralFeatures().get(6);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getRange_Range() {
+		return (EAttribute)rangeEClass.getEStructuralFeatures().get(7);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getCameraInfo() {
+		return cameraInfoEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getCameraInfo_Header() {
+		return (EReference)cameraInfoEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getCameraInfo_Height() {
+		return (EAttribute)cameraInfoEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getCameraInfo_Width() {
+		return (EAttribute)cameraInfoEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getCameraInfo_Distorsion_model() {
+		return (EAttribute)cameraInfoEClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getCameraInfo_D() {
+		return (EAttribute)cameraInfoEClass.getEStructuralFeatures().get(4);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getCameraInfo_K() {
+		return (EAttribute)cameraInfoEClass.getEStructuralFeatures().get(5);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getCameraInfo_R() {
+		return (EAttribute)cameraInfoEClass.getEStructuralFeatures().get(6);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getCameraInfo_P() {
+		return (EAttribute)cameraInfoEClass.getEStructuralFeatures().get(7);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getCameraInfo_Binning_x() {
+		return (EAttribute)cameraInfoEClass.getEStructuralFeatures().get(8);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getCameraInfo_Binning_y() {
+		return (EAttribute)cameraInfoEClass.getEStructuralFeatures().get(9);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getCameraInfo_Roi() {
+		return (EReference)cameraInfoEClass.getEStructuralFeatures().get(10);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getImu() {
+		return imuEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getImu_Header() {
+		return (EReference)imuEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getImu_Orientation() {
+		return (EReference)imuEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getImu_Orientation_covariance() {
+		return (EAttribute)imuEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getImu_Angular_velocity() {
+		return (EReference)imuEClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getImu_Angular_velocity_covariance() {
+		return (EAttribute)imuEClass.getEStructuralFeatures().get(4);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getImu_Linear_acceleration() {
+		return (EReference)imuEClass.getEStructuralFeatures().get(5);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getImu_Linear_acceleration_covariance() {
+		return (EAttribute)imuEClass.getEStructuralFeatures().get(6);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getLaserScan() {
+		return laserScanEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getLaserScan_Header() {
+		return (EReference)laserScanEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getLaserScan_Angle_min() {
+		return (EAttribute)laserScanEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getLaserScan_Angle_max() {
+		return (EAttribute)laserScanEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getLaserScan_Angle_increment() {
+		return (EAttribute)laserScanEClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getLaserScan_Time_increment() {
+		return (EAttribute)laserScanEClass.getEStructuralFeatures().get(4);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getLaserScan_Scan_time() {
+		return (EAttribute)laserScanEClass.getEStructuralFeatures().get(5);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getLaserScan_Range_min() {
+		return (EAttribute)laserScanEClass.getEStructuralFeatures().get(6);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getLaserScan_Range_max() {
+		return (EAttribute)laserScanEClass.getEStructuralFeatures().get(7);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getLaserScan_Range() {
+		return (EAttribute)laserScanEClass.getEStructuralFeatures().get(8);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getLaserScan_Intensities() {
+		return (EAttribute)laserScanEClass.getEStructuralFeatures().get(9);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getImage() {
+		return imageEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getImage_Header() {
+		return (EReference)imageEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getImage_Height() {
+		return (EAttribute)imageEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getImage_Width() {
+		return (EAttribute)imageEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getImage_Encoding() {
+		return (EAttribute)imageEClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getImage_Is_bigendian() {
+		return (EAttribute)imageEClass.getEStructuralFeatures().get(4);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getImage_Step() {
+		return (EAttribute)imageEClass.getEStructuralFeatures().get(5);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getImage_Data() {
+		return (EAttribute)imageEClass.getEStructuralFeatures().get(6);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getChannelFloat32() {
+		return channelFloat32EClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getChannelFloat32_Name() {
+		return (EAttribute)channelFloat32EClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getChannelFloat32_Values() {
+		return (EAttribute)channelFloat32EClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getCompressedImage() {
+		return compressedImageEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getCompressedImage_Header() {
+		return (EReference)compressedImageEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getCompressedImage_Format() {
+		return (EAttribute)compressedImageEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getCompressedImage_Data() {
+		return (EAttribute)compressedImageEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getPointCloud() {
+		return pointCloudEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getPointCloud_Header() {
+		return (EReference)pointCloudEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getPointCloud_Points() {
+		return (EReference)pointCloudEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getPointCloud_Channels() {
+		return (EReference)pointCloudEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getPointField() {
+		return pointFieldEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getPointField_Name() {
+		return (EAttribute)pointFieldEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getPointField_Offset() {
+		return (EAttribute)pointFieldEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getPointField_Datatype() {
+		return (EAttribute)pointFieldEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getPointField_Count() {
+		return (EAttribute)pointFieldEClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getPointCloud2() {
+		return pointCloud2EClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getPointCloud2_Header() {
+		return (EReference)pointCloud2EClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getPointCloud2_Height() {
+		return (EAttribute)pointCloud2EClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getPointCloud2_Width() {
+		return (EAttribute)pointCloud2EClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getPointCloud2_Fields() {
+		return (EReference)pointCloud2EClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getPointCloud2_Is_bigendian() {
+		return (EAttribute)pointCloud2EClass.getEStructuralFeatures().get(4);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getPointCloud2_Point_step() {
+		return (EAttribute)pointCloud2EClass.getEStructuralFeatures().get(5);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getPointCloud2_Row_step() {
+		return (EAttribute)pointCloud2EClass.getEStructuralFeatures().get(6);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getPointCloud2_Data() {
+		return (EAttribute)pointCloud2EClass.getEStructuralFeatures().get(7);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getPointCloud2_Is_dense() {
+		return (EAttribute)pointCloud2EClass.getEStructuralFeatures().get(8);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getJointState() {
+		return jointStateEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getJointState_Name() {
+		return (EAttribute)jointStateEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getJointState_Position() {
+		return (EAttribute)jointStateEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getJointState_Velocity() {
+		return (EAttribute)jointStateEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getJointState_Effort() {
+		return (EAttribute)jointStateEClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getNavSatStatus() {
+		return navSatStatusEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getNavSatStatus_STATUS_NO_FIX() {
+		return (EAttribute)navSatStatusEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getNavSatStatus_STATUS_FIX() {
+		return (EAttribute)navSatStatusEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getNavSatStatus_STATUS_SBAS_FIX() {
+		return (EAttribute)navSatStatusEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getNavSatStatus_STATUS_GBAS_FIX() {
+		return (EAttribute)navSatStatusEClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getNavSatStatus_Status() {
+		return (EAttribute)navSatStatusEClass.getEStructuralFeatures().get(4);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getNavSatStatus_SERVICE_GPS() {
+		return (EAttribute)navSatStatusEClass.getEStructuralFeatures().get(5);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getNavSatStatus_SERVICE_GLONASS() {
+		return (EAttribute)navSatStatusEClass.getEStructuralFeatures().get(6);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getNavSatStatus_SERVICE_COMPASS() {
+		return (EAttribute)navSatStatusEClass.getEStructuralFeatures().get(7);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getNavSatStatus_SERVICE_GALILEO() {
+		return (EAttribute)navSatStatusEClass.getEStructuralFeatures().get(8);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getNavSatStatus_Service() {
+		return (EAttribute)navSatStatusEClass.getEStructuralFeatures().get(9);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getNavSatFix() {
+		return navSatFixEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getNavSatFix_Status() {
+		return (EAttribute)navSatFixEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getNavSatFix_Service() {
+		return (EAttribute)navSatFixEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getNavSatFix_Header() {
+		return (EReference)navSatFixEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getNavSatFix_Latitude() {
+		return (EAttribute)navSatFixEClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getNavSatFix_Longitude() {
+		return (EAttribute)navSatFixEClass.getEStructuralFeatures().get(4);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getNavSatFix_Altitude() {
+		return (EAttribute)navSatFixEClass.getEStructuralFeatures().get(5);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getNavSatFix_Position_covariance() {
+		return (EAttribute)navSatFixEClass.getEStructuralFeatures().get(6);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getNavSatFix_Position_covariance_type() {
+		return (EAttribute)navSatFixEClass.getEStructuralFeatures().get(7);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getJoy() {
+		return joyEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getJoy_Header() {
+		return (EReference)joyEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getJoy_Axes() {
+		return (EAttribute)joyEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getJoy_Buttons() {
+		return (EAttribute)joyEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getJoyFeedback() {
+		return joyFeedbackEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getJoyFeedback_TYPE_LED() {
+		return (EAttribute)joyFeedbackEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getJoyFeedback_TYPE_RUMBLE() {
+		return (EAttribute)joyFeedbackEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getJoyFeedback_TYPE_BUZZER() {
+		return (EAttribute)joyFeedbackEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getJoyFeedback_Type() {
+		return (EAttribute)joyFeedbackEClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getJoyFeedback_Id() {
+		return (EAttribute)joyFeedbackEClass.getEStructuralFeatures().get(4);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getJoyFeedback_Intensity() {
+		return (EAttribute)joyFeedbackEClass.getEStructuralFeatures().get(5);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getJoyFeedbackArray() {
+		return joyFeedbackArrayEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getJoyFeedbackArray_Array() {
+		return (EReference)joyFeedbackArrayEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getCarLikeOdometry() {
+		return carLikeOdometryEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getCarLikeOdometry_Header() {
+		return (EReference)carLikeOdometryEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getCarLikeOdometry_Steering_angle() {
+		return (EAttribute)carLikeOdometryEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getCarLikeOdometry_Left_rear_wheel_distance() {
+		return (EAttribute)carLikeOdometryEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getCarLikeOdometry_Right_rear_wheel_distance() {
+		return (EAttribute)carLikeOdometryEClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getCarLikeOdometry_Right_rear_wheel_velocity() {
+		return (EAttribute)carLikeOdometryEClass.getEStructuralFeatures().get(4);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getCarLikeOdometry_Left_rear_wheel_velocity() {
+		return (EAttribute)carLikeOdometryEClass.getEStructuralFeatures().get(5);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getDifferentialOdometry() {
+		return differentialOdometryEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getDifferentialOdometry_Header() {
+		return (EReference)differentialOdometryEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getDifferentialOdometry_Right_distance() {
+		return (EAttribute)differentialOdometryEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getDifferentialOdometry_Left_distance() {
+		return (EAttribute)differentialOdometryEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getDifferentialOdometry_Left_velocity() {
+		return (EAttribute)differentialOdometryEClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getDifferentialOdometry_Right_velocity() {
+		return (EAttribute)differentialOdometryEClass.getEStructuralFeatures().get(4);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EEnum getSTATUS_TYPE() {
+		return statuS_TYPEEEnum;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EEnum getSERVICE_TYPE() {
+		return servicE_TYPEEEnum;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EEnum getCOVARIANCE_TYPE() {
+		return covariancE_TYPEEEnum;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Sensor_datatypesFactory getSensor_datatypesFactory() {
+		return (Sensor_datatypesFactory)getEFactoryInstance();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private boolean isCreated = false;
+
+	/**
+	 * Creates the meta-model objects for the package. This method is
+	 * guarded to have no affect on any invocation but its first.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void createPackageContents() {
+		if(isCreated)
+			return;
+		isCreated = true;
+
+		// Create classes and their features
+		regionOfInterestEClass = createEClass(REGION_OF_INTEREST);
+		createEAttribute(regionOfInterestEClass, REGION_OF_INTEREST__XOFFSET);
+		createEAttribute(regionOfInterestEClass, REGION_OF_INTEREST__YOFFSET);
+		createEAttribute(regionOfInterestEClass, REGION_OF_INTEREST__HEIGHT);
+		createEAttribute(regionOfInterestEClass, REGION_OF_INTEREST__DO_RECTIFY);
+		createEAttribute(regionOfInterestEClass, REGION_OF_INTEREST__WIDTH);
+
+		rangeEClass = createEClass(RANGE);
+		createEAttribute(rangeEClass, RANGE__ULTRASOUND);
+		createEAttribute(rangeEClass, RANGE__INFRARED);
+		createEReference(rangeEClass, RANGE__HEADER);
+		createEAttribute(rangeEClass, RANGE__RADIATION_TYPE);
+		createEAttribute(rangeEClass, RANGE__FIELD_OF_VIEW);
+		createEAttribute(rangeEClass, RANGE__MIN_RANGE);
+		createEAttribute(rangeEClass, RANGE__MAX_RANGE);
+		createEAttribute(rangeEClass, RANGE__RANGE);
+
+		cameraInfoEClass = createEClass(CAMERA_INFO);
+		createEReference(cameraInfoEClass, CAMERA_INFO__HEADER);
+		createEAttribute(cameraInfoEClass, CAMERA_INFO__HEIGHT);
+		createEAttribute(cameraInfoEClass, CAMERA_INFO__WIDTH);
+		createEAttribute(cameraInfoEClass, CAMERA_INFO__DISTORSION_MODEL);
+		createEAttribute(cameraInfoEClass, CAMERA_INFO__D);
+		createEAttribute(cameraInfoEClass, CAMERA_INFO__K);
+		createEAttribute(cameraInfoEClass, CAMERA_INFO__R);
+		createEAttribute(cameraInfoEClass, CAMERA_INFO__P);
+		createEAttribute(cameraInfoEClass, CAMERA_INFO__BINNING_X);
+		createEAttribute(cameraInfoEClass, CAMERA_INFO__BINNING_Y);
+		createEReference(cameraInfoEClass, CAMERA_INFO__ROI);
+
+		imuEClass = createEClass(IMU);
+		createEReference(imuEClass, IMU__HEADER);
+		createEReference(imuEClass, IMU__ORIENTATION);
+		createEAttribute(imuEClass, IMU__ORIENTATION_COVARIANCE);
+		createEReference(imuEClass, IMU__ANGULAR_VELOCITY);
+		createEAttribute(imuEClass, IMU__ANGULAR_VELOCITY_COVARIANCE);
+		createEReference(imuEClass, IMU__LINEAR_ACCELERATION);
+		createEAttribute(imuEClass, IMU__LINEAR_ACCELERATION_COVARIANCE);
+
+		laserScanEClass = createEClass(LASER_SCAN);
+		createEReference(laserScanEClass, LASER_SCAN__HEADER);
+		createEAttribute(laserScanEClass, LASER_SCAN__ANGLE_MIN);
+		createEAttribute(laserScanEClass, LASER_SCAN__ANGLE_MAX);
+		createEAttribute(laserScanEClass, LASER_SCAN__ANGLE_INCREMENT);
+		createEAttribute(laserScanEClass, LASER_SCAN__TIME_INCREMENT);
+		createEAttribute(laserScanEClass, LASER_SCAN__SCAN_TIME);
+		createEAttribute(laserScanEClass, LASER_SCAN__RANGE_MIN);
+		createEAttribute(laserScanEClass, LASER_SCAN__RANGE_MAX);
+		createEAttribute(laserScanEClass, LASER_SCAN__RANGE);
+		createEAttribute(laserScanEClass, LASER_SCAN__INTENSITIES);
+
+		imageEClass = createEClass(IMAGE);
+		createEReference(imageEClass, IMAGE__HEADER);
+		createEAttribute(imageEClass, IMAGE__HEIGHT);
+		createEAttribute(imageEClass, IMAGE__WIDTH);
+		createEAttribute(imageEClass, IMAGE__ENCODING);
+		createEAttribute(imageEClass, IMAGE__IS_BIGENDIAN);
+		createEAttribute(imageEClass, IMAGE__STEP);
+		createEAttribute(imageEClass, IMAGE__DATA);
+
+		channelFloat32EClass = createEClass(CHANNEL_FLOAT32);
+		createEAttribute(channelFloat32EClass, CHANNEL_FLOAT32__NAME);
+		createEAttribute(channelFloat32EClass, CHANNEL_FLOAT32__VALUES);
+
+		compressedImageEClass = createEClass(COMPRESSED_IMAGE);
+		createEReference(compressedImageEClass, COMPRESSED_IMAGE__HEADER);
+		createEAttribute(compressedImageEClass, COMPRESSED_IMAGE__FORMAT);
+		createEAttribute(compressedImageEClass, COMPRESSED_IMAGE__DATA);
+
+		pointCloudEClass = createEClass(POINT_CLOUD);
+		createEReference(pointCloudEClass, POINT_CLOUD__HEADER);
+		createEReference(pointCloudEClass, POINT_CLOUD__POINTS);
+		createEReference(pointCloudEClass, POINT_CLOUD__CHANNELS);
+
+		pointFieldEClass = createEClass(POINT_FIELD);
+		createEAttribute(pointFieldEClass, POINT_FIELD__NAME);
+		createEAttribute(pointFieldEClass, POINT_FIELD__OFFSET);
+		createEAttribute(pointFieldEClass, POINT_FIELD__DATATYPE);
+		createEAttribute(pointFieldEClass, POINT_FIELD__COUNT);
+
+		pointCloud2EClass = createEClass(POINT_CLOUD2);
+		createEReference(pointCloud2EClass, POINT_CLOUD2__HEADER);
+		createEAttribute(pointCloud2EClass, POINT_CLOUD2__HEIGHT);
+		createEAttribute(pointCloud2EClass, POINT_CLOUD2__WIDTH);
+		createEReference(pointCloud2EClass, POINT_CLOUD2__FIELDS);
+		createEAttribute(pointCloud2EClass, POINT_CLOUD2__IS_BIGENDIAN);
+		createEAttribute(pointCloud2EClass, POINT_CLOUD2__POINT_STEP);
+		createEAttribute(pointCloud2EClass, POINT_CLOUD2__ROW_STEP);
+		createEAttribute(pointCloud2EClass, POINT_CLOUD2__DATA);
+		createEAttribute(pointCloud2EClass, POINT_CLOUD2__IS_DENSE);
+
+		jointStateEClass = createEClass(JOINT_STATE);
+		createEAttribute(jointStateEClass, JOINT_STATE__NAME);
+		createEAttribute(jointStateEClass, JOINT_STATE__POSITION);
+		createEAttribute(jointStateEClass, JOINT_STATE__VELOCITY);
+		createEAttribute(jointStateEClass, JOINT_STATE__EFFORT);
+
+		navSatStatusEClass = createEClass(NAV_SAT_STATUS);
+		createEAttribute(navSatStatusEClass, NAV_SAT_STATUS__STATUS_NO_FIX);
+		createEAttribute(navSatStatusEClass, NAV_SAT_STATUS__STATUS_FIX);
+		createEAttribute(navSatStatusEClass, NAV_SAT_STATUS__STATUS_SBAS_FIX);
+		createEAttribute(navSatStatusEClass, NAV_SAT_STATUS__STATUS_GBAS_FIX);
+		createEAttribute(navSatStatusEClass, NAV_SAT_STATUS__STATUS);
+		createEAttribute(navSatStatusEClass, NAV_SAT_STATUS__SERVICE_GPS);
+		createEAttribute(navSatStatusEClass, NAV_SAT_STATUS__SERVICE_GLONASS);
+		createEAttribute(navSatStatusEClass, NAV_SAT_STATUS__SERVICE_COMPASS);
+		createEAttribute(navSatStatusEClass, NAV_SAT_STATUS__SERVICE_GALILEO);
+		createEAttribute(navSatStatusEClass, NAV_SAT_STATUS__SERVICE);
+
+		navSatFixEClass = createEClass(NAV_SAT_FIX);
+		createEAttribute(navSatFixEClass, NAV_SAT_FIX__STATUS);
+		createEAttribute(navSatFixEClass, NAV_SAT_FIX__SERVICE);
+		createEReference(navSatFixEClass, NAV_SAT_FIX__HEADER);
+		createEAttribute(navSatFixEClass, NAV_SAT_FIX__LATITUDE);
+		createEAttribute(navSatFixEClass, NAV_SAT_FIX__LONGITUDE);
+		createEAttribute(navSatFixEClass, NAV_SAT_FIX__ALTITUDE);
+		createEAttribute(navSatFixEClass, NAV_SAT_FIX__POSITION_COVARIANCE);
+		createEAttribute(navSatFixEClass, NAV_SAT_FIX__POSITION_COVARIANCE_TYPE);
+
+		joyEClass = createEClass(JOY);
+		createEReference(joyEClass, JOY__HEADER);
+		createEAttribute(joyEClass, JOY__AXES);
+		createEAttribute(joyEClass, JOY__BUTTONS);
+
+		joyFeedbackEClass = createEClass(JOY_FEEDBACK);
+		createEAttribute(joyFeedbackEClass, JOY_FEEDBACK__TYPE_LED);
+		createEAttribute(joyFeedbackEClass, JOY_FEEDBACK__TYPE_RUMBLE);
+		createEAttribute(joyFeedbackEClass, JOY_FEEDBACK__TYPE_BUZZER);
+		createEAttribute(joyFeedbackEClass, JOY_FEEDBACK__TYPE);
+		createEAttribute(joyFeedbackEClass, JOY_FEEDBACK__ID);
+		createEAttribute(joyFeedbackEClass, JOY_FEEDBACK__INTENSITY);
+
+		joyFeedbackArrayEClass = createEClass(JOY_FEEDBACK_ARRAY);
+		createEReference(joyFeedbackArrayEClass, JOY_FEEDBACK_ARRAY__ARRAY);
+
+		carLikeOdometryEClass = createEClass(CAR_LIKE_ODOMETRY);
+		createEReference(carLikeOdometryEClass, CAR_LIKE_ODOMETRY__HEADER);
+		createEAttribute(carLikeOdometryEClass, CAR_LIKE_ODOMETRY__STEERING_ANGLE);
+		createEAttribute(carLikeOdometryEClass, CAR_LIKE_ODOMETRY__LEFT_REAR_WHEEL_DISTANCE);
+		createEAttribute(carLikeOdometryEClass, CAR_LIKE_ODOMETRY__RIGHT_REAR_WHEEL_DISTANCE);
+		createEAttribute(carLikeOdometryEClass, CAR_LIKE_ODOMETRY__RIGHT_REAR_WHEEL_VELOCITY);
+		createEAttribute(carLikeOdometryEClass, CAR_LIKE_ODOMETRY__LEFT_REAR_WHEEL_VELOCITY);
+
+		differentialOdometryEClass = createEClass(DIFFERENTIAL_ODOMETRY);
+		createEReference(differentialOdometryEClass, DIFFERENTIAL_ODOMETRY__HEADER);
+		createEAttribute(differentialOdometryEClass, DIFFERENTIAL_ODOMETRY__RIGHT_DISTANCE);
+		createEAttribute(differentialOdometryEClass, DIFFERENTIAL_ODOMETRY__LEFT_DISTANCE);
+		createEAttribute(differentialOdometryEClass, DIFFERENTIAL_ODOMETRY__LEFT_VELOCITY);
+		createEAttribute(differentialOdometryEClass, DIFFERENTIAL_ODOMETRY__RIGHT_VELOCITY);
+
+		// Create enums
+		statuS_TYPEEEnum = createEEnum(STATUS_TYPE);
+		servicE_TYPEEEnum = createEEnum(SERVICE_TYPE);
+		covariancE_TYPEEEnum = createEEnum(COVARIANCE_TYPE);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private boolean isInitialized = false;
+
+	/**
+	 * Complete the initialization of the package and its meta-model. This
+	 * method is guarded to have no affect on any invocation but its first.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void initializePackageContents() {
+		if(isInitialized)
+			return;
+		isInitialized = true;
+
+		// Initialize package
+		setName(eNAME);
+		setNsPrefix(eNS_PREFIX);
+		setNsURI(eNS_URI);
+
+		// Obtain other dependent packages
+		Std_datatypesPackage theStd_datatypesPackage = (Std_datatypesPackage)EPackage.Registry.INSTANCE.getEPackage(Std_datatypesPackage.eNS_URI);
+		Geometry_datatypesPackage theGeometry_datatypesPackage = (Geometry_datatypesPackage)EPackage.Registry.INSTANCE.getEPackage(Geometry_datatypesPackage.eNS_URI);
+
+		// Create type parameters
+
+		// Set bounds for type parameters
+
+		// Add supertypes to classes
+
+		// Initialize classes and features; add operations and parameters
+		initEClass(regionOfInterestEClass, RegionOfInterest.class, "RegionOfInterest", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getRegionOfInterest_X_offset(), theStd_datatypesPackage.getUInt32(), "x_offset", null, 1, 1, RegionOfInterest.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getRegionOfInterest_Y_offset(), theStd_datatypesPackage.getUInt32(), "y_offset", null, 1, 1, RegionOfInterest.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getRegionOfInterest_Height(), theStd_datatypesPackage.getUInt32(), "height", null, 1, 1, RegionOfInterest.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getRegionOfInterest_Do_rectify(), theStd_datatypesPackage.getBool(), "do_rectify", null, 1, 1, RegionOfInterest.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getRegionOfInterest_Width(), theStd_datatypesPackage.getUInt32(), "width", null, 1, 1, RegionOfInterest.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(rangeEClass, Range.class, "Range", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getRange_ULTRASOUND(), theStd_datatypesPackage.getUInt8(), "ULTRASOUND", null, 1, 1, Range.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getRange_INFRARED(), theStd_datatypesPackage.getUInt8(), "INFRARED", null, 1, 1, Range.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getRange_Header(), theStd_datatypesPackage.getHeader(), null, "header", null, 1, 1, Range.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getRange_Radiation_type(), theStd_datatypesPackage.getUInt8(), "radiation_type", null, 1, 1, Range.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getRange_Field_of_view(), theStd_datatypesPackage.getFloat32(), "field_of_view", null, 1, 1, Range.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getRange_Min_range(), theStd_datatypesPackage.getFloat32(), "min_range", null, 1, 1, Range.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getRange_Max_range(), theStd_datatypesPackage.getFloat32(), "max_range", null, 1, 1, Range.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getRange_Range(), theStd_datatypesPackage.getFloat32(), "range", null, 1, 1, Range.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(cameraInfoEClass, CameraInfo.class, "CameraInfo", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getCameraInfo_Header(), theStd_datatypesPackage.getHeader(), null, "header", null, 1, 1, CameraInfo.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getCameraInfo_Height(), theStd_datatypesPackage.getUInt32(), "height", null, 1, 1, CameraInfo.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getCameraInfo_Width(), theStd_datatypesPackage.getUInt32(), "width", null, 1, 1, CameraInfo.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getCameraInfo_Distorsion_model(), theStd_datatypesPackage.getString(), "distorsion_model", null, 1, 1, CameraInfo.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getCameraInfo_D(), theStd_datatypesPackage.getFloat64(), "D", null, 0, -1, CameraInfo.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getCameraInfo_K(), theStd_datatypesPackage.getFloat64(), "K", null, 9, 9, CameraInfo.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getCameraInfo_R(), theStd_datatypesPackage.getFloat64(), "R", null, 9, 9, CameraInfo.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getCameraInfo_P(), theStd_datatypesPackage.getFloat64(), "P", null, 12, 12, CameraInfo.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getCameraInfo_Binning_x(), theStd_datatypesPackage.getUInt32(), "binning_x", null, 1, 1, CameraInfo.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getCameraInfo_Binning_y(), theStd_datatypesPackage.getUInt32(), "binning_y", null, 1, 1, CameraInfo.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getCameraInfo_Roi(), this.getRegionOfInterest(), null, "roi", null, 1, 1, CameraInfo.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(imuEClass, Imu.class, "Imu", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getImu_Header(), theStd_datatypesPackage.getHeader(), null, "header", null, 1, 1, Imu.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getImu_Orientation(), theGeometry_datatypesPackage.getQuaternion(), null, "orientation", null, 1, 1, Imu.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getImu_Orientation_covariance(), theStd_datatypesPackage.getFloat64(), "orientation_covariance", null, 9, 9, Imu.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getImu_Angular_velocity(), theGeometry_datatypesPackage.getVector3(), null, "angular_velocity", null, 1, 1, Imu.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getImu_Angular_velocity_covariance(), theStd_datatypesPackage.getFloat64(), "angular_velocity_covariance", null, 9, 9, Imu.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getImu_Linear_acceleration(), theGeometry_datatypesPackage.getVector3(), null, "linear_acceleration", null, 1, 1, Imu.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getImu_Linear_acceleration_covariance(), theStd_datatypesPackage.getFloat64(), "linear_acceleration_covariance", null, 9, 9, Imu.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(laserScanEClass, LaserScan.class, "LaserScan", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getLaserScan_Header(), theStd_datatypesPackage.getHeader(), null, "header", null, 1, 1, LaserScan.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getLaserScan_Angle_min(), theStd_datatypesPackage.getFloat32(), "angle_min", null, 1, 1, LaserScan.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getLaserScan_Angle_max(), theStd_datatypesPackage.getFloat32(), "angle_max", null, 1, 1, LaserScan.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getLaserScan_Angle_increment(), theStd_datatypesPackage.getFloat32(), "angle_increment", null, 1, 1, LaserScan.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getLaserScan_Time_increment(), theStd_datatypesPackage.getFloat32(), "time_increment", null, 1, 1, LaserScan.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getLaserScan_Scan_time(), theStd_datatypesPackage.getFloat32(), "scan_time", null, 1, 1, LaserScan.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getLaserScan_Range_min(), theStd_datatypesPackage.getFloat32(), "range_min", null, 1, 1, LaserScan.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getLaserScan_Range_max(), theStd_datatypesPackage.getFloat32(), "range_max", null, 1, 1, LaserScan.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getLaserScan_Range(), theStd_datatypesPackage.getFloat32(), "range", null, 0, -1, LaserScan.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getLaserScan_Intensities(), theStd_datatypesPackage.getFloat32(), "intensities", null, 0, -1, LaserScan.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(imageEClass, Image.class, "Image", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getImage_Header(), theStd_datatypesPackage.getHeader(), null, "header", null, 1, 1, Image.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getImage_Height(), theStd_datatypesPackage.getUInt32(), "height", null, 1, 1, Image.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getImage_Width(), theStd_datatypesPackage.getUInt32(), "width", null, 1, 1, Image.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getImage_Encoding(), theStd_datatypesPackage.getString(), "encoding", null, 1, 1, Image.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getImage_Is_bigendian(), theStd_datatypesPackage.getUInt8(), "is_bigendian", null, 1, 1, Image.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getImage_Step(), theStd_datatypesPackage.getUInt32(), "step", null, 1, 1, Image.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getImage_Data(), theStd_datatypesPackage.getUInt8(), "data", null, 0, -1, Image.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(channelFloat32EClass, ChannelFloat32.class, "ChannelFloat32", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getChannelFloat32_Name(), theStd_datatypesPackage.getString(), "name", null, 1, 1, ChannelFloat32.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getChannelFloat32_Values(), theStd_datatypesPackage.getFloat32(), "values", null, 0, -1, ChannelFloat32.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(compressedImageEClass, CompressedImage.class, "CompressedImage", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getCompressedImage_Header(), theStd_datatypesPackage.getHeader(), null, "header", null, 1, 1, CompressedImage.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getCompressedImage_Format(), theStd_datatypesPackage.getString(), "format", null, 1, 1, CompressedImage.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getCompressedImage_Data(), theStd_datatypesPackage.getUInt8(), "data", null, 0, -1, CompressedImage.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(pointCloudEClass, PointCloud.class, "PointCloud", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getPointCloud_Header(), theStd_datatypesPackage.getHeader(), null, "header", null, 1, 1, PointCloud.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getPointCloud_Points(), theGeometry_datatypesPackage.getPoint32(), null, "points", null, 0, -1, PointCloud.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getPointCloud_Channels(), this.getChannelFloat32(), null, "channels", null, 0, -1, PointCloud.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(pointFieldEClass, PointField.class, "PointField", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getPointField_Name(), theStd_datatypesPackage.getString(), "name", null, 1, 1, PointField.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getPointField_Offset(), theStd_datatypesPackage.getUInt32(), "offset", null, 1, 1, PointField.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getPointField_Datatype(), theStd_datatypesPackage.getUInt8(), "datatype", null, 1, 1, PointField.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getPointField_Count(), theStd_datatypesPackage.getUInt32(), "count", null, 1, 1, PointField.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(pointCloud2EClass, PointCloud2.class, "PointCloud2", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getPointCloud2_Header(), theStd_datatypesPackage.getHeader(), null, "header", null, 1, 1, PointCloud2.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getPointCloud2_Height(), theStd_datatypesPackage.getUInt32(), "height", null, 1, 1, PointCloud2.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getPointCloud2_Width(), theStd_datatypesPackage.getUInt32(), "width", null, 1, 1, PointCloud2.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getPointCloud2_Fields(), this.getPointField(), null, "fields", null, 0, -1, PointCloud2.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getPointCloud2_Is_bigendian(), theStd_datatypesPackage.getBool(), "is_bigendian", null, 1, 1, PointCloud2.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getPointCloud2_Point_step(), theStd_datatypesPackage.getUInt32(), "point_step", null, 1, 1, PointCloud2.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getPointCloud2_Row_step(), theStd_datatypesPackage.getUInt32(), "row_step", null, 1, 1, PointCloud2.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getPointCloud2_Data(), theStd_datatypesPackage.getUInt8(), "data", null, 0, -1, PointCloud2.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getPointCloud2_Is_dense(), theStd_datatypesPackage.getBool(), "is_dense", null, 1, 1, PointCloud2.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(jointStateEClass, JointState.class, "JointState", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getJointState_Name(), theStd_datatypesPackage.getString(), "name", null, 0, -1, JointState.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getJointState_Position(), theStd_datatypesPackage.getFloat64(), "position", null, 0, -1, JointState.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getJointState_Velocity(), theStd_datatypesPackage.getFloat64(), "velocity", null, 0, -1, JointState.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getJointState_Effort(), theStd_datatypesPackage.getFloat64(), "effort", null, 0, -1, JointState.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(navSatStatusEClass, NavSatStatus.class, "NavSatStatus", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getNavSatStatus_STATUS_NO_FIX(), theStd_datatypesPackage.getInt8(), "STATUS_NO_FIX", "-1", 1, 1, NavSatStatus.class, !IS_TRANSIENT, !IS_VOLATILE, !IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getNavSatStatus_STATUS_FIX(), theStd_datatypesPackage.getInt8(), "STATUS_FIX", "0", 1, 1, NavSatStatus.class, !IS_TRANSIENT, !IS_VOLATILE, !IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getNavSatStatus_STATUS_SBAS_FIX(), theStd_datatypesPackage.getInt8(), "STATUS_SBAS_FIX", "1", 1, 1, NavSatStatus.class, !IS_TRANSIENT, !IS_VOLATILE, !IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getNavSatStatus_STATUS_GBAS_FIX(), theStd_datatypesPackage.getInt8(), "STATUS_GBAS_FIX", "2", 1, 1, NavSatStatus.class, !IS_TRANSIENT, !IS_VOLATILE, !IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getNavSatStatus_Status(), theStd_datatypesPackage.getInt8(), "status", null, 1, 1, NavSatStatus.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getNavSatStatus_SERVICE_GPS(), theStd_datatypesPackage.getUInt16(), "SERVICE_GPS", "1", 1, 1, NavSatStatus.class, !IS_TRANSIENT, !IS_VOLATILE, !IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getNavSatStatus_SERVICE_GLONASS(), theStd_datatypesPackage.getUInt16(), "SERVICE_GLONASS", "2", 1, 1, NavSatStatus.class, !IS_TRANSIENT, !IS_VOLATILE, !IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getNavSatStatus_SERVICE_COMPASS(), theStd_datatypesPackage.getUInt16(), "SERVICE_COMPASS", "4", 1, 1, NavSatStatus.class, !IS_TRANSIENT, !IS_VOLATILE, !IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getNavSatStatus_SERVICE_GALILEO(), theStd_datatypesPackage.getUInt16(), "SERVICE_GALILEO", "8", 1, 1, NavSatStatus.class, !IS_TRANSIENT, !IS_VOLATILE, !IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getNavSatStatus_Service(), theStd_datatypesPackage.getUInt16(), "service", null, 1, 1, NavSatStatus.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(navSatFixEClass, NavSatFix.class, "NavSatFix", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getNavSatFix_Status(), this.getSTATUS_TYPE(), "status", null, 1, 1, NavSatFix.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getNavSatFix_Service(), this.getSERVICE_TYPE(), "service", null, 1, 1, NavSatFix.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getNavSatFix_Header(), theStd_datatypesPackage.getHeader(), null, "header", null, 1, 1, NavSatFix.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getNavSatFix_Latitude(), theStd_datatypesPackage.getFloat64(), "latitude", null, 1, 1, NavSatFix.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getNavSatFix_Longitude(), theStd_datatypesPackage.getFloat64(), "longitude", null, 1, 1, NavSatFix.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getNavSatFix_Altitude(), theStd_datatypesPackage.getFloat64(), "altitude", null, 1, 1, NavSatFix.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getNavSatFix_Position_covariance(), theStd_datatypesPackage.getFloat64(), "position_covariance", null, 9, 9, NavSatFix.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getNavSatFix_Position_covariance_type(), this.getCOVARIANCE_TYPE(), "position_covariance_type", null, 1, 1, NavSatFix.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(joyEClass, Joy.class, "Joy", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getJoy_Header(), theStd_datatypesPackage.getHeader(), null, "header", null, 1, 1, Joy.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getJoy_Axes(), theStd_datatypesPackage.getFloat32(), "axes", null, 0, -1, Joy.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getJoy_Buttons(), theStd_datatypesPackage.getInt32(), "buttons", null, 0, -1, Joy.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(joyFeedbackEClass, JoyFeedback.class, "JoyFeedback", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getJoyFeedback_TYPE_LED(), theStd_datatypesPackage.getUInt8(), "TYPE_LED", "0", 1, 1, JoyFeedback.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getJoyFeedback_TYPE_RUMBLE(), theStd_datatypesPackage.getUInt8(), "TYPE_RUMBLE", "1", 1, 1, JoyFeedback.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getJoyFeedback_TYPE_BUZZER(), theStd_datatypesPackage.getUInt8(), "TYPE_BUZZER", "2", 1, 1, JoyFeedback.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getJoyFeedback_Type(), theStd_datatypesPackage.getUInt8(), "type", null, 1, 1, JoyFeedback.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getJoyFeedback_Id(), theStd_datatypesPackage.getUInt8(), "id", null, 1, 1, JoyFeedback.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getJoyFeedback_Intensity(), theStd_datatypesPackage.getFloat32(), "intensity", null, 1, 1, JoyFeedback.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(joyFeedbackArrayEClass, JoyFeedbackArray.class, "JoyFeedbackArray", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getJoyFeedbackArray_Array(), this.getJoyFeedback(), null, "array", null, 0, -1, JoyFeedbackArray.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(carLikeOdometryEClass, CarLikeOdometry.class, "CarLikeOdometry", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getCarLikeOdometry_Header(), theStd_datatypesPackage.getHeader(), null, "header", null, 1, 1, CarLikeOdometry.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getCarLikeOdometry_Steering_angle(), theStd_datatypesPackage.getFloat64(), "steering_angle", null, 1, 1, CarLikeOdometry.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getCarLikeOdometry_Left_rear_wheel_distance(), theStd_datatypesPackage.getFloat64(), "left_rear_wheel_distance", null, 1, 1, CarLikeOdometry.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getCarLikeOdometry_Right_rear_wheel_distance(), theStd_datatypesPackage.getFloat64(), "right_rear_wheel_distance", null, 1, 1, CarLikeOdometry.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getCarLikeOdometry_Right_rear_wheel_velocity(), theStd_datatypesPackage.getFloat64(), "right_rear_wheel_velocity", null, 1, 1, CarLikeOdometry.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getCarLikeOdometry_Left_rear_wheel_velocity(), theStd_datatypesPackage.getFloat64(), "left_rear_wheel_velocity", null, 1, 1, CarLikeOdometry.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(differentialOdometryEClass, DifferentialOdometry.class, "DifferentialOdometry", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getDifferentialOdometry_Header(), theStd_datatypesPackage.getHeader(), null, "header", null, 1, 1, DifferentialOdometry.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getDifferentialOdometry_Right_distance(), theStd_datatypesPackage.getFloat64(), "right_distance", null, 1, 1, DifferentialOdometry.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getDifferentialOdometry_Left_distance(), theStd_datatypesPackage.getFloat64(), "left_distance", null, 1, 1, DifferentialOdometry.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getDifferentialOdometry_Left_velocity(), theStd_datatypesPackage.getFloat64(), "left_velocity", null, 1, 1, DifferentialOdometry.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getDifferentialOdometry_Right_velocity(), theStd_datatypesPackage.getFloat64(), "right_velocity", null, 1, 1, DifferentialOdometry.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		// Initialize enums and add enum literals
+		initEEnum(statuS_TYPEEEnum, org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.STATUS_TYPE.class, "STATUS_TYPE");
+		addEEnumLiteral(statuS_TYPEEEnum, org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.STATUS_TYPE.STATUS_NO_FIX);
+		addEEnumLiteral(statuS_TYPEEEnum, org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.STATUS_TYPE.STATUS_FIX);
+		addEEnumLiteral(statuS_TYPEEEnum, org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.STATUS_TYPE.STATUS_SBAS_FIX);
+		addEEnumLiteral(statuS_TYPEEEnum, org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.STATUS_TYPE.STATUS_GBAS_FIX);
+
+		initEEnum(servicE_TYPEEEnum, org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.SERVICE_TYPE.class, "SERVICE_TYPE");
+		addEEnumLiteral(servicE_TYPEEEnum, org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.SERVICE_TYPE.SERVICE_GPS);
+		addEEnumLiteral(servicE_TYPEEEnum, org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.SERVICE_TYPE.SERVICE_GLONASS);
+		addEEnumLiteral(servicE_TYPEEEnum, org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.SERVICE_TYPE.SERVICE_COMPASS);
+		addEEnumLiteral(servicE_TYPEEEnum, org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.SERVICE_TYPE.SERVICE_GALILEO);
+
+		initEEnum(covariancE_TYPEEEnum, org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.COVARIANCE_TYPE.class, "COVARIANCE_TYPE");
+		addEEnumLiteral(covariancE_TYPEEEnum, org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.COVARIANCE_TYPE.COVARIANCE_TYPE_UNKNOWN);
+		addEEnumLiteral(covariancE_TYPEEEnum, org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.COVARIANCE_TYPE.COVARIANCE_TYPE_APPROXIMATED);
+		addEEnumLiteral(covariancE_TYPEEEnum, org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.COVARIANCE_TYPE._COVARIANCE_TYPE_DIAGONAL_KNOWN);
+		addEEnumLiteral(covariancE_TYPEEEnum, org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.COVARIANCE_TYPE.COVARIANCE_TYPE_KNOWN);
+
+		// Create resource
+		createResource(eNS_URI);
+	}
+
+} //Sensor_datatypesPackageImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/util/Sensor_datatypesAdapterFactory.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/util/Sensor_datatypesAdapterFactory.java
new file mode 100644
index 00000000000..210859a9b2d
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/util/Sensor_datatypesAdapterFactory.java
@@ -0,0 +1,540 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.util;
+
+import org.eclipse.emf.common.notify.Adapter;
+import org.eclipse.emf.common.notify.Notifier;
+import org.eclipse.emf.common.notify.impl.AdapterFactoryImpl;
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CarLikeOdometry;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.ChannelFloat32;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CompressedImage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.DifferentialOdometry;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Image;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Imu;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JointState;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Joy;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedback;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedbackArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointField;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.RegionOfInterest;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * The <b>Adapter Factory</b> for the model.
+ * It provides an adapter <code>createXXX</code> method for each class of the model.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage
+ * @generated
+ */
+public class Sensor_datatypesAdapterFactory extends AdapterFactoryImpl {
+
+	/**
+	 * The cached model package.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected static Sensor_datatypesPackage modelPackage;
+
+	/**
+	 * Creates an instance of the adapter factory.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Sensor_datatypesAdapterFactory() {
+		if(modelPackage == null) {
+			modelPackage = Sensor_datatypesPackage.eINSTANCE;
+		}
+	}
+
+	/**
+	 * Returns whether this factory is applicable for the type of the object.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns <code>true</code> if the object is either the model's package or is an instance object of the model.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return whether this factory is applicable for the type of the object.
+	 * @generated
+	 */
+	@Override
+	public boolean isFactoryForType(Object object) {
+		if(object == modelPackage) {
+			return true;
+		}
+		if(object instanceof EObject) {
+			return ((EObject)object).eClass().getEPackage() == modelPackage;
+		}
+		return false;
+	}
+
+	/**
+	 * The switch that delegates to the <code>createXXX</code> methods.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected Sensor_datatypesSwitch<Adapter> modelSwitch = new Sensor_datatypesSwitch<Adapter>() {
+
+		@Override
+		public Adapter caseRegionOfInterest(RegionOfInterest object) {
+			return createRegionOfInterestAdapter();
+		}
+
+		@Override
+		public Adapter caseRange(Range object) {
+			return createRangeAdapter();
+		}
+
+		@Override
+		public Adapter caseCameraInfo(CameraInfo object) {
+			return createCameraInfoAdapter();
+		}
+
+		@Override
+		public Adapter caseImu(Imu object) {
+			return createImuAdapter();
+		}
+
+		@Override
+		public Adapter caseLaserScan(LaserScan object) {
+			return createLaserScanAdapter();
+		}
+
+		@Override
+		public Adapter caseImage(Image object) {
+			return createImageAdapter();
+		}
+
+		@Override
+		public Adapter caseChannelFloat32(ChannelFloat32 object) {
+			return createChannelFloat32Adapter();
+		}
+
+		@Override
+		public Adapter caseCompressedImage(CompressedImage object) {
+			return createCompressedImageAdapter();
+		}
+
+		@Override
+		public Adapter casePointCloud(PointCloud object) {
+			return createPointCloudAdapter();
+		}
+
+		@Override
+		public Adapter casePointField(PointField object) {
+			return createPointFieldAdapter();
+		}
+
+		@Override
+		public Adapter casePointCloud2(PointCloud2 object) {
+			return createPointCloud2Adapter();
+		}
+
+		@Override
+		public Adapter caseJointState(JointState object) {
+			return createJointStateAdapter();
+		}
+
+		@Override
+		public Adapter caseNavSatStatus(NavSatStatus object) {
+			return createNavSatStatusAdapter();
+		}
+
+		@Override
+		public Adapter caseNavSatFix(NavSatFix object) {
+			return createNavSatFixAdapter();
+		}
+
+		@Override
+		public Adapter caseJoy(Joy object) {
+			return createJoyAdapter();
+		}
+
+		@Override
+		public Adapter caseJoyFeedback(JoyFeedback object) {
+			return createJoyFeedbackAdapter();
+		}
+
+		@Override
+		public Adapter caseJoyFeedbackArray(JoyFeedbackArray object) {
+			return createJoyFeedbackArrayAdapter();
+		}
+
+		@Override
+		public Adapter caseCarLikeOdometry(CarLikeOdometry object) {
+			return createCarLikeOdometryAdapter();
+		}
+
+		@Override
+		public Adapter caseDifferentialOdometry(DifferentialOdometry object) {
+			return createDifferentialOdometryAdapter();
+		}
+
+		@Override
+		public Adapter defaultCase(EObject object) {
+			return createEObjectAdapter();
+		}
+	};
+
+	/**
+	 * Creates an adapter for the <code>target</code>.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param target
+	 *        the object to adapt.
+	 * @return the adapter for the <code>target</code>.
+	 * @generated
+	 */
+	@Override
+	public Adapter createAdapter(Notifier target) {
+		return modelSwitch.doSwitch((EObject)target);
+	}
+
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.RegionOfInterest
+	 * <em>Region Of Interest</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.RegionOfInterest
+	 * @generated
+	 */
+	public Adapter createRegionOfInterestAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range <em>Range</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range
+	 * @generated
+	 */
+	public Adapter createRangeAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo <em>Camera Info</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo
+	 * @generated
+	 */
+	public Adapter createCameraInfoAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Imu <em>Imu</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Imu
+	 * @generated
+	 */
+	public Adapter createImuAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan <em>Laser Scan</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan
+	 * @generated
+	 */
+	public Adapter createLaserScanAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Image <em>Image</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Image
+	 * @generated
+	 */
+	public Adapter createImageAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.ChannelFloat32 <em>Channel Float32</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.ChannelFloat32
+	 * @generated
+	 */
+	public Adapter createChannelFloat32Adapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CompressedImage <em>Compressed Image</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CompressedImage
+	 * @generated
+	 */
+	public Adapter createCompressedImageAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud <em>Point Cloud</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud
+	 * @generated
+	 */
+	public Adapter createPointCloudAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointField <em>Point Field</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointField
+	 * @generated
+	 */
+	public Adapter createPointFieldAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2 <em>Point Cloud2</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2
+	 * @generated
+	 */
+	public Adapter createPointCloud2Adapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JointState <em>Joint State</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JointState
+	 * @generated
+	 */
+	public Adapter createJointStateAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus <em>Nav Sat Status</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus
+	 * @generated
+	 */
+	public Adapter createNavSatStatusAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix <em>Nav Sat Fix</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix
+	 * @generated
+	 */
+	public Adapter createNavSatFixAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Joy <em>Joy</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Joy
+	 * @generated
+	 */
+	public Adapter createJoyAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedback <em>Joy Feedback</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedback
+	 * @generated
+	 */
+	public Adapter createJoyFeedbackAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedbackArray
+	 * <em>Joy Feedback Array</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedbackArray
+	 * @generated
+	 */
+	public Adapter createJoyFeedbackArrayAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CarLikeOdometry <em>Car Like Odometry</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CarLikeOdometry
+	 * @generated
+	 */
+	public Adapter createCarLikeOdometryAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.DifferentialOdometry
+	 * <em>Differential Odometry</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.DifferentialOdometry
+	 * @generated
+	 */
+	public Adapter createDifferentialOdometryAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for the default case.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @generated
+	 */
+	public Adapter createEObjectAdapter() {
+		return null;
+	}
+
+} //Sensor_datatypesAdapterFactory
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/util/Sensor_datatypesSwitch.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/util/Sensor_datatypesSwitch.java
new file mode 100644
index 00000000000..89a6d9d20fe
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/sensor_datatypes/util/Sensor_datatypesSwitch.java
@@ -0,0 +1,598 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.util;
+
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.emf.ecore.EPackage;
+import org.eclipse.emf.ecore.util.Switch;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CameraInfo;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CarLikeOdometry;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.ChannelFloat32;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.CompressedImage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.DifferentialOdometry;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Image;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Imu;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JointState;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Joy;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedback;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.JoyFeedbackArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.LaserScan;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatFix;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.NavSatStatus;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointCloud2;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.PointField;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Range;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.RegionOfInterest;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * The <b>Switch</b> for the model's inheritance hierarchy.
+ * It supports the call {@link #doSwitch(EObject) doSwitch(object)} to invoke the <code>caseXXX</code> method for each class of the model,
+ * starting with the actual class of the object
+ * and proceeding up the inheritance hierarchy
+ * until a non-null result is returned,
+ * which is the result of the switch.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage
+ * @generated
+ */
+public class Sensor_datatypesSwitch<T> extends Switch<T> {
+
+	/**
+	 * The cached model package
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected static Sensor_datatypesPackage modelPackage;
+
+	/**
+	 * Creates an instance of the switch.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Sensor_datatypesSwitch() {
+		if(modelPackage == null) {
+			modelPackage = Sensor_datatypesPackage.eINSTANCE;
+		}
+	}
+
+	/**
+	 * Checks whether this is a switch for the given package.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @parameter ePackage the package in question.
+	 * @return whether this is a switch for the given package.
+	 * @generated
+	 */
+	@Override
+	protected boolean isSwitchFor(EPackage ePackage) {
+		return ePackage == modelPackage;
+	}
+
+	/**
+	 * Calls <code>caseXXX</code> for each class of the model until one returns a non null result; it yields that result.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the first non-null result returned by a <code>caseXXX</code> call.
+	 * @generated
+	 */
+	@Override
+	protected T doSwitch(int classifierID, EObject theEObject) {
+		switch(classifierID) {
+		case Sensor_datatypesPackage.REGION_OF_INTEREST:
+		{
+			RegionOfInterest regionOfInterest = (RegionOfInterest)theEObject;
+			T result = caseRegionOfInterest(regionOfInterest);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Sensor_datatypesPackage.RANGE:
+		{
+			Range range = (Range)theEObject;
+			T result = caseRange(range);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Sensor_datatypesPackage.CAMERA_INFO:
+		{
+			CameraInfo cameraInfo = (CameraInfo)theEObject;
+			T result = caseCameraInfo(cameraInfo);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Sensor_datatypesPackage.IMU:
+		{
+			Imu imu = (Imu)theEObject;
+			T result = caseImu(imu);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Sensor_datatypesPackage.LASER_SCAN:
+		{
+			LaserScan laserScan = (LaserScan)theEObject;
+			T result = caseLaserScan(laserScan);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Sensor_datatypesPackage.IMAGE:
+		{
+			Image image = (Image)theEObject;
+			T result = caseImage(image);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Sensor_datatypesPackage.CHANNEL_FLOAT32:
+		{
+			ChannelFloat32 channelFloat32 = (ChannelFloat32)theEObject;
+			T result = caseChannelFloat32(channelFloat32);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Sensor_datatypesPackage.COMPRESSED_IMAGE:
+		{
+			CompressedImage compressedImage = (CompressedImage)theEObject;
+			T result = caseCompressedImage(compressedImage);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Sensor_datatypesPackage.POINT_CLOUD:
+		{
+			PointCloud pointCloud = (PointCloud)theEObject;
+			T result = casePointCloud(pointCloud);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Sensor_datatypesPackage.POINT_FIELD:
+		{
+			PointField pointField = (PointField)theEObject;
+			T result = casePointField(pointField);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Sensor_datatypesPackage.POINT_CLOUD2:
+		{
+			PointCloud2 pointCloud2 = (PointCloud2)theEObject;
+			T result = casePointCloud2(pointCloud2);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Sensor_datatypesPackage.JOINT_STATE:
+		{
+			JointState jointState = (JointState)theEObject;
+			T result = caseJointState(jointState);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Sensor_datatypesPackage.NAV_SAT_STATUS:
+		{
+			NavSatStatus navSatStatus = (NavSatStatus)theEObject;
+			T result = caseNavSatStatus(navSatStatus);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Sensor_datatypesPackage.NAV_SAT_FIX:
+		{
+			NavSatFix navSatFix = (NavSatFix)theEObject;
+			T result = caseNavSatFix(navSatFix);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Sensor_datatypesPackage.JOY:
+		{
+			Joy joy = (Joy)theEObject;
+			T result = caseJoy(joy);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Sensor_datatypesPackage.JOY_FEEDBACK:
+		{
+			JoyFeedback joyFeedback = (JoyFeedback)theEObject;
+			T result = caseJoyFeedback(joyFeedback);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Sensor_datatypesPackage.JOY_FEEDBACK_ARRAY:
+		{
+			JoyFeedbackArray joyFeedbackArray = (JoyFeedbackArray)theEObject;
+			T result = caseJoyFeedbackArray(joyFeedbackArray);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Sensor_datatypesPackage.CAR_LIKE_ODOMETRY:
+		{
+			CarLikeOdometry carLikeOdometry = (CarLikeOdometry)theEObject;
+			T result = caseCarLikeOdometry(carLikeOdometry);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Sensor_datatypesPackage.DIFFERENTIAL_ODOMETRY:
+		{
+			DifferentialOdometry differentialOdometry = (DifferentialOdometry)theEObject;
+			T result = caseDifferentialOdometry(differentialOdometry);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		default:
+			return defaultCase(theEObject);
+		}
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Region Of Interest</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Region Of Interest</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseRegionOfInterest(RegionOfInterest object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Range</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Range</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseRange(Range object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Camera Info</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Camera Info</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseCameraInfo(CameraInfo object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Imu</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Imu</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseImu(Imu object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Laser Scan</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Laser Scan</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseLaserScan(LaserScan object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Image</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Image</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseImage(Image object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Channel Float32</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Channel Float32</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseChannelFloat32(ChannelFloat32 object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Compressed Image</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Compressed Image</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseCompressedImage(CompressedImage object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Point Cloud</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Point Cloud</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T casePointCloud(PointCloud object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Point Field</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Point Field</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T casePointField(PointField object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Point Cloud2</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Point Cloud2</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T casePointCloud2(PointCloud2 object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Joint State</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Joint State</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseJointState(JointState object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Nav Sat Status</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Nav Sat Status</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseNavSatStatus(NavSatStatus object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Nav Sat Fix</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Nav Sat Fix</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseNavSatFix(NavSatFix object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Joy</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Joy</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseJoy(Joy object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Joy Feedback</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Joy Feedback</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseJoyFeedback(JoyFeedback object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Joy Feedback Array</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Joy Feedback Array</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseJoyFeedbackArray(JoyFeedbackArray object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Car Like Odometry</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Car Like Odometry</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseCarLikeOdometry(CarLikeOdometry object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Differential Odometry</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Differential Odometry</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseDifferentialOdometry(DifferentialOdometry object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>EObject</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch, but this is the last case anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>EObject</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject)
+	 * @generated
+	 */
+	@Override
+	public T defaultCase(EObject object) {
+		return null;
+	}
+
+} //Sensor_datatypesSwitch
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/ByteMultiArray.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/ByteMultiArray.java
new file mode 100644
index 00000000000..8f280c87144
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/ByteMultiArray.java
@@ -0,0 +1,82 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes;
+
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Byte Multi Array</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ByteMultiArray#getLayout <em>Layout</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ByteMultiArray#getData <em>Data</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getByteMultiArray()
+ * @model
+ * @generated
+ */
+public interface ByteMultiArray extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Layout</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Layout</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Layout</em>' containment reference.
+	 * @see #setLayout(MultiArrayLayout)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getByteMultiArray_Layout()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	MultiArrayLayout getLayout();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ByteMultiArray#getLayout <em>Layout</em>}'
+	 * containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Layout</em>' containment reference.
+	 * @see #getLayout()
+	 * @generated
+	 */
+	void setLayout(MultiArrayLayout value);
+
+	/**
+	 * Returns the value of the '<em><b>Data</b></em>' attribute list.
+	 * The list contents are of type {@link java.lang.Byte}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Data</em>' attribute list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Data</em>' attribute list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getByteMultiArray_Data()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Byte" ordered="false"
+	 * @generated
+	 */
+	EList<Byte> getData();
+
+} // ByteMultiArray
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/ColorRGBA.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/ColorRGBA.java
new file mode 100644
index 00000000000..111eae22ee0
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/ColorRGBA.java
@@ -0,0 +1,157 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Color RGBA</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ColorRGBA#getR <em>R</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ColorRGBA#getG <em>G</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ColorRGBA#getB <em>B</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ColorRGBA#getA <em>A</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getColorRGBA()
+ * @model
+ * @generated
+ */
+public interface ColorRGBA extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>R</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>R</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>R</em>' attribute.
+	 * @see #setR(float)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getColorRGBA_R()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getR();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ColorRGBA#getR
+	 * <em>R</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>R</em>' attribute.
+	 * @see #getR()
+	 * @generated
+	 */
+	void setR(float value);
+
+	/**
+	 * Returns the value of the '<em><b>G</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>G</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>G</em>' attribute.
+	 * @see #setG(float)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getColorRGBA_G()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getG();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ColorRGBA#getG
+	 * <em>G</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>G</em>' attribute.
+	 * @see #getG()
+	 * @generated
+	 */
+	void setG(float value);
+
+	/**
+	 * Returns the value of the '<em><b>B</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>B</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>B</em>' attribute.
+	 * @see #setB(float)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getColorRGBA_B()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getB();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ColorRGBA#getB
+	 * <em>B</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>B</em>' attribute.
+	 * @see #getB()
+	 * @generated
+	 */
+	void setB(float value);
+
+	/**
+	 * Returns the value of the '<em><b>A</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>A</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>A</em>' attribute.
+	 * @see #setA(float)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getColorRGBA_A()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	float getA();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ColorRGBA#getA
+	 * <em>A</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>A</em>' attribute.
+	 * @see #getA()
+	 * @generated
+	 */
+	void setA(float value);
+
+} // ColorRGBA
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/Float32MultiArray.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/Float32MultiArray.java
new file mode 100644
index 00000000000..f64c099cf45
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/Float32MultiArray.java
@@ -0,0 +1,82 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes;
+
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Float32 Multi Array</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32MultiArray#getLayout <em>Layout</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32MultiArray#getData <em>Data</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getFloat32MultiArray()
+ * @model
+ * @generated
+ */
+public interface Float32MultiArray extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Layout</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Layout</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Layout</em>' containment reference.
+	 * @see #setLayout(MultiArrayLayout)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getFloat32MultiArray_Layout()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	MultiArrayLayout getLayout();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32MultiArray#getLayout <em>Layout</em>}'
+	 * containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Layout</em>' containment reference.
+	 * @see #getLayout()
+	 * @generated
+	 */
+	void setLayout(MultiArrayLayout value);
+
+	/**
+	 * Returns the value of the '<em><b>Data</b></em>' attribute list.
+	 * The list contents are of type {@link java.lang.Float}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Data</em>' attribute list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Data</em>' attribute list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getFloat32MultiArray_Data()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" ordered="false"
+	 * @generated
+	 */
+	EList<Float> getData();
+
+} // Float32MultiArray
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/Float64MultiArray.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/Float64MultiArray.java
new file mode 100644
index 00000000000..65093187aa8
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/Float64MultiArray.java
@@ -0,0 +1,82 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes;
+
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Float64 Multi Array</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64MultiArray#getLayout <em>Layout</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64MultiArray#getData <em>Data</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getFloat64MultiArray()
+ * @model
+ * @generated
+ */
+public interface Float64MultiArray extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Layout</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Layout</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Layout</em>' containment reference.
+	 * @see #setLayout(MultiArrayLayout)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getFloat64MultiArray_Layout()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	MultiArrayLayout getLayout();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64MultiArray#getLayout <em>Layout</em>}'
+	 * containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Layout</em>' containment reference.
+	 * @see #getLayout()
+	 * @generated
+	 */
+	void setLayout(MultiArrayLayout value);
+
+	/**
+	 * Returns the value of the '<em><b>Data</b></em>' attribute list.
+	 * The list contents are of type {@link java.lang.Double}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Data</em>' attribute list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Data</em>' attribute list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getFloat64MultiArray_Data()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64" ordered="false"
+	 * @generated
+	 */
+	EList<Double> getData();
+
+} // Float64MultiArray
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/Header.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/Header.java
new file mode 100644
index 00000000000..8ae3cf31586
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/Header.java
@@ -0,0 +1,128 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes;
+
+import java.util.Date;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Header</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header#getSeq <em>Seq</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header#getStamp <em>Stamp</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header#getFrame_id <em>Frame id</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getHeader()
+ * @model
+ * @generated
+ */
+public interface Header extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Seq</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Seq</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Seq</em>' attribute.
+	 * @see #setSeq(long)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getHeader_Seq()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	long getSeq();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header#getSeq
+	 * <em>Seq</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Seq</em>' attribute.
+	 * @see #getSeq()
+	 * @generated
+	 */
+	void setSeq(long value);
+
+	/**
+	 * Returns the value of the '<em><b>Stamp</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Stamp</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Stamp</em>' attribute.
+	 * @see #setStamp(Date)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getHeader_Stamp()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Time" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	Date getStamp();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header#getStamp
+	 * <em>Stamp</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Stamp</em>' attribute.
+	 * @see #getStamp()
+	 * @generated
+	 */
+	void setStamp(Date value);
+
+	/**
+	 * Returns the value of the '<em><b>Frame id</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Frame id</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Frame id</em>' attribute.
+	 * @see #setFrame_id(String)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getHeader_Frame_id()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.String" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	String getFrame_id();
+
+	/**
+	 * Sets the value of the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header#getFrame_id
+	 * <em>Frame id</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Frame id</em>' attribute.
+	 * @see #getFrame_id()
+	 * @generated
+	 */
+	void setFrame_id(String value);
+
+} // Header
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/Int16MultiArray.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/Int16MultiArray.java
new file mode 100644
index 00000000000..a8952d180d9
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/Int16MultiArray.java
@@ -0,0 +1,82 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes;
+
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Int16 Multi Array</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int16MultiArray#getLayout <em>Layout</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int16MultiArray#getData <em>Data</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getInt16MultiArray()
+ * @model
+ * @generated
+ */
+public interface Int16MultiArray extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Layout</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Layout</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Layout</em>' containment reference.
+	 * @see #setLayout(MultiArrayLayout)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getInt16MultiArray_Layout()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	MultiArrayLayout getLayout();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int16MultiArray#getLayout <em>Layout</em>}'
+	 * containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Layout</em>' containment reference.
+	 * @see #getLayout()
+	 * @generated
+	 */
+	void setLayout(MultiArrayLayout value);
+
+	/**
+	 * Returns the value of the '<em><b>Data</b></em>' attribute list.
+	 * The list contents are of type {@link java.lang.Integer}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Data</em>' attribute list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Data</em>' attribute list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getInt16MultiArray_Data()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int16" ordered="false"
+	 * @generated
+	 */
+	EList<Integer> getData();
+
+} // Int16MultiArray
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/Int32MultiArray.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/Int32MultiArray.java
new file mode 100644
index 00000000000..dffe8e72570
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/Int32MultiArray.java
@@ -0,0 +1,82 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes;
+
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Int32 Multi Array</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int32MultiArray#getLayout <em>Layout</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int32MultiArray#getData <em>Data</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getInt32MultiArray()
+ * @model
+ * @generated
+ */
+public interface Int32MultiArray extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Layout</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Layout</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Layout</em>' containment reference.
+	 * @see #setLayout(MultiArrayLayout)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getInt32MultiArray_Layout()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	MultiArrayLayout getLayout();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int32MultiArray#getLayout <em>Layout</em>}'
+	 * containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Layout</em>' containment reference.
+	 * @see #getLayout()
+	 * @generated
+	 */
+	void setLayout(MultiArrayLayout value);
+
+	/**
+	 * Returns the value of the '<em><b>Data</b></em>' attribute list.
+	 * The list contents are of type {@link java.lang.Integer}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Data</em>' attribute list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Data</em>' attribute list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getInt32MultiArray_Data()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int32" ordered="false"
+	 * @generated
+	 */
+	EList<Integer> getData();
+
+} // Int32MultiArray
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/Int64MultiArray.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/Int64MultiArray.java
new file mode 100644
index 00000000000..17b9f22e980
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/Int64MultiArray.java
@@ -0,0 +1,82 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes;
+
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Int64 Multi Array</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int64MultiArray#getLayout <em>Layout</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int64MultiArray#getData <em>Data</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getInt64MultiArray()
+ * @model
+ * @generated
+ */
+public interface Int64MultiArray extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Layout</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Layout</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Layout</em>' containment reference.
+	 * @see #setLayout(MultiArrayLayout)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getInt64MultiArray_Layout()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	MultiArrayLayout getLayout();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int64MultiArray#getLayout <em>Layout</em>}'
+	 * containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Layout</em>' containment reference.
+	 * @see #getLayout()
+	 * @generated
+	 */
+	void setLayout(MultiArrayLayout value);
+
+	/**
+	 * Returns the value of the '<em><b>Data</b></em>' attribute list.
+	 * The list contents are of type {@link java.lang.Double}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Data</em>' attribute list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Data</em>' attribute list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getInt64MultiArray_Data()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int64" ordered="false"
+	 * @generated
+	 */
+	EList<Double> getData();
+
+} // Int64MultiArray
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/Int8MultiArray.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/Int8MultiArray.java
new file mode 100644
index 00000000000..915ef965060
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/Int8MultiArray.java
@@ -0,0 +1,82 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes;
+
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Int8 Multi Array</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int8MultiArray#getLayout <em>Layout</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int8MultiArray#getData <em>Data</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getInt8MultiArray()
+ * @model
+ * @generated
+ */
+public interface Int8MultiArray extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Layout</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Layout</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Layout</em>' containment reference.
+	 * @see #setLayout(MultiArrayLayout)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getInt8MultiArray_Layout()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	MultiArrayLayout getLayout();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int8MultiArray#getLayout <em>Layout</em>}'
+	 * containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Layout</em>' containment reference.
+	 * @see #getLayout()
+	 * @generated
+	 */
+	void setLayout(MultiArrayLayout value);
+
+	/**
+	 * Returns the value of the '<em><b>Data</b></em>' attribute list.
+	 * The list contents are of type {@link java.lang.Character}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Data</em>' attribute list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Data</em>' attribute list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getInt8MultiArray_Data()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int8" ordered="false"
+	 * @generated
+	 */
+	EList<Character> getData();
+
+} // Int8MultiArray
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/MultiArrayDimension.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/MultiArrayDimension.java
new file mode 100644
index 00000000000..094e8339fca
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/MultiArrayDimension.java
@@ -0,0 +1,130 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes;
+
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Multi Array Dimension</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayDimension#getLabel <em>Label</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayDimension#getSize <em>Size</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayDimension#getStride <em>Stride</em>}
+ * </li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getMultiArrayDimension()
+ * @model
+ * @generated
+ */
+public interface MultiArrayDimension extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Label</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Label</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Label</em>' attribute.
+	 * @see #setLabel(String)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getMultiArrayDimension_Label()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.String" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	String getLabel();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayDimension#getLabel <em>Label</em>}'
+	 * attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Label</em>' attribute.
+	 * @see #getLabel()
+	 * @generated
+	 */
+	void setLabel(String value);
+
+	/**
+	 * Returns the value of the '<em><b>Size</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Size</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Size</em>' attribute.
+	 * @see #setSize(long)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getMultiArrayDimension_Size()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	long getSize();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayDimension#getSize <em>Size</em>}'
+	 * attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Size</em>' attribute.
+	 * @see #getSize()
+	 * @generated
+	 */
+	void setSize(long value);
+
+	/**
+	 * Returns the value of the '<em><b>Stride</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Stride</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Stride</em>' attribute.
+	 * @see #setStride(long)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getMultiArrayDimension_Stride()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	long getStride();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayDimension#getStride <em>Stride</em>}
+	 * ' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Stride</em>' attribute.
+	 * @see #getStride()
+	 * @generated
+	 */
+	void setStride(long value);
+
+} // MultiArrayDimension
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/MultiArrayLayout.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/MultiArrayLayout.java
new file mode 100644
index 00000000000..d68c34a6944
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/MultiArrayLayout.java
@@ -0,0 +1,85 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes;
+
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>Multi Array Layout</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayLayout#getDim <em>Dim</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayLayout#getData_offset <em>Data
+ * offset</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getMultiArrayLayout()
+ * @model
+ * @generated
+ */
+public interface MultiArrayLayout extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Dim</b></em>' containment reference list.
+	 * The list contents are of type
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayDimension}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Dim</em>' containment reference list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Dim</em>' containment reference list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getMultiArrayLayout_Dim()
+	 * @model containment="true" ordered="false"
+	 * @generated
+	 */
+	EList<MultiArrayDimension> getDim();
+
+	/**
+	 * Returns the value of the '<em><b>Data offset</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Data offset</em>' attribute isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Data offset</em>' attribute.
+	 * @see #setData_offset(long)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getMultiArrayLayout_Data_offset()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32" required="true"
+	 *        ordered="false"
+	 * @generated
+	 */
+	long getData_offset();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayLayout#getData_offset
+	 * <em>Data offset</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Data offset</em>' attribute.
+	 * @see #getData_offset()
+	 * @generated
+	 */
+	void setData_offset(long value);
+
+} // MultiArrayLayout
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/Std_datatypesFactory.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/Std_datatypesFactory.java
new file mode 100644
index 00000000000..761e2f9c76a
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/Std_datatypesFactory.java
@@ -0,0 +1,196 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes;
+
+import org.eclipse.emf.ecore.EFactory;
+
+/**
+ * <!-- begin-user-doc -->
+ * The <b>Factory</b> for the model.
+ * It provides a create method for each non-abstract class of the model.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage
+ * @generated
+ */
+public interface Std_datatypesFactory extends EFactory {
+
+	/**
+	 * The singleton instance of the factory.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	Std_datatypesFactory eINSTANCE = org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesFactoryImpl.init();
+
+	/**
+	 * Returns a new object of class '<em>Header</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Header</em>'.
+	 * @generated
+	 */
+	Header createHeader();
+
+	/**
+	 * Returns a new object of class '<em>Multi Array Dimension</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Multi Array Dimension</em>'.
+	 * @generated
+	 */
+	MultiArrayDimension createMultiArrayDimension();
+
+	/**
+	 * Returns a new object of class '<em>Multi Array Layout</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Multi Array Layout</em>'.
+	 * @generated
+	 */
+	MultiArrayLayout createMultiArrayLayout();
+
+	/**
+	 * Returns a new object of class '<em>Byte Multi Array</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Byte Multi Array</em>'.
+	 * @generated
+	 */
+	ByteMultiArray createByteMultiArray();
+
+	/**
+	 * Returns a new object of class '<em>Color RGBA</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Color RGBA</em>'.
+	 * @generated
+	 */
+	ColorRGBA createColorRGBA();
+
+	/**
+	 * Returns a new object of class '<em>Float32 Multi Array</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Float32 Multi Array</em>'.
+	 * @generated
+	 */
+	Float32MultiArray createFloat32MultiArray();
+
+	/**
+	 * Returns a new object of class '<em>Int32 Multi Array</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Int32 Multi Array</em>'.
+	 * @generated
+	 */
+	Int32MultiArray createInt32MultiArray();
+
+	/**
+	 * Returns a new object of class '<em>Int8 Multi Array</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Int8 Multi Array</em>'.
+	 * @generated
+	 */
+	Int8MultiArray createInt8MultiArray();
+
+	/**
+	 * Returns a new object of class '<em>Int16 Multi Array</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Int16 Multi Array</em>'.
+	 * @generated
+	 */
+	Int16MultiArray createInt16MultiArray();
+
+	/**
+	 * Returns a new object of class '<em>Int64 Multi Array</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Int64 Multi Array</em>'.
+	 * @generated
+	 */
+	Int64MultiArray createInt64MultiArray();
+
+	/**
+	 * Returns a new object of class '<em>Float64 Multi Array</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>Float64 Multi Array</em>'.
+	 * @generated
+	 */
+	Float64MultiArray createFloat64MultiArray();
+
+	/**
+	 * Returns a new object of class '<em>UInt64 Multi Array</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>UInt64 Multi Array</em>'.
+	 * @generated
+	 */
+	UInt64MultiArray createUInt64MultiArray();
+
+	/**
+	 * Returns a new object of class '<em>UIint16 Multi Array</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>UIint16 Multi Array</em>'.
+	 * @generated
+	 */
+	UIint16MultiArray createUIint16MultiArray();
+
+	/**
+	 * Returns a new object of class '<em>UInt32 Multi Array</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>UInt32 Multi Array</em>'.
+	 * @generated
+	 */
+	UInt32MultiArray createUInt32MultiArray();
+
+	/**
+	 * Returns a new object of class '<em>UInt8 Multi Array</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return a new object of class '<em>UInt8 Multi Array</em>'.
+	 * @generated
+	 */
+	UInt8MultiArray createUInt8MultiArray();
+
+	/**
+	 * Returns the package supported by this factory.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the package supported by this factory.
+	 * @generated
+	 */
+	Std_datatypesPackage getStd_datatypesPackage();
+
+} //Std_datatypesFactory
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/Std_datatypesPackage.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/Std_datatypesPackage.java
new file mode 100644
index 00000000000..3c01012baee
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/Std_datatypesPackage.java
@@ -0,0 +1,2419 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes;
+
+import org.eclipse.emf.ecore.EAttribute;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.EDataType;
+import org.eclipse.emf.ecore.EPackage;
+import org.eclipse.emf.ecore.EReference;
+
+/**
+ * <!-- begin-user-doc -->
+ * The <b>Package</b> for the model.
+ * It contains accessors for the meta objects to represent
+ * <ul>
+ * <li>each class,</li>
+ * <li>each feature of each class,</li>
+ * <li>each enum,</li>
+ * <li>and each data type</li>
+ * </ul>
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesFactory
+ * @model kind="package"
+ * @generated
+ */
+public interface Std_datatypesPackage extends EPackage {
+
+	/**
+	 * The package name.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	String eNAME = "std_datatypes";
+
+	/**
+	 * The package namespace URI.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	String eNS_URI = "http:///RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes.ecore";
+
+	/**
+	 * The package namespace name.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	String eNS_PREFIX = "RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes";
+
+	/**
+	 * The singleton instance of the package.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	Std_datatypesPackage eINSTANCE = org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl.init();
+
+	/**
+	 * The meta object id for the '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.HeaderImpl
+	 * <em>Header</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.HeaderImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getHeader()
+	 * @generated
+	 */
+	int HEADER = 0;
+
+	/**
+	 * The feature id for the '<em><b>Seq</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int HEADER__SEQ = 0;
+
+	/**
+	 * The feature id for the '<em><b>Stamp</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int HEADER__STAMP = 1;
+
+	/**
+	 * The feature id for the '<em><b>Frame id</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int HEADER__FRAME_ID = 2;
+
+	/**
+	 * The number of structural features of the '<em>Header</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int HEADER_FEATURE_COUNT = 3;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.MultiArrayDimensionImpl
+	 * <em>Multi Array Dimension</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.MultiArrayDimensionImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getMultiArrayDimension()
+	 * @generated
+	 */
+	int MULTI_ARRAY_DIMENSION = 1;
+
+	/**
+	 * The feature id for the '<em><b>Label</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int MULTI_ARRAY_DIMENSION__LABEL = 0;
+
+	/**
+	 * The feature id for the '<em><b>Size</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int MULTI_ARRAY_DIMENSION__SIZE = 1;
+
+	/**
+	 * The feature id for the '<em><b>Stride</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int MULTI_ARRAY_DIMENSION__STRIDE = 2;
+
+	/**
+	 * The number of structural features of the '<em>Multi Array Dimension</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int MULTI_ARRAY_DIMENSION_FEATURE_COUNT = 3;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.MultiArrayLayoutImpl
+	 * <em>Multi Array Layout</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.MultiArrayLayoutImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getMultiArrayLayout()
+	 * @generated
+	 */
+	int MULTI_ARRAY_LAYOUT = 2;
+
+	/**
+	 * The feature id for the '<em><b>Dim</b></em>' containment reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int MULTI_ARRAY_LAYOUT__DIM = 0;
+
+	/**
+	 * The feature id for the '<em><b>Data offset</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int MULTI_ARRAY_LAYOUT__DATA_OFFSET = 1;
+
+	/**
+	 * The number of structural features of the '<em>Multi Array Layout</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int MULTI_ARRAY_LAYOUT_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.ByteMultiArrayImpl
+	 * <em>Byte Multi Array</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.ByteMultiArrayImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getByteMultiArray()
+	 * @generated
+	 */
+	int BYTE_MULTI_ARRAY = 3;
+
+	/**
+	 * The feature id for the '<em><b>Layout</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int BYTE_MULTI_ARRAY__LAYOUT = 0;
+
+	/**
+	 * The feature id for the '<em><b>Data</b></em>' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int BYTE_MULTI_ARRAY__DATA = 1;
+
+	/**
+	 * The number of structural features of the '<em>Byte Multi Array</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int BYTE_MULTI_ARRAY_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.ColorRGBAImpl <em>Color RGBA</em>}'
+	 * class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.ColorRGBAImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getColorRGBA()
+	 * @generated
+	 */
+	int COLOR_RGBA = 4;
+
+	/**
+	 * The feature id for the '<em><b>R</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int COLOR_RGBA__R = 0;
+
+	/**
+	 * The feature id for the '<em><b>G</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int COLOR_RGBA__G = 1;
+
+	/**
+	 * The feature id for the '<em><b>B</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int COLOR_RGBA__B = 2;
+
+	/**
+	 * The feature id for the '<em><b>A</b></em>' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int COLOR_RGBA__A = 3;
+
+	/**
+	 * The number of structural features of the '<em>Color RGBA</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int COLOR_RGBA_FEATURE_COUNT = 4;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Float32MultiArrayImpl
+	 * <em>Float32 Multi Array</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Float32MultiArrayImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getFloat32MultiArray()
+	 * @generated
+	 */
+	int FLOAT32_MULTI_ARRAY = 5;
+
+	/**
+	 * The feature id for the '<em><b>Layout</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int FLOAT32_MULTI_ARRAY__LAYOUT = 0;
+
+	/**
+	 * The feature id for the '<em><b>Data</b></em>' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int FLOAT32_MULTI_ARRAY__DATA = 1;
+
+	/**
+	 * The number of structural features of the '<em>Float32 Multi Array</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int FLOAT32_MULTI_ARRAY_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Int32MultiArrayImpl
+	 * <em>Int32 Multi Array</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Int32MultiArrayImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getInt32MultiArray()
+	 * @generated
+	 */
+	int INT32_MULTI_ARRAY = 6;
+
+	/**
+	 * The feature id for the '<em><b>Layout</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INT32_MULTI_ARRAY__LAYOUT = 0;
+
+	/**
+	 * The feature id for the '<em><b>Data</b></em>' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INT32_MULTI_ARRAY__DATA = 1;
+
+	/**
+	 * The number of structural features of the '<em>Int32 Multi Array</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INT32_MULTI_ARRAY_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Int8MultiArrayImpl
+	 * <em>Int8 Multi Array</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Int8MultiArrayImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getInt8MultiArray()
+	 * @generated
+	 */
+	int INT8_MULTI_ARRAY = 7;
+
+	/**
+	 * The feature id for the '<em><b>Layout</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INT8_MULTI_ARRAY__LAYOUT = 0;
+
+	/**
+	 * The feature id for the '<em><b>Data</b></em>' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INT8_MULTI_ARRAY__DATA = 1;
+
+	/**
+	 * The number of structural features of the '<em>Int8 Multi Array</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INT8_MULTI_ARRAY_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Int16MultiArrayImpl
+	 * <em>Int16 Multi Array</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Int16MultiArrayImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getInt16MultiArray()
+	 * @generated
+	 */
+	int INT16_MULTI_ARRAY = 8;
+
+	/**
+	 * The feature id for the '<em><b>Layout</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INT16_MULTI_ARRAY__LAYOUT = 0;
+
+	/**
+	 * The feature id for the '<em><b>Data</b></em>' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INT16_MULTI_ARRAY__DATA = 1;
+
+	/**
+	 * The number of structural features of the '<em>Int16 Multi Array</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INT16_MULTI_ARRAY_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Int64MultiArrayImpl
+	 * <em>Int64 Multi Array</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Int64MultiArrayImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getInt64MultiArray()
+	 * @generated
+	 */
+	int INT64_MULTI_ARRAY = 9;
+
+	/**
+	 * The feature id for the '<em><b>Layout</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INT64_MULTI_ARRAY__LAYOUT = 0;
+
+	/**
+	 * The feature id for the '<em><b>Data</b></em>' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INT64_MULTI_ARRAY__DATA = 1;
+
+	/**
+	 * The number of structural features of the '<em>Int64 Multi Array</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int INT64_MULTI_ARRAY_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Float64MultiArrayImpl
+	 * <em>Float64 Multi Array</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Float64MultiArrayImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getFloat64MultiArray()
+	 * @generated
+	 */
+	int FLOAT64_MULTI_ARRAY = 10;
+
+	/**
+	 * The feature id for the '<em><b>Layout</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int FLOAT64_MULTI_ARRAY__LAYOUT = 0;
+
+	/**
+	 * The feature id for the '<em><b>Data</b></em>' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int FLOAT64_MULTI_ARRAY__DATA = 1;
+
+	/**
+	 * The number of structural features of the '<em>Float64 Multi Array</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int FLOAT64_MULTI_ARRAY_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.UInt64MultiArrayImpl
+	 * <em>UInt64 Multi Array</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.UInt64MultiArrayImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getUInt64MultiArray()
+	 * @generated
+	 */
+	int UINT64_MULTI_ARRAY = 11;
+
+	/**
+	 * The feature id for the '<em><b>Layout</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int UINT64_MULTI_ARRAY__LAYOUT = 0;
+
+	/**
+	 * The feature id for the '<em><b>Data</b></em>' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int UINT64_MULTI_ARRAY__DATA = 1;
+
+	/**
+	 * The number of structural features of the '<em>UInt64 Multi Array</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int UINT64_MULTI_ARRAY_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.UIint16MultiArrayImpl
+	 * <em>UIint16 Multi Array</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.UIint16MultiArrayImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getUIint16MultiArray()
+	 * @generated
+	 */
+	int UIINT16_MULTI_ARRAY = 12;
+
+	/**
+	 * The feature id for the '<em><b>Layout</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int UIINT16_MULTI_ARRAY__LAYOUT = 0;
+
+	/**
+	 * The feature id for the '<em><b>Data</b></em>' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int UIINT16_MULTI_ARRAY__DATA = 1;
+
+	/**
+	 * The number of structural features of the '<em>UIint16 Multi Array</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int UIINT16_MULTI_ARRAY_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.UInt32MultiArrayImpl
+	 * <em>UInt32 Multi Array</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.UInt32MultiArrayImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getUInt32MultiArray()
+	 * @generated
+	 */
+	int UINT32_MULTI_ARRAY = 13;
+
+	/**
+	 * The feature id for the '<em><b>Layout</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int UINT32_MULTI_ARRAY__LAYOUT = 0;
+
+	/**
+	 * The feature id for the '<em><b>Data</b></em>' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int UINT32_MULTI_ARRAY__DATA = 1;
+
+	/**
+	 * The number of structural features of the '<em>UInt32 Multi Array</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int UINT32_MULTI_ARRAY_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.UInt8MultiArrayImpl
+	 * <em>UInt8 Multi Array</em>}' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.UInt8MultiArrayImpl
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getUInt8MultiArray()
+	 * @generated
+	 */
+	int UINT8_MULTI_ARRAY = 14;
+
+	/**
+	 * The feature id for the '<em><b>Layout</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int UINT8_MULTI_ARRAY__LAYOUT = 0;
+
+	/**
+	 * The feature id for the '<em><b>Data</b></em>' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int UINT8_MULTI_ARRAY__DATA = 1;
+
+	/**
+	 * The number of structural features of the '<em>UInt8 Multi Array</em>' class.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 * @ordered
+	 */
+	int UINT8_MULTI_ARRAY_FEATURE_COUNT = 2;
+
+	/**
+	 * The meta object id for the '<em>UInt32</em>' data type.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getUInt32()
+	 * @generated
+	 */
+	int UINT32 = 15;
+
+	/**
+	 * The meta object id for the '<em>Time</em>' data type.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see java.util.Date
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getTime()
+	 * @generated
+	 */
+	int TIME = 16;
+
+	/**
+	 * The meta object id for the '<em>String</em>' data type.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see java.lang.String
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getString()
+	 * @generated
+	 */
+	int STRING = 17;
+
+	/**
+	 * The meta object id for the '<em>Byte</em>' data type.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getByte()
+	 * @generated
+	 */
+	int BYTE = 18;
+
+	/**
+	 * The meta object id for the '<em>Float64</em>' data type.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getFloat64()
+	 * @generated
+	 */
+	int FLOAT64 = 19;
+
+	/**
+	 * The meta object id for the '<em>Int8</em>' data type.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getInt8()
+	 * @generated
+	 */
+	int INT8 = 20;
+
+	/**
+	 * The meta object id for the '<em>Bool</em>' data type.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getBool()
+	 * @generated
+	 */
+	int BOOL = 21;
+
+	/**
+	 * The meta object id for the '<em>UInt8</em>' data type.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getUInt8()
+	 * @generated
+	 */
+	int UINT8 = 22;
+
+	/**
+	 * The meta object id for the '<em>UInt16</em>' data type.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getUInt16()
+	 * @generated
+	 */
+	int UINT16 = 23;
+
+	/**
+	 * The meta object id for the '<em>Int32</em>' data type.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getInt32()
+	 * @generated
+	 */
+	int INT32 = 24;
+
+	/**
+	 * The meta object id for the '<em>Int16</em>' data type.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getInt16()
+	 * @generated
+	 */
+	int INT16 = 25;
+
+	/**
+	 * The meta object id for the '<em>Char</em>' data type.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getChar()
+	 * @generated
+	 */
+	int CHAR = 26;
+
+	/**
+	 * The meta object id for the '<em>Duration</em>' data type.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getDuration()
+	 * @generated
+	 */
+	int DURATION = 27;
+
+	/**
+	 * The meta object id for the '<em>Int64</em>' data type.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getInt64()
+	 * @generated
+	 */
+	int INT64 = 28;
+
+	/**
+	 * The meta object id for the '<em>UInt64</em>' data type.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getUInt64()
+	 * @generated
+	 */
+	int UINT64 = 29;
+
+	/**
+	 * The meta object id for the '<em>Float32</em>' data type.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getFloat32()
+	 * @generated
+	 */
+	int FLOAT32 = 30;
+
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header
+	 * <em>Header</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Header</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header
+	 * @generated
+	 */
+	EClass getHeader();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header#getSeq <em>Seq</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Seq</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header#getSeq()
+	 * @see #getHeader()
+	 * @generated
+	 */
+	EAttribute getHeader_Seq();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header#getStamp <em>Stamp</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Stamp</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header#getStamp()
+	 * @see #getHeader()
+	 * @generated
+	 */
+	EAttribute getHeader_Stamp();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header#getFrame_id <em>Frame id</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Frame id</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header#getFrame_id()
+	 * @see #getHeader()
+	 * @generated
+	 */
+	EAttribute getHeader_Frame_id();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayDimension
+	 * <em>Multi Array Dimension</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Multi Array Dimension</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayDimension
+	 * @generated
+	 */
+	EClass getMultiArrayDimension();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayDimension#getLabel <em>Label</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Label</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayDimension#getLabel()
+	 * @see #getMultiArrayDimension()
+	 * @generated
+	 */
+	EAttribute getMultiArrayDimension_Label();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayDimension#getSize <em>Size</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Size</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayDimension#getSize()
+	 * @see #getMultiArrayDimension()
+	 * @generated
+	 */
+	EAttribute getMultiArrayDimension_Size();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayDimension#getStride <em>Stride</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Stride</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayDimension#getStride()
+	 * @see #getMultiArrayDimension()
+	 * @generated
+	 */
+	EAttribute getMultiArrayDimension_Stride();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayLayout <em>Multi Array Layout</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Multi Array Layout</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayLayout
+	 * @generated
+	 */
+	EClass getMultiArrayLayout();
+
+	/**
+	 * Returns the meta object for the containment reference list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayLayout#getDim <em>Dim</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference list '<em>Dim</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayLayout#getDim()
+	 * @see #getMultiArrayLayout()
+	 * @generated
+	 */
+	EReference getMultiArrayLayout_Dim();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayLayout#getData_offset
+	 * <em>Data offset</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>Data offset</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayLayout#getData_offset()
+	 * @see #getMultiArrayLayout()
+	 * @generated
+	 */
+	EAttribute getMultiArrayLayout_Data_offset();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ByteMultiArray <em>Byte Multi Array</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Byte Multi Array</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ByteMultiArray
+	 * @generated
+	 */
+	EClass getByteMultiArray();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ByteMultiArray#getLayout <em>Layout</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Layout</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ByteMultiArray#getLayout()
+	 * @see #getByteMultiArray()
+	 * @generated
+	 */
+	EReference getByteMultiArray_Layout();
+
+	/**
+	 * Returns the meta object for the attribute list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ByteMultiArray#getData <em>Data</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute list '<em>Data</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ByteMultiArray#getData()
+	 * @see #getByteMultiArray()
+	 * @generated
+	 */
+	EAttribute getByteMultiArray_Data();
+
+	/**
+	 * Returns the meta object for class '{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ColorRGBA
+	 * <em>Color RGBA</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Color RGBA</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ColorRGBA
+	 * @generated
+	 */
+	EClass getColorRGBA();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ColorRGBA#getR <em>R</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>R</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ColorRGBA#getR()
+	 * @see #getColorRGBA()
+	 * @generated
+	 */
+	EAttribute getColorRGBA_R();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ColorRGBA#getG <em>G</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>G</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ColorRGBA#getG()
+	 * @see #getColorRGBA()
+	 * @generated
+	 */
+	EAttribute getColorRGBA_G();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ColorRGBA#getB <em>B</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>B</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ColorRGBA#getB()
+	 * @see #getColorRGBA()
+	 * @generated
+	 */
+	EAttribute getColorRGBA_B();
+
+	/**
+	 * Returns the meta object for the attribute '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ColorRGBA#getA <em>A</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute '<em>A</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ColorRGBA#getA()
+	 * @see #getColorRGBA()
+	 * @generated
+	 */
+	EAttribute getColorRGBA_A();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32MultiArray
+	 * <em>Float32 Multi Array</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Float32 Multi Array</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32MultiArray
+	 * @generated
+	 */
+	EClass getFloat32MultiArray();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32MultiArray#getLayout <em>Layout</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Layout</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32MultiArray#getLayout()
+	 * @see #getFloat32MultiArray()
+	 * @generated
+	 */
+	EReference getFloat32MultiArray_Layout();
+
+	/**
+	 * Returns the meta object for the attribute list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32MultiArray#getData <em>Data</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute list '<em>Data</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32MultiArray#getData()
+	 * @see #getFloat32MultiArray()
+	 * @generated
+	 */
+	EAttribute getFloat32MultiArray_Data();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int32MultiArray <em>Int32 Multi Array</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Int32 Multi Array</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int32MultiArray
+	 * @generated
+	 */
+	EClass getInt32MultiArray();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int32MultiArray#getLayout <em>Layout</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Layout</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int32MultiArray#getLayout()
+	 * @see #getInt32MultiArray()
+	 * @generated
+	 */
+	EReference getInt32MultiArray_Layout();
+
+	/**
+	 * Returns the meta object for the attribute list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int32MultiArray#getData <em>Data</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute list '<em>Data</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int32MultiArray#getData()
+	 * @see #getInt32MultiArray()
+	 * @generated
+	 */
+	EAttribute getInt32MultiArray_Data();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int8MultiArray <em>Int8 Multi Array</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Int8 Multi Array</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int8MultiArray
+	 * @generated
+	 */
+	EClass getInt8MultiArray();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int8MultiArray#getLayout <em>Layout</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Layout</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int8MultiArray#getLayout()
+	 * @see #getInt8MultiArray()
+	 * @generated
+	 */
+	EReference getInt8MultiArray_Layout();
+
+	/**
+	 * Returns the meta object for the attribute list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int8MultiArray#getData <em>Data</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute list '<em>Data</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int8MultiArray#getData()
+	 * @see #getInt8MultiArray()
+	 * @generated
+	 */
+	EAttribute getInt8MultiArray_Data();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int16MultiArray <em>Int16 Multi Array</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Int16 Multi Array</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int16MultiArray
+	 * @generated
+	 */
+	EClass getInt16MultiArray();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int16MultiArray#getLayout <em>Layout</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Layout</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int16MultiArray#getLayout()
+	 * @see #getInt16MultiArray()
+	 * @generated
+	 */
+	EReference getInt16MultiArray_Layout();
+
+	/**
+	 * Returns the meta object for the attribute list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int16MultiArray#getData <em>Data</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute list '<em>Data</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int16MultiArray#getData()
+	 * @see #getInt16MultiArray()
+	 * @generated
+	 */
+	EAttribute getInt16MultiArray_Data();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int64MultiArray <em>Int64 Multi Array</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Int64 Multi Array</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int64MultiArray
+	 * @generated
+	 */
+	EClass getInt64MultiArray();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int64MultiArray#getLayout <em>Layout</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Layout</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int64MultiArray#getLayout()
+	 * @see #getInt64MultiArray()
+	 * @generated
+	 */
+	EReference getInt64MultiArray_Layout();
+
+	/**
+	 * Returns the meta object for the attribute list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int64MultiArray#getData <em>Data</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute list '<em>Data</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int64MultiArray#getData()
+	 * @see #getInt64MultiArray()
+	 * @generated
+	 */
+	EAttribute getInt64MultiArray_Data();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64MultiArray
+	 * <em>Float64 Multi Array</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>Float64 Multi Array</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64MultiArray
+	 * @generated
+	 */
+	EClass getFloat64MultiArray();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64MultiArray#getLayout <em>Layout</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Layout</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64MultiArray#getLayout()
+	 * @see #getFloat64MultiArray()
+	 * @generated
+	 */
+	EReference getFloat64MultiArray_Layout();
+
+	/**
+	 * Returns the meta object for the attribute list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64MultiArray#getData <em>Data</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute list '<em>Data</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64MultiArray#getData()
+	 * @see #getFloat64MultiArray()
+	 * @generated
+	 */
+	EAttribute getFloat64MultiArray_Data();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt64MultiArray <em>UInt64 Multi Array</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>UInt64 Multi Array</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt64MultiArray
+	 * @generated
+	 */
+	EClass getUInt64MultiArray();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt64MultiArray#getLayout <em>Layout</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Layout</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt64MultiArray#getLayout()
+	 * @see #getUInt64MultiArray()
+	 * @generated
+	 */
+	EReference getUInt64MultiArray_Layout();
+
+	/**
+	 * Returns the meta object for the attribute list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt64MultiArray#getData <em>Data</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute list '<em>Data</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt64MultiArray#getData()
+	 * @see #getUInt64MultiArray()
+	 * @generated
+	 */
+	EAttribute getUInt64MultiArray_Data();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UIint16MultiArray
+	 * <em>UIint16 Multi Array</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>UIint16 Multi Array</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UIint16MultiArray
+	 * @generated
+	 */
+	EClass getUIint16MultiArray();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UIint16MultiArray#getLayout <em>Layout</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Layout</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UIint16MultiArray#getLayout()
+	 * @see #getUIint16MultiArray()
+	 * @generated
+	 */
+	EReference getUIint16MultiArray_Layout();
+
+	/**
+	 * Returns the meta object for the attribute list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UIint16MultiArray#getData <em>Data</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute list '<em>Data</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UIint16MultiArray#getData()
+	 * @see #getUIint16MultiArray()
+	 * @generated
+	 */
+	EAttribute getUIint16MultiArray_Data();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32MultiArray <em>UInt32 Multi Array</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>UInt32 Multi Array</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32MultiArray
+	 * @generated
+	 */
+	EClass getUInt32MultiArray();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32MultiArray#getLayout <em>Layout</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Layout</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32MultiArray#getLayout()
+	 * @see #getUInt32MultiArray()
+	 * @generated
+	 */
+	EReference getUInt32MultiArray_Layout();
+
+	/**
+	 * Returns the meta object for the attribute list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32MultiArray#getData <em>Data</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute list '<em>Data</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32MultiArray#getData()
+	 * @see #getUInt32MultiArray()
+	 * @generated
+	 */
+	EAttribute getUInt32MultiArray_Data();
+
+	/**
+	 * Returns the meta object for class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8MultiArray <em>UInt8 Multi Array</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for class '<em>UInt8 Multi Array</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8MultiArray
+	 * @generated
+	 */
+	EClass getUInt8MultiArray();
+
+	/**
+	 * Returns the meta object for the containment reference '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8MultiArray#getLayout <em>Layout</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the containment reference '<em>Layout</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8MultiArray#getLayout()
+	 * @see #getUInt8MultiArray()
+	 * @generated
+	 */
+	EReference getUInt8MultiArray_Layout();
+
+	/**
+	 * Returns the meta object for the attribute list '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8MultiArray#getData <em>Data</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for the attribute list '<em>Data</em>'.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8MultiArray#getData()
+	 * @see #getUInt8MultiArray()
+	 * @generated
+	 */
+	EAttribute getUInt8MultiArray_Data();
+
+	/**
+	 * Returns the meta object for data type '<em>UInt32</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for data type '<em>UInt32</em>'.
+	 * @model instanceClass="long"
+	 * @generated
+	 */
+	EDataType getUInt32();
+
+	/**
+	 * Returns the meta object for data type '{@link java.util.Date <em>Time</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for data type '<em>Time</em>'.
+	 * @see java.util.Date
+	 * @model instanceClass="java.util.Date"
+	 * @generated
+	 */
+	EDataType getTime();
+
+	/**
+	 * Returns the meta object for data type '{@link java.lang.String <em>String</em>}'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for data type '<em>String</em>'.
+	 * @see java.lang.String
+	 * @model instanceClass="java.lang.String"
+	 * @generated
+	 */
+	EDataType getString();
+
+	/**
+	 * Returns the meta object for data type '<em>Byte</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for data type '<em>Byte</em>'.
+	 * @model instanceClass="byte"
+	 * @generated
+	 */
+	EDataType getByte();
+
+	/**
+	 * Returns the meta object for data type '<em>Float64</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for data type '<em>Float64</em>'.
+	 * @model instanceClass="double"
+	 * @generated
+	 */
+	EDataType getFloat64();
+
+	/**
+	 * Returns the meta object for data type '<em>Int8</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for data type '<em>Int8</em>'.
+	 * @model instanceClass="char"
+	 * @generated
+	 */
+	EDataType getInt8();
+
+	/**
+	 * Returns the meta object for data type '<em>Bool</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for data type '<em>Bool</em>'.
+	 * @model instanceClass="boolean"
+	 * @generated
+	 */
+	EDataType getBool();
+
+	/**
+	 * Returns the meta object for data type '<em>UInt8</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for data type '<em>UInt8</em>'.
+	 * @model instanceClass="char"
+	 * @generated
+	 */
+	EDataType getUInt8();
+
+	/**
+	 * Returns the meta object for data type '<em>UInt16</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for data type '<em>UInt16</em>'.
+	 * @model instanceClass="int"
+	 * @generated
+	 */
+	EDataType getUInt16();
+
+	/**
+	 * Returns the meta object for data type '<em>Int32</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for data type '<em>Int32</em>'.
+	 * @model instanceClass="int"
+	 * @generated
+	 */
+	EDataType getInt32();
+
+	/**
+	 * Returns the meta object for data type '<em>Int16</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for data type '<em>Int16</em>'.
+	 * @model instanceClass="int"
+	 * @generated
+	 */
+	EDataType getInt16();
+
+	/**
+	 * Returns the meta object for data type '<em>Char</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for data type '<em>Char</em>'.
+	 * @model instanceClass="char"
+	 * @generated
+	 */
+	EDataType getChar();
+
+	/**
+	 * Returns the meta object for data type '<em>Duration</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for data type '<em>Duration</em>'.
+	 * @model instanceClass="double"
+	 * @generated
+	 */
+	EDataType getDuration();
+
+	/**
+	 * Returns the meta object for data type '<em>Int64</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for data type '<em>Int64</em>'.
+	 * @model instanceClass="double"
+	 * @generated
+	 */
+	EDataType getInt64();
+
+	/**
+	 * Returns the meta object for data type '<em>UInt64</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for data type '<em>UInt64</em>'.
+	 * @model instanceClass="long"
+	 * @generated
+	 */
+	EDataType getUInt64();
+
+	/**
+	 * Returns the meta object for data type '<em>Float32</em>'.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the meta object for data type '<em>Float32</em>'.
+	 * @model instanceClass="float"
+	 * @generated
+	 */
+	EDataType getFloat32();
+
+	/**
+	 * Returns the factory that creates the instances of the model.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the factory that creates the instances of the model.
+	 * @generated
+	 */
+	Std_datatypesFactory getStd_datatypesFactory();
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * Defines literals for the meta objects that represent
+	 * <ul>
+	 * <li>each class,</li>
+	 * <li>each feature of each class,</li>
+	 * <li>each enum,</li>
+	 * <li>and each data type</li>
+	 * </ul>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	interface Literals {
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.HeaderImpl <em>Header</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.HeaderImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getHeader()
+		 * @generated
+		 */
+		EClass HEADER = eINSTANCE.getHeader();
+
+		/**
+		 * The meta object literal for the '<em><b>Seq</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute HEADER__SEQ = eINSTANCE.getHeader_Seq();
+
+		/**
+		 * The meta object literal for the '<em><b>Stamp</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute HEADER__STAMP = eINSTANCE.getHeader_Stamp();
+
+		/**
+		 * The meta object literal for the '<em><b>Frame id</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute HEADER__FRAME_ID = eINSTANCE.getHeader_Frame_id();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.MultiArrayDimensionImpl
+		 * <em>Multi Array Dimension</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.MultiArrayDimensionImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getMultiArrayDimension()
+		 * @generated
+		 */
+		EClass MULTI_ARRAY_DIMENSION = eINSTANCE.getMultiArrayDimension();
+
+		/**
+		 * The meta object literal for the '<em><b>Label</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute MULTI_ARRAY_DIMENSION__LABEL = eINSTANCE.getMultiArrayDimension_Label();
+
+		/**
+		 * The meta object literal for the '<em><b>Size</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute MULTI_ARRAY_DIMENSION__SIZE = eINSTANCE.getMultiArrayDimension_Size();
+
+		/**
+		 * The meta object literal for the '<em><b>Stride</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute MULTI_ARRAY_DIMENSION__STRIDE = eINSTANCE.getMultiArrayDimension_Stride();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.MultiArrayLayoutImpl
+		 * <em>Multi Array Layout</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.MultiArrayLayoutImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getMultiArrayLayout()
+		 * @generated
+		 */
+		EClass MULTI_ARRAY_LAYOUT = eINSTANCE.getMultiArrayLayout();
+
+		/**
+		 * The meta object literal for the '<em><b>Dim</b></em>' containment reference list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference MULTI_ARRAY_LAYOUT__DIM = eINSTANCE.getMultiArrayLayout_Dim();
+
+		/**
+		 * The meta object literal for the '<em><b>Data offset</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute MULTI_ARRAY_LAYOUT__DATA_OFFSET = eINSTANCE.getMultiArrayLayout_Data_offset();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.ByteMultiArrayImpl
+		 * <em>Byte Multi Array</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.ByteMultiArrayImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getByteMultiArray()
+		 * @generated
+		 */
+		EClass BYTE_MULTI_ARRAY = eINSTANCE.getByteMultiArray();
+
+		/**
+		 * The meta object literal for the '<em><b>Layout</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference BYTE_MULTI_ARRAY__LAYOUT = eINSTANCE.getByteMultiArray_Layout();
+
+		/**
+		 * The meta object literal for the '<em><b>Data</b></em>' attribute list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute BYTE_MULTI_ARRAY__DATA = eINSTANCE.getByteMultiArray_Data();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.ColorRGBAImpl <em>Color RGBA</em>}'
+		 * class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.ColorRGBAImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getColorRGBA()
+		 * @generated
+		 */
+		EClass COLOR_RGBA = eINSTANCE.getColorRGBA();
+
+		/**
+		 * The meta object literal for the '<em><b>R</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute COLOR_RGBA__R = eINSTANCE.getColorRGBA_R();
+
+		/**
+		 * The meta object literal for the '<em><b>G</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute COLOR_RGBA__G = eINSTANCE.getColorRGBA_G();
+
+		/**
+		 * The meta object literal for the '<em><b>B</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute COLOR_RGBA__B = eINSTANCE.getColorRGBA_B();
+
+		/**
+		 * The meta object literal for the '<em><b>A</b></em>' attribute feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute COLOR_RGBA__A = eINSTANCE.getColorRGBA_A();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Float32MultiArrayImpl
+		 * <em>Float32 Multi Array</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Float32MultiArrayImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getFloat32MultiArray()
+		 * @generated
+		 */
+		EClass FLOAT32_MULTI_ARRAY = eINSTANCE.getFloat32MultiArray();
+
+		/**
+		 * The meta object literal for the '<em><b>Layout</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference FLOAT32_MULTI_ARRAY__LAYOUT = eINSTANCE.getFloat32MultiArray_Layout();
+
+		/**
+		 * The meta object literal for the '<em><b>Data</b></em>' attribute list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute FLOAT32_MULTI_ARRAY__DATA = eINSTANCE.getFloat32MultiArray_Data();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Int32MultiArrayImpl
+		 * <em>Int32 Multi Array</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Int32MultiArrayImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getInt32MultiArray()
+		 * @generated
+		 */
+		EClass INT32_MULTI_ARRAY = eINSTANCE.getInt32MultiArray();
+
+		/**
+		 * The meta object literal for the '<em><b>Layout</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference INT32_MULTI_ARRAY__LAYOUT = eINSTANCE.getInt32MultiArray_Layout();
+
+		/**
+		 * The meta object literal for the '<em><b>Data</b></em>' attribute list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute INT32_MULTI_ARRAY__DATA = eINSTANCE.getInt32MultiArray_Data();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Int8MultiArrayImpl
+		 * <em>Int8 Multi Array</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Int8MultiArrayImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getInt8MultiArray()
+		 * @generated
+		 */
+		EClass INT8_MULTI_ARRAY = eINSTANCE.getInt8MultiArray();
+
+		/**
+		 * The meta object literal for the '<em><b>Layout</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference INT8_MULTI_ARRAY__LAYOUT = eINSTANCE.getInt8MultiArray_Layout();
+
+		/**
+		 * The meta object literal for the '<em><b>Data</b></em>' attribute list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute INT8_MULTI_ARRAY__DATA = eINSTANCE.getInt8MultiArray_Data();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Int16MultiArrayImpl
+		 * <em>Int16 Multi Array</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Int16MultiArrayImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getInt16MultiArray()
+		 * @generated
+		 */
+		EClass INT16_MULTI_ARRAY = eINSTANCE.getInt16MultiArray();
+
+		/**
+		 * The meta object literal for the '<em><b>Layout</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference INT16_MULTI_ARRAY__LAYOUT = eINSTANCE.getInt16MultiArray_Layout();
+
+		/**
+		 * The meta object literal for the '<em><b>Data</b></em>' attribute list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute INT16_MULTI_ARRAY__DATA = eINSTANCE.getInt16MultiArray_Data();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Int64MultiArrayImpl
+		 * <em>Int64 Multi Array</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Int64MultiArrayImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getInt64MultiArray()
+		 * @generated
+		 */
+		EClass INT64_MULTI_ARRAY = eINSTANCE.getInt64MultiArray();
+
+		/**
+		 * The meta object literal for the '<em><b>Layout</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference INT64_MULTI_ARRAY__LAYOUT = eINSTANCE.getInt64MultiArray_Layout();
+
+		/**
+		 * The meta object literal for the '<em><b>Data</b></em>' attribute list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute INT64_MULTI_ARRAY__DATA = eINSTANCE.getInt64MultiArray_Data();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Float64MultiArrayImpl
+		 * <em>Float64 Multi Array</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Float64MultiArrayImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getFloat64MultiArray()
+		 * @generated
+		 */
+		EClass FLOAT64_MULTI_ARRAY = eINSTANCE.getFloat64MultiArray();
+
+		/**
+		 * The meta object literal for the '<em><b>Layout</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference FLOAT64_MULTI_ARRAY__LAYOUT = eINSTANCE.getFloat64MultiArray_Layout();
+
+		/**
+		 * The meta object literal for the '<em><b>Data</b></em>' attribute list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute FLOAT64_MULTI_ARRAY__DATA = eINSTANCE.getFloat64MultiArray_Data();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.UInt64MultiArrayImpl
+		 * <em>UInt64 Multi Array</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.UInt64MultiArrayImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getUInt64MultiArray()
+		 * @generated
+		 */
+		EClass UINT64_MULTI_ARRAY = eINSTANCE.getUInt64MultiArray();
+
+		/**
+		 * The meta object literal for the '<em><b>Layout</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference UINT64_MULTI_ARRAY__LAYOUT = eINSTANCE.getUInt64MultiArray_Layout();
+
+		/**
+		 * The meta object literal for the '<em><b>Data</b></em>' attribute list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute UINT64_MULTI_ARRAY__DATA = eINSTANCE.getUInt64MultiArray_Data();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.UIint16MultiArrayImpl
+		 * <em>UIint16 Multi Array</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.UIint16MultiArrayImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getUIint16MultiArray()
+		 * @generated
+		 */
+		EClass UIINT16_MULTI_ARRAY = eINSTANCE.getUIint16MultiArray();
+
+		/**
+		 * The meta object literal for the '<em><b>Layout</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference UIINT16_MULTI_ARRAY__LAYOUT = eINSTANCE.getUIint16MultiArray_Layout();
+
+		/**
+		 * The meta object literal for the '<em><b>Data</b></em>' attribute list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute UIINT16_MULTI_ARRAY__DATA = eINSTANCE.getUIint16MultiArray_Data();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.UInt32MultiArrayImpl
+		 * <em>UInt32 Multi Array</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.UInt32MultiArrayImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getUInt32MultiArray()
+		 * @generated
+		 */
+		EClass UINT32_MULTI_ARRAY = eINSTANCE.getUInt32MultiArray();
+
+		/**
+		 * The meta object literal for the '<em><b>Layout</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference UINT32_MULTI_ARRAY__LAYOUT = eINSTANCE.getUInt32MultiArray_Layout();
+
+		/**
+		 * The meta object literal for the '<em><b>Data</b></em>' attribute list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute UINT32_MULTI_ARRAY__DATA = eINSTANCE.getUInt32MultiArray_Data();
+
+		/**
+		 * The meta object literal for the '
+		 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.UInt8MultiArrayImpl
+		 * <em>UInt8 Multi Array</em>}' class.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.UInt8MultiArrayImpl
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getUInt8MultiArray()
+		 * @generated
+		 */
+		EClass UINT8_MULTI_ARRAY = eINSTANCE.getUInt8MultiArray();
+
+		/**
+		 * The meta object literal for the '<em><b>Layout</b></em>' containment reference feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EReference UINT8_MULTI_ARRAY__LAYOUT = eINSTANCE.getUInt8MultiArray_Layout();
+
+		/**
+		 * The meta object literal for the '<em><b>Data</b></em>' attribute list feature.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @generated
+		 */
+		EAttribute UINT8_MULTI_ARRAY__DATA = eINSTANCE.getUInt8MultiArray_Data();
+
+		/**
+		 * The meta object literal for the '<em>UInt32</em>' data type.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getUInt32()
+		 * @generated
+		 */
+		EDataType UINT32 = eINSTANCE.getUInt32();
+
+		/**
+		 * The meta object literal for the '<em>Time</em>' data type.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see java.util.Date
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getTime()
+		 * @generated
+		 */
+		EDataType TIME = eINSTANCE.getTime();
+
+		/**
+		 * The meta object literal for the '<em>String</em>' data type.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see java.lang.String
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getString()
+		 * @generated
+		 */
+		EDataType STRING = eINSTANCE.getString();
+
+		/**
+		 * The meta object literal for the '<em>Byte</em>' data type.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getByte()
+		 * @generated
+		 */
+		EDataType BYTE = eINSTANCE.getByte();
+
+		/**
+		 * The meta object literal for the '<em>Float64</em>' data type.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getFloat64()
+		 * @generated
+		 */
+		EDataType FLOAT64 = eINSTANCE.getFloat64();
+
+		/**
+		 * The meta object literal for the '<em>Int8</em>' data type.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getInt8()
+		 * @generated
+		 */
+		EDataType INT8 = eINSTANCE.getInt8();
+
+		/**
+		 * The meta object literal for the '<em>Bool</em>' data type.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getBool()
+		 * @generated
+		 */
+		EDataType BOOL = eINSTANCE.getBool();
+
+		/**
+		 * The meta object literal for the '<em>UInt8</em>' data type.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getUInt8()
+		 * @generated
+		 */
+		EDataType UINT8 = eINSTANCE.getUInt8();
+
+		/**
+		 * The meta object literal for the '<em>UInt16</em>' data type.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getUInt16()
+		 * @generated
+		 */
+		EDataType UINT16 = eINSTANCE.getUInt16();
+
+		/**
+		 * The meta object literal for the '<em>Int32</em>' data type.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getInt32()
+		 * @generated
+		 */
+		EDataType INT32 = eINSTANCE.getInt32();
+
+		/**
+		 * The meta object literal for the '<em>Int16</em>' data type.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getInt16()
+		 * @generated
+		 */
+		EDataType INT16 = eINSTANCE.getInt16();
+
+		/**
+		 * The meta object literal for the '<em>Char</em>' data type.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getChar()
+		 * @generated
+		 */
+		EDataType CHAR = eINSTANCE.getChar();
+
+		/**
+		 * The meta object literal for the '<em>Duration</em>' data type.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getDuration()
+		 * @generated
+		 */
+		EDataType DURATION = eINSTANCE.getDuration();
+
+		/**
+		 * The meta object literal for the '<em>Int64</em>' data type.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getInt64()
+		 * @generated
+		 */
+		EDataType INT64 = eINSTANCE.getInt64();
+
+		/**
+		 * The meta object literal for the '<em>UInt64</em>' data type.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getUInt64()
+		 * @generated
+		 */
+		EDataType UINT64 = eINSTANCE.getUInt64();
+
+		/**
+		 * The meta object literal for the '<em>Float32</em>' data type.
+		 * <!-- begin-user-doc -->
+		 * <!-- end-user-doc -->
+		 * 
+		 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl#getFloat32()
+		 * @generated
+		 */
+		EDataType FLOAT32 = eINSTANCE.getFloat32();
+
+	}
+
+} //Std_datatypesPackage
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/UIint16MultiArray.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/UIint16MultiArray.java
new file mode 100644
index 00000000000..568f6fe73ee
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/UIint16MultiArray.java
@@ -0,0 +1,82 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes;
+
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>UIint16 Multi Array</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UIint16MultiArray#getLayout <em>Layout</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UIint16MultiArray#getData <em>Data</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getUIint16MultiArray()
+ * @model
+ * @generated
+ */
+public interface UIint16MultiArray extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Layout</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Layout</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Layout</em>' containment reference.
+	 * @see #setLayout(MultiArrayLayout)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getUIint16MultiArray_Layout()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	MultiArrayLayout getLayout();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UIint16MultiArray#getLayout <em>Layout</em>}'
+	 * containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Layout</em>' containment reference.
+	 * @see #getLayout()
+	 * @generated
+	 */
+	void setLayout(MultiArrayLayout value);
+
+	/**
+	 * Returns the value of the '<em><b>Data</b></em>' attribute list.
+	 * The list contents are of type {@link java.lang.Integer}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Data</em>' attribute list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Data</em>' attribute list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getUIint16MultiArray_Data()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt16" ordered="false"
+	 * @generated
+	 */
+	EList<Integer> getData();
+
+} // UIint16MultiArray
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/UInt32MultiArray.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/UInt32MultiArray.java
new file mode 100644
index 00000000000..04dfa906eb6
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/UInt32MultiArray.java
@@ -0,0 +1,82 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes;
+
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>UInt32 Multi Array</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32MultiArray#getLayout <em>Layout</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32MultiArray#getData <em>Data</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getUInt32MultiArray()
+ * @model
+ * @generated
+ */
+public interface UInt32MultiArray extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Layout</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Layout</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Layout</em>' containment reference.
+	 * @see #setLayout(MultiArrayLayout)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getUInt32MultiArray_Layout()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	MultiArrayLayout getLayout();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32MultiArray#getLayout <em>Layout</em>}'
+	 * containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Layout</em>' containment reference.
+	 * @see #getLayout()
+	 * @generated
+	 */
+	void setLayout(MultiArrayLayout value);
+
+	/**
+	 * Returns the value of the '<em><b>Data</b></em>' attribute list.
+	 * The list contents are of type {@link java.lang.Long}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Data</em>' attribute list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Data</em>' attribute list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getUInt32MultiArray_Data()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32" ordered="false"
+	 * @generated
+	 */
+	EList<Long> getData();
+
+} // UInt32MultiArray
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/UInt64MultiArray.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/UInt64MultiArray.java
new file mode 100644
index 00000000000..9d4379f4cac
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/UInt64MultiArray.java
@@ -0,0 +1,82 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes;
+
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>UInt64 Multi Array</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt64MultiArray#getLayout <em>Layout</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt64MultiArray#getData <em>Data</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getUInt64MultiArray()
+ * @model
+ * @generated
+ */
+public interface UInt64MultiArray extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Layout</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Layout</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Layout</em>' containment reference.
+	 * @see #setLayout(MultiArrayLayout)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getUInt64MultiArray_Layout()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	MultiArrayLayout getLayout();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt64MultiArray#getLayout <em>Layout</em>}'
+	 * containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Layout</em>' containment reference.
+	 * @see #getLayout()
+	 * @generated
+	 */
+	void setLayout(MultiArrayLayout value);
+
+	/**
+	 * Returns the value of the '<em><b>Data</b></em>' attribute list.
+	 * The list contents are of type {@link java.lang.Long}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Data</em>' attribute list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Data</em>' attribute list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getUInt64MultiArray_Data()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt64" ordered="false"
+	 * @generated
+	 */
+	EList<Long> getData();
+
+} // UInt64MultiArray
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/UInt8MultiArray.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/UInt8MultiArray.java
new file mode 100644
index 00000000000..0995148e20f
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/UInt8MultiArray.java
@@ -0,0 +1,82 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes;
+
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EObject;
+
+/**
+ * <!-- begin-user-doc -->
+ * A representation of the model object '<em><b>UInt8 Multi Array</b></em>'.
+ * <!-- end-user-doc -->
+ * 
+ * <p>
+ * The following features are supported:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8MultiArray#getLayout <em>Layout</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8MultiArray#getData <em>Data</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getUInt8MultiArray()
+ * @model
+ * @generated
+ */
+public interface UInt8MultiArray extends EObject {
+
+	/**
+	 * Returns the value of the '<em><b>Layout</b></em>' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Layout</em>' containment reference isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Layout</em>' containment reference.
+	 * @see #setLayout(MultiArrayLayout)
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getUInt8MultiArray_Layout()
+	 * @model containment="true" required="true" ordered="false"
+	 * @generated
+	 */
+	MultiArrayLayout getLayout();
+
+	/**
+	 * Sets the value of the '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8MultiArray#getLayout <em>Layout</em>}'
+	 * containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param value
+	 *        the new value of the '<em>Layout</em>' containment reference.
+	 * @see #getLayout()
+	 * @generated
+	 */
+	void setLayout(MultiArrayLayout value);
+
+	/**
+	 * Returns the value of the '<em><b>Data</b></em>' attribute list.
+	 * The list contents are of type {@link java.lang.Character}.
+	 * <!-- begin-user-doc -->
+	 * <p>
+	 * If the meaning of the '<em>Data</em>' attribute list isn't clear, there really should be more of a description here...
+	 * </p>
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the value of the '<em>Data</em>' attribute list.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#getUInt8MultiArray_Data()
+	 * @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8" ordered="false"
+	 * @generated
+	 */
+	EList<Character> getData();
+
+} // UInt8MultiArray
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/ByteMultiArrayImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/ByteMultiArrayImpl.java
new file mode 100644
index 00000000000..b21b59f48b3
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/ByteMultiArrayImpl.java
@@ -0,0 +1,258 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl;
+
+import java.util.Collection;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.emf.ecore.util.EDataTypeUniqueEList;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ByteMultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayLayout;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Byte Multi Array</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.ByteMultiArrayImpl#getLayout <em>Layout
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.ByteMultiArrayImpl#getData <em>Data</em>}
+ * </li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class ByteMultiArrayImpl extends EObjectImpl implements ByteMultiArray {
+
+	/**
+	 * The cached value of the '{@link #getLayout() <em>Layout</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLayout()
+	 * @generated
+	 * @ordered
+	 */
+	protected MultiArrayLayout layout;
+
+	/**
+	 * The cached value of the '{@link #getData() <em>Data</em>}' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getData()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Byte> data;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected ByteMultiArrayImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Std_datatypesPackage.Literals.BYTE_MULTI_ARRAY;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public MultiArrayLayout getLayout() {
+		return layout;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetLayout(MultiArrayLayout newLayout, NotificationChain msgs) {
+		MultiArrayLayout oldLayout = layout;
+		layout = newLayout;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Std_datatypesPackage.BYTE_MULTI_ARRAY__LAYOUT, oldLayout, newLayout);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setLayout(MultiArrayLayout newLayout) {
+		if(newLayout != layout) {
+			NotificationChain msgs = null;
+			if(layout != null)
+				msgs = ((InternalEObject)layout).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Std_datatypesPackage.BYTE_MULTI_ARRAY__LAYOUT, null, msgs);
+			if(newLayout != null)
+				msgs = ((InternalEObject)newLayout).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Std_datatypesPackage.BYTE_MULTI_ARRAY__LAYOUT, null, msgs);
+			msgs = basicSetLayout(newLayout, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Std_datatypesPackage.BYTE_MULTI_ARRAY__LAYOUT, newLayout, newLayout));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Byte> getData() {
+		if(data == null) {
+			data = new EDataTypeUniqueEList<Byte>(Byte.class, this, Std_datatypesPackage.BYTE_MULTI_ARRAY__DATA);
+		}
+		return data;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Std_datatypesPackage.BYTE_MULTI_ARRAY__LAYOUT:
+			return basicSetLayout(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Std_datatypesPackage.BYTE_MULTI_ARRAY__LAYOUT:
+			return getLayout();
+		case Std_datatypesPackage.BYTE_MULTI_ARRAY__DATA:
+			return getData();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@SuppressWarnings("unchecked")
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Std_datatypesPackage.BYTE_MULTI_ARRAY__LAYOUT:
+			setLayout((MultiArrayLayout)newValue);
+			return;
+		case Std_datatypesPackage.BYTE_MULTI_ARRAY__DATA:
+			getData().clear();
+			getData().addAll((Collection<? extends Byte>)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Std_datatypesPackage.BYTE_MULTI_ARRAY__LAYOUT:
+			setLayout((MultiArrayLayout)null);
+			return;
+		case Std_datatypesPackage.BYTE_MULTI_ARRAY__DATA:
+			getData().clear();
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Std_datatypesPackage.BYTE_MULTI_ARRAY__LAYOUT:
+			return layout != null;
+		case Std_datatypesPackage.BYTE_MULTI_ARRAY__DATA:
+			return data != null && !data.isEmpty();
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (data: ");
+		result.append(data);
+		result.append(')');
+		return result.toString();
+	}
+
+} //ByteMultiArrayImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/ColorRGBAImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/ColorRGBAImpl.java
new file mode 100644
index 00000000000..dc581bf2732
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/ColorRGBAImpl.java
@@ -0,0 +1,356 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ColorRGBA;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Color RGBA</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.ColorRGBAImpl#getR <em>R</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.ColorRGBAImpl#getG <em>G</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.ColorRGBAImpl#getB <em>B</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.ColorRGBAImpl#getA <em>A</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class ColorRGBAImpl extends EObjectImpl implements ColorRGBA {
+
+	/**
+	 * The default value of the '{@link #getR() <em>R</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getR()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float R_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getR() <em>R</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getR()
+	 * @generated
+	 * @ordered
+	 */
+	protected float r = R_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getG() <em>G</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getG()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float G_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getG() <em>G</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getG()
+	 * @generated
+	 * @ordered
+	 */
+	protected float g = G_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getB() <em>B</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getB()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float B_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getB() <em>B</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getB()
+	 * @generated
+	 * @ordered
+	 */
+	protected float b = B_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getA() <em>A</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getA()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final float A_EDEFAULT = 0.0F;
+
+	/**
+	 * The cached value of the '{@link #getA() <em>A</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getA()
+	 * @generated
+	 * @ordered
+	 */
+	protected float a = A_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected ColorRGBAImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Std_datatypesPackage.Literals.COLOR_RGBA;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getR() {
+		return r;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setR(float newR) {
+		float oldR = r;
+		r = newR;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Std_datatypesPackage.COLOR_RGBA__R, oldR, r));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getG() {
+		return g;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setG(float newG) {
+		float oldG = g;
+		g = newG;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Std_datatypesPackage.COLOR_RGBA__G, oldG, g));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getB() {
+		return b;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setB(float newB) {
+		float oldB = b;
+		b = newB;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Std_datatypesPackage.COLOR_RGBA__B, oldB, b));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public float getA() {
+		return a;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setA(float newA) {
+		float oldA = a;
+		a = newA;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Std_datatypesPackage.COLOR_RGBA__A, oldA, a));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Std_datatypesPackage.COLOR_RGBA__R:
+			return getR();
+		case Std_datatypesPackage.COLOR_RGBA__G:
+			return getG();
+		case Std_datatypesPackage.COLOR_RGBA__B:
+			return getB();
+		case Std_datatypesPackage.COLOR_RGBA__A:
+			return getA();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Std_datatypesPackage.COLOR_RGBA__R:
+			setR((Float)newValue);
+			return;
+		case Std_datatypesPackage.COLOR_RGBA__G:
+			setG((Float)newValue);
+			return;
+		case Std_datatypesPackage.COLOR_RGBA__B:
+			setB((Float)newValue);
+			return;
+		case Std_datatypesPackage.COLOR_RGBA__A:
+			setA((Float)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Std_datatypesPackage.COLOR_RGBA__R:
+			setR(R_EDEFAULT);
+			return;
+		case Std_datatypesPackage.COLOR_RGBA__G:
+			setG(G_EDEFAULT);
+			return;
+		case Std_datatypesPackage.COLOR_RGBA__B:
+			setB(B_EDEFAULT);
+			return;
+		case Std_datatypesPackage.COLOR_RGBA__A:
+			setA(A_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Std_datatypesPackage.COLOR_RGBA__R:
+			return r != R_EDEFAULT;
+		case Std_datatypesPackage.COLOR_RGBA__G:
+			return g != G_EDEFAULT;
+		case Std_datatypesPackage.COLOR_RGBA__B:
+			return b != B_EDEFAULT;
+		case Std_datatypesPackage.COLOR_RGBA__A:
+			return a != A_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (r: ");
+		result.append(r);
+		result.append(", g: ");
+		result.append(g);
+		result.append(", b: ");
+		result.append(b);
+		result.append(", a: ");
+		result.append(a);
+		result.append(')');
+		return result.toString();
+	}
+
+} //ColorRGBAImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/Float32MultiArrayImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/Float32MultiArrayImpl.java
new file mode 100644
index 00000000000..db7e6f9359e
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/Float32MultiArrayImpl.java
@@ -0,0 +1,258 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl;
+
+import java.util.Collection;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.emf.ecore.util.EDataTypeUniqueEList;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayLayout;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Float32 Multi Array</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Float32MultiArrayImpl#getLayout <em>
+ * Layout</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Float32MultiArrayImpl#getData <em>Data
+ * </em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class Float32MultiArrayImpl extends EObjectImpl implements Float32MultiArray {
+
+	/**
+	 * The cached value of the '{@link #getLayout() <em>Layout</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLayout()
+	 * @generated
+	 * @ordered
+	 */
+	protected MultiArrayLayout layout;
+
+	/**
+	 * The cached value of the '{@link #getData() <em>Data</em>}' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getData()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Float> data;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected Float32MultiArrayImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Std_datatypesPackage.Literals.FLOAT32_MULTI_ARRAY;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public MultiArrayLayout getLayout() {
+		return layout;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetLayout(MultiArrayLayout newLayout, NotificationChain msgs) {
+		MultiArrayLayout oldLayout = layout;
+		layout = newLayout;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Std_datatypesPackage.FLOAT32_MULTI_ARRAY__LAYOUT, oldLayout, newLayout);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setLayout(MultiArrayLayout newLayout) {
+		if(newLayout != layout) {
+			NotificationChain msgs = null;
+			if(layout != null)
+				msgs = ((InternalEObject)layout).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Std_datatypesPackage.FLOAT32_MULTI_ARRAY__LAYOUT, null, msgs);
+			if(newLayout != null)
+				msgs = ((InternalEObject)newLayout).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Std_datatypesPackage.FLOAT32_MULTI_ARRAY__LAYOUT, null, msgs);
+			msgs = basicSetLayout(newLayout, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Std_datatypesPackage.FLOAT32_MULTI_ARRAY__LAYOUT, newLayout, newLayout));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Float> getData() {
+		if(data == null) {
+			data = new EDataTypeUniqueEList<Float>(Float.class, this, Std_datatypesPackage.FLOAT32_MULTI_ARRAY__DATA);
+		}
+		return data;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Std_datatypesPackage.FLOAT32_MULTI_ARRAY__LAYOUT:
+			return basicSetLayout(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Std_datatypesPackage.FLOAT32_MULTI_ARRAY__LAYOUT:
+			return getLayout();
+		case Std_datatypesPackage.FLOAT32_MULTI_ARRAY__DATA:
+			return getData();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@SuppressWarnings("unchecked")
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Std_datatypesPackage.FLOAT32_MULTI_ARRAY__LAYOUT:
+			setLayout((MultiArrayLayout)newValue);
+			return;
+		case Std_datatypesPackage.FLOAT32_MULTI_ARRAY__DATA:
+			getData().clear();
+			getData().addAll((Collection<? extends Float>)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Std_datatypesPackage.FLOAT32_MULTI_ARRAY__LAYOUT:
+			setLayout((MultiArrayLayout)null);
+			return;
+		case Std_datatypesPackage.FLOAT32_MULTI_ARRAY__DATA:
+			getData().clear();
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Std_datatypesPackage.FLOAT32_MULTI_ARRAY__LAYOUT:
+			return layout != null;
+		case Std_datatypesPackage.FLOAT32_MULTI_ARRAY__DATA:
+			return data != null && !data.isEmpty();
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (data: ");
+		result.append(data);
+		result.append(')');
+		return result.toString();
+	}
+
+} //Float32MultiArrayImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/Float64MultiArrayImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/Float64MultiArrayImpl.java
new file mode 100644
index 00000000000..0a24814c5af
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/Float64MultiArrayImpl.java
@@ -0,0 +1,258 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl;
+
+import java.util.Collection;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.emf.ecore.util.EDataTypeUniqueEList;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayLayout;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Float64 Multi Array</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Float64MultiArrayImpl#getLayout <em>
+ * Layout</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Float64MultiArrayImpl#getData <em>Data
+ * </em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class Float64MultiArrayImpl extends EObjectImpl implements Float64MultiArray {
+
+	/**
+	 * The cached value of the '{@link #getLayout() <em>Layout</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLayout()
+	 * @generated
+	 * @ordered
+	 */
+	protected MultiArrayLayout layout;
+
+	/**
+	 * The cached value of the '{@link #getData() <em>Data</em>}' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getData()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Double> data;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected Float64MultiArrayImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Std_datatypesPackage.Literals.FLOAT64_MULTI_ARRAY;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public MultiArrayLayout getLayout() {
+		return layout;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetLayout(MultiArrayLayout newLayout, NotificationChain msgs) {
+		MultiArrayLayout oldLayout = layout;
+		layout = newLayout;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Std_datatypesPackage.FLOAT64_MULTI_ARRAY__LAYOUT, oldLayout, newLayout);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setLayout(MultiArrayLayout newLayout) {
+		if(newLayout != layout) {
+			NotificationChain msgs = null;
+			if(layout != null)
+				msgs = ((InternalEObject)layout).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Std_datatypesPackage.FLOAT64_MULTI_ARRAY__LAYOUT, null, msgs);
+			if(newLayout != null)
+				msgs = ((InternalEObject)newLayout).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Std_datatypesPackage.FLOAT64_MULTI_ARRAY__LAYOUT, null, msgs);
+			msgs = basicSetLayout(newLayout, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Std_datatypesPackage.FLOAT64_MULTI_ARRAY__LAYOUT, newLayout, newLayout));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Double> getData() {
+		if(data == null) {
+			data = new EDataTypeUniqueEList<Double>(Double.class, this, Std_datatypesPackage.FLOAT64_MULTI_ARRAY__DATA);
+		}
+		return data;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Std_datatypesPackage.FLOAT64_MULTI_ARRAY__LAYOUT:
+			return basicSetLayout(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Std_datatypesPackage.FLOAT64_MULTI_ARRAY__LAYOUT:
+			return getLayout();
+		case Std_datatypesPackage.FLOAT64_MULTI_ARRAY__DATA:
+			return getData();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@SuppressWarnings("unchecked")
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Std_datatypesPackage.FLOAT64_MULTI_ARRAY__LAYOUT:
+			setLayout((MultiArrayLayout)newValue);
+			return;
+		case Std_datatypesPackage.FLOAT64_MULTI_ARRAY__DATA:
+			getData().clear();
+			getData().addAll((Collection<? extends Double>)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Std_datatypesPackage.FLOAT64_MULTI_ARRAY__LAYOUT:
+			setLayout((MultiArrayLayout)null);
+			return;
+		case Std_datatypesPackage.FLOAT64_MULTI_ARRAY__DATA:
+			getData().clear();
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Std_datatypesPackage.FLOAT64_MULTI_ARRAY__LAYOUT:
+			return layout != null;
+		case Std_datatypesPackage.FLOAT64_MULTI_ARRAY__DATA:
+			return data != null && !data.isEmpty();
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (data: ");
+		result.append(data);
+		result.append(')');
+		return result.toString();
+	}
+
+} //Float64MultiArrayImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/HeaderImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/HeaderImpl.java
new file mode 100644
index 00000000000..2b9abb4ce68
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/HeaderImpl.java
@@ -0,0 +1,301 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl;
+
+import java.util.Date;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Header</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.HeaderImpl#getSeq <em>Seq</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.HeaderImpl#getStamp <em>Stamp</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.HeaderImpl#getFrame_id <em>Frame id</em>}
+ * </li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class HeaderImpl extends EObjectImpl implements Header {
+
+	/**
+	 * The default value of the '{@link #getSeq() <em>Seq</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSeq()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final long SEQ_EDEFAULT = 0L;
+
+	/**
+	 * The cached value of the '{@link #getSeq() <em>Seq</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSeq()
+	 * @generated
+	 * @ordered
+	 */
+	protected long seq = SEQ_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getStamp() <em>Stamp</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getStamp()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final Date STAMP_EDEFAULT = null;
+
+	/**
+	 * The cached value of the '{@link #getStamp() <em>Stamp</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getStamp()
+	 * @generated
+	 * @ordered
+	 */
+	protected Date stamp = STAMP_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getFrame_id() <em>Frame id</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getFrame_id()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final String FRAME_ID_EDEFAULT = null;
+
+	/**
+	 * The cached value of the '{@link #getFrame_id() <em>Frame id</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getFrame_id()
+	 * @generated
+	 * @ordered
+	 */
+	protected String frame_id = FRAME_ID_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected HeaderImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Std_datatypesPackage.Literals.HEADER;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public long getSeq() {
+		return seq;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setSeq(long newSeq) {
+		long oldSeq = seq;
+		seq = newSeq;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Std_datatypesPackage.HEADER__SEQ, oldSeq, seq));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Date getStamp() {
+		return stamp;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setStamp(Date newStamp) {
+		Date oldStamp = stamp;
+		stamp = newStamp;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Std_datatypesPackage.HEADER__STAMP, oldStamp, stamp));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getFrame_id() {
+		return frame_id;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setFrame_id(String newFrame_id) {
+		String oldFrame_id = frame_id;
+		frame_id = newFrame_id;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Std_datatypesPackage.HEADER__FRAME_ID, oldFrame_id, frame_id));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Std_datatypesPackage.HEADER__SEQ:
+			return getSeq();
+		case Std_datatypesPackage.HEADER__STAMP:
+			return getStamp();
+		case Std_datatypesPackage.HEADER__FRAME_ID:
+			return getFrame_id();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Std_datatypesPackage.HEADER__SEQ:
+			setSeq((Long)newValue);
+			return;
+		case Std_datatypesPackage.HEADER__STAMP:
+			setStamp((Date)newValue);
+			return;
+		case Std_datatypesPackage.HEADER__FRAME_ID:
+			setFrame_id((String)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Std_datatypesPackage.HEADER__SEQ:
+			setSeq(SEQ_EDEFAULT);
+			return;
+		case Std_datatypesPackage.HEADER__STAMP:
+			setStamp(STAMP_EDEFAULT);
+			return;
+		case Std_datatypesPackage.HEADER__FRAME_ID:
+			setFrame_id(FRAME_ID_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Std_datatypesPackage.HEADER__SEQ:
+			return seq != SEQ_EDEFAULT;
+		case Std_datatypesPackage.HEADER__STAMP:
+			return STAMP_EDEFAULT == null ? stamp != null : !STAMP_EDEFAULT.equals(stamp);
+		case Std_datatypesPackage.HEADER__FRAME_ID:
+			return FRAME_ID_EDEFAULT == null ? frame_id != null : !FRAME_ID_EDEFAULT.equals(frame_id);
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (seq: ");
+		result.append(seq);
+		result.append(", stamp: ");
+		result.append(stamp);
+		result.append(", frame_id: ");
+		result.append(frame_id);
+		result.append(')');
+		return result.toString();
+	}
+
+} //HeaderImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/Int16MultiArrayImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/Int16MultiArrayImpl.java
new file mode 100644
index 00000000000..682eea80edc
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/Int16MultiArrayImpl.java
@@ -0,0 +1,258 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl;
+
+import java.util.Collection;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.emf.ecore.util.EDataTypeUniqueEList;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int16MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayLayout;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Int16 Multi Array</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Int16MultiArrayImpl#getLayout <em>Layout
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Int16MultiArrayImpl#getData <em>Data
+ * </em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class Int16MultiArrayImpl extends EObjectImpl implements Int16MultiArray {
+
+	/**
+	 * The cached value of the '{@link #getLayout() <em>Layout</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLayout()
+	 * @generated
+	 * @ordered
+	 */
+	protected MultiArrayLayout layout;
+
+	/**
+	 * The cached value of the '{@link #getData() <em>Data</em>}' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getData()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Integer> data;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected Int16MultiArrayImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Std_datatypesPackage.Literals.INT16_MULTI_ARRAY;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public MultiArrayLayout getLayout() {
+		return layout;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetLayout(MultiArrayLayout newLayout, NotificationChain msgs) {
+		MultiArrayLayout oldLayout = layout;
+		layout = newLayout;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Std_datatypesPackage.INT16_MULTI_ARRAY__LAYOUT, oldLayout, newLayout);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setLayout(MultiArrayLayout newLayout) {
+		if(newLayout != layout) {
+			NotificationChain msgs = null;
+			if(layout != null)
+				msgs = ((InternalEObject)layout).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Std_datatypesPackage.INT16_MULTI_ARRAY__LAYOUT, null, msgs);
+			if(newLayout != null)
+				msgs = ((InternalEObject)newLayout).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Std_datatypesPackage.INT16_MULTI_ARRAY__LAYOUT, null, msgs);
+			msgs = basicSetLayout(newLayout, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Std_datatypesPackage.INT16_MULTI_ARRAY__LAYOUT, newLayout, newLayout));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Integer> getData() {
+		if(data == null) {
+			data = new EDataTypeUniqueEList<Integer>(Integer.class, this, Std_datatypesPackage.INT16_MULTI_ARRAY__DATA);
+		}
+		return data;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Std_datatypesPackage.INT16_MULTI_ARRAY__LAYOUT:
+			return basicSetLayout(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Std_datatypesPackage.INT16_MULTI_ARRAY__LAYOUT:
+			return getLayout();
+		case Std_datatypesPackage.INT16_MULTI_ARRAY__DATA:
+			return getData();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@SuppressWarnings("unchecked")
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Std_datatypesPackage.INT16_MULTI_ARRAY__LAYOUT:
+			setLayout((MultiArrayLayout)newValue);
+			return;
+		case Std_datatypesPackage.INT16_MULTI_ARRAY__DATA:
+			getData().clear();
+			getData().addAll((Collection<? extends Integer>)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Std_datatypesPackage.INT16_MULTI_ARRAY__LAYOUT:
+			setLayout((MultiArrayLayout)null);
+			return;
+		case Std_datatypesPackage.INT16_MULTI_ARRAY__DATA:
+			getData().clear();
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Std_datatypesPackage.INT16_MULTI_ARRAY__LAYOUT:
+			return layout != null;
+		case Std_datatypesPackage.INT16_MULTI_ARRAY__DATA:
+			return data != null && !data.isEmpty();
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (data: ");
+		result.append(data);
+		result.append(')');
+		return result.toString();
+	}
+
+} //Int16MultiArrayImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/Int32MultiArrayImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/Int32MultiArrayImpl.java
new file mode 100644
index 00000000000..8aebb923ea9
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/Int32MultiArrayImpl.java
@@ -0,0 +1,258 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl;
+
+import java.util.Collection;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.emf.ecore.util.EDataTypeUniqueEList;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int32MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayLayout;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Int32 Multi Array</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Int32MultiArrayImpl#getLayout <em>Layout
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Int32MultiArrayImpl#getData <em>Data
+ * </em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class Int32MultiArrayImpl extends EObjectImpl implements Int32MultiArray {
+
+	/**
+	 * The cached value of the '{@link #getLayout() <em>Layout</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLayout()
+	 * @generated
+	 * @ordered
+	 */
+	protected MultiArrayLayout layout;
+
+	/**
+	 * The cached value of the '{@link #getData() <em>Data</em>}' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getData()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Integer> data;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected Int32MultiArrayImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Std_datatypesPackage.Literals.INT32_MULTI_ARRAY;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public MultiArrayLayout getLayout() {
+		return layout;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetLayout(MultiArrayLayout newLayout, NotificationChain msgs) {
+		MultiArrayLayout oldLayout = layout;
+		layout = newLayout;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Std_datatypesPackage.INT32_MULTI_ARRAY__LAYOUT, oldLayout, newLayout);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setLayout(MultiArrayLayout newLayout) {
+		if(newLayout != layout) {
+			NotificationChain msgs = null;
+			if(layout != null)
+				msgs = ((InternalEObject)layout).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Std_datatypesPackage.INT32_MULTI_ARRAY__LAYOUT, null, msgs);
+			if(newLayout != null)
+				msgs = ((InternalEObject)newLayout).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Std_datatypesPackage.INT32_MULTI_ARRAY__LAYOUT, null, msgs);
+			msgs = basicSetLayout(newLayout, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Std_datatypesPackage.INT32_MULTI_ARRAY__LAYOUT, newLayout, newLayout));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Integer> getData() {
+		if(data == null) {
+			data = new EDataTypeUniqueEList<Integer>(Integer.class, this, Std_datatypesPackage.INT32_MULTI_ARRAY__DATA);
+		}
+		return data;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Std_datatypesPackage.INT32_MULTI_ARRAY__LAYOUT:
+			return basicSetLayout(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Std_datatypesPackage.INT32_MULTI_ARRAY__LAYOUT:
+			return getLayout();
+		case Std_datatypesPackage.INT32_MULTI_ARRAY__DATA:
+			return getData();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@SuppressWarnings("unchecked")
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Std_datatypesPackage.INT32_MULTI_ARRAY__LAYOUT:
+			setLayout((MultiArrayLayout)newValue);
+			return;
+		case Std_datatypesPackage.INT32_MULTI_ARRAY__DATA:
+			getData().clear();
+			getData().addAll((Collection<? extends Integer>)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Std_datatypesPackage.INT32_MULTI_ARRAY__LAYOUT:
+			setLayout((MultiArrayLayout)null);
+			return;
+		case Std_datatypesPackage.INT32_MULTI_ARRAY__DATA:
+			getData().clear();
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Std_datatypesPackage.INT32_MULTI_ARRAY__LAYOUT:
+			return layout != null;
+		case Std_datatypesPackage.INT32_MULTI_ARRAY__DATA:
+			return data != null && !data.isEmpty();
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (data: ");
+		result.append(data);
+		result.append(')');
+		return result.toString();
+	}
+
+} //Int32MultiArrayImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/Int64MultiArrayImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/Int64MultiArrayImpl.java
new file mode 100644
index 00000000000..2d76c45352d
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/Int64MultiArrayImpl.java
@@ -0,0 +1,258 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl;
+
+import java.util.Collection;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.emf.ecore.util.EDataTypeUniqueEList;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int64MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayLayout;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Int64 Multi Array</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Int64MultiArrayImpl#getLayout <em>Layout
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Int64MultiArrayImpl#getData <em>Data
+ * </em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class Int64MultiArrayImpl extends EObjectImpl implements Int64MultiArray {
+
+	/**
+	 * The cached value of the '{@link #getLayout() <em>Layout</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLayout()
+	 * @generated
+	 * @ordered
+	 */
+	protected MultiArrayLayout layout;
+
+	/**
+	 * The cached value of the '{@link #getData() <em>Data</em>}' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getData()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Double> data;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected Int64MultiArrayImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Std_datatypesPackage.Literals.INT64_MULTI_ARRAY;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public MultiArrayLayout getLayout() {
+		return layout;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetLayout(MultiArrayLayout newLayout, NotificationChain msgs) {
+		MultiArrayLayout oldLayout = layout;
+		layout = newLayout;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Std_datatypesPackage.INT64_MULTI_ARRAY__LAYOUT, oldLayout, newLayout);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setLayout(MultiArrayLayout newLayout) {
+		if(newLayout != layout) {
+			NotificationChain msgs = null;
+			if(layout != null)
+				msgs = ((InternalEObject)layout).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Std_datatypesPackage.INT64_MULTI_ARRAY__LAYOUT, null, msgs);
+			if(newLayout != null)
+				msgs = ((InternalEObject)newLayout).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Std_datatypesPackage.INT64_MULTI_ARRAY__LAYOUT, null, msgs);
+			msgs = basicSetLayout(newLayout, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Std_datatypesPackage.INT64_MULTI_ARRAY__LAYOUT, newLayout, newLayout));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Double> getData() {
+		if(data == null) {
+			data = new EDataTypeUniqueEList<Double>(Double.class, this, Std_datatypesPackage.INT64_MULTI_ARRAY__DATA);
+		}
+		return data;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Std_datatypesPackage.INT64_MULTI_ARRAY__LAYOUT:
+			return basicSetLayout(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Std_datatypesPackage.INT64_MULTI_ARRAY__LAYOUT:
+			return getLayout();
+		case Std_datatypesPackage.INT64_MULTI_ARRAY__DATA:
+			return getData();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@SuppressWarnings("unchecked")
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Std_datatypesPackage.INT64_MULTI_ARRAY__LAYOUT:
+			setLayout((MultiArrayLayout)newValue);
+			return;
+		case Std_datatypesPackage.INT64_MULTI_ARRAY__DATA:
+			getData().clear();
+			getData().addAll((Collection<? extends Double>)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Std_datatypesPackage.INT64_MULTI_ARRAY__LAYOUT:
+			setLayout((MultiArrayLayout)null);
+			return;
+		case Std_datatypesPackage.INT64_MULTI_ARRAY__DATA:
+			getData().clear();
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Std_datatypesPackage.INT64_MULTI_ARRAY__LAYOUT:
+			return layout != null;
+		case Std_datatypesPackage.INT64_MULTI_ARRAY__DATA:
+			return data != null && !data.isEmpty();
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (data: ");
+		result.append(data);
+		result.append(')');
+		return result.toString();
+	}
+
+} //Int64MultiArrayImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/Int8MultiArrayImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/Int8MultiArrayImpl.java
new file mode 100644
index 00000000000..1414c9e7d56
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/Int8MultiArrayImpl.java
@@ -0,0 +1,258 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl;
+
+import java.util.Collection;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.emf.ecore.util.EDataTypeUniqueEList;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int8MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayLayout;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Int8 Multi Array</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Int8MultiArrayImpl#getLayout <em>Layout
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Int8MultiArrayImpl#getData <em>Data</em>}
+ * </li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class Int8MultiArrayImpl extends EObjectImpl implements Int8MultiArray {
+
+	/**
+	 * The cached value of the '{@link #getLayout() <em>Layout</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLayout()
+	 * @generated
+	 * @ordered
+	 */
+	protected MultiArrayLayout layout;
+
+	/**
+	 * The cached value of the '{@link #getData() <em>Data</em>}' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getData()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Character> data;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected Int8MultiArrayImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Std_datatypesPackage.Literals.INT8_MULTI_ARRAY;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public MultiArrayLayout getLayout() {
+		return layout;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetLayout(MultiArrayLayout newLayout, NotificationChain msgs) {
+		MultiArrayLayout oldLayout = layout;
+		layout = newLayout;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Std_datatypesPackage.INT8_MULTI_ARRAY__LAYOUT, oldLayout, newLayout);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setLayout(MultiArrayLayout newLayout) {
+		if(newLayout != layout) {
+			NotificationChain msgs = null;
+			if(layout != null)
+				msgs = ((InternalEObject)layout).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Std_datatypesPackage.INT8_MULTI_ARRAY__LAYOUT, null, msgs);
+			if(newLayout != null)
+				msgs = ((InternalEObject)newLayout).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Std_datatypesPackage.INT8_MULTI_ARRAY__LAYOUT, null, msgs);
+			msgs = basicSetLayout(newLayout, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Std_datatypesPackage.INT8_MULTI_ARRAY__LAYOUT, newLayout, newLayout));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Character> getData() {
+		if(data == null) {
+			data = new EDataTypeUniqueEList<Character>(Character.class, this, Std_datatypesPackage.INT8_MULTI_ARRAY__DATA);
+		}
+		return data;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Std_datatypesPackage.INT8_MULTI_ARRAY__LAYOUT:
+			return basicSetLayout(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Std_datatypesPackage.INT8_MULTI_ARRAY__LAYOUT:
+			return getLayout();
+		case Std_datatypesPackage.INT8_MULTI_ARRAY__DATA:
+			return getData();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@SuppressWarnings("unchecked")
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Std_datatypesPackage.INT8_MULTI_ARRAY__LAYOUT:
+			setLayout((MultiArrayLayout)newValue);
+			return;
+		case Std_datatypesPackage.INT8_MULTI_ARRAY__DATA:
+			getData().clear();
+			getData().addAll((Collection<? extends Character>)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Std_datatypesPackage.INT8_MULTI_ARRAY__LAYOUT:
+			setLayout((MultiArrayLayout)null);
+			return;
+		case Std_datatypesPackage.INT8_MULTI_ARRAY__DATA:
+			getData().clear();
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Std_datatypesPackage.INT8_MULTI_ARRAY__LAYOUT:
+			return layout != null;
+		case Std_datatypesPackage.INT8_MULTI_ARRAY__DATA:
+			return data != null && !data.isEmpty();
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (data: ");
+		result.append(data);
+		result.append(')');
+		return result.toString();
+	}
+
+} //Int8MultiArrayImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/MultiArrayDimensionImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/MultiArrayDimensionImpl.java
new file mode 100644
index 00000000000..428323a9a7e
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/MultiArrayDimensionImpl.java
@@ -0,0 +1,301 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayDimension;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Multi Array Dimension</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.MultiArrayDimensionImpl#getLabel <em>
+ * Label</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.MultiArrayDimensionImpl#getSize <em>Size
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.MultiArrayDimensionImpl#getStride <em>
+ * Stride</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class MultiArrayDimensionImpl extends EObjectImpl implements MultiArrayDimension {
+
+	/**
+	 * The default value of the '{@link #getLabel() <em>Label</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLabel()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final String LABEL_EDEFAULT = null;
+
+	/**
+	 * The cached value of the '{@link #getLabel() <em>Label</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLabel()
+	 * @generated
+	 * @ordered
+	 */
+	protected String label = LABEL_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getSize() <em>Size</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSize()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final long SIZE_EDEFAULT = 0L;
+
+	/**
+	 * The cached value of the '{@link #getSize() <em>Size</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getSize()
+	 * @generated
+	 * @ordered
+	 */
+	protected long size = SIZE_EDEFAULT;
+
+	/**
+	 * The default value of the '{@link #getStride() <em>Stride</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getStride()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final long STRIDE_EDEFAULT = 0L;
+
+	/**
+	 * The cached value of the '{@link #getStride() <em>Stride</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getStride()
+	 * @generated
+	 * @ordered
+	 */
+	protected long stride = STRIDE_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected MultiArrayDimensionImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Std_datatypesPackage.Literals.MULTI_ARRAY_DIMENSION;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String getLabel() {
+		return label;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setLabel(String newLabel) {
+		String oldLabel = label;
+		label = newLabel;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Std_datatypesPackage.MULTI_ARRAY_DIMENSION__LABEL, oldLabel, label));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public long getSize() {
+		return size;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setSize(long newSize) {
+		long oldSize = size;
+		size = newSize;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Std_datatypesPackage.MULTI_ARRAY_DIMENSION__SIZE, oldSize, size));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public long getStride() {
+		return stride;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setStride(long newStride) {
+		long oldStride = stride;
+		stride = newStride;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Std_datatypesPackage.MULTI_ARRAY_DIMENSION__STRIDE, oldStride, stride));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Std_datatypesPackage.MULTI_ARRAY_DIMENSION__LABEL:
+			return getLabel();
+		case Std_datatypesPackage.MULTI_ARRAY_DIMENSION__SIZE:
+			return getSize();
+		case Std_datatypesPackage.MULTI_ARRAY_DIMENSION__STRIDE:
+			return getStride();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Std_datatypesPackage.MULTI_ARRAY_DIMENSION__LABEL:
+			setLabel((String)newValue);
+			return;
+		case Std_datatypesPackage.MULTI_ARRAY_DIMENSION__SIZE:
+			setSize((Long)newValue);
+			return;
+		case Std_datatypesPackage.MULTI_ARRAY_DIMENSION__STRIDE:
+			setStride((Long)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Std_datatypesPackage.MULTI_ARRAY_DIMENSION__LABEL:
+			setLabel(LABEL_EDEFAULT);
+			return;
+		case Std_datatypesPackage.MULTI_ARRAY_DIMENSION__SIZE:
+			setSize(SIZE_EDEFAULT);
+			return;
+		case Std_datatypesPackage.MULTI_ARRAY_DIMENSION__STRIDE:
+			setStride(STRIDE_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Std_datatypesPackage.MULTI_ARRAY_DIMENSION__LABEL:
+			return LABEL_EDEFAULT == null ? label != null : !LABEL_EDEFAULT.equals(label);
+		case Std_datatypesPackage.MULTI_ARRAY_DIMENSION__SIZE:
+			return size != SIZE_EDEFAULT;
+		case Std_datatypesPackage.MULTI_ARRAY_DIMENSION__STRIDE:
+			return stride != STRIDE_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (label: ");
+		result.append(label);
+		result.append(", size: ");
+		result.append(size);
+		result.append(", stride: ");
+		result.append(stride);
+		result.append(')');
+		return result.toString();
+	}
+
+} //MultiArrayDimensionImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/MultiArrayLayoutImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/MultiArrayLayoutImpl.java
new file mode 100644
index 00000000000..7880abb0cf3
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/MultiArrayLayoutImpl.java
@@ -0,0 +1,244 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl;
+
+import java.util.Collection;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.emf.ecore.util.EObjectContainmentEList;
+import org.eclipse.emf.ecore.util.InternalEList;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayDimension;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayLayout;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>Multi Array Layout</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.MultiArrayLayoutImpl#getDim <em>Dim</em>}
+ * </li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.MultiArrayLayoutImpl#getData_offset <em>
+ * Data offset</em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class MultiArrayLayoutImpl extends EObjectImpl implements MultiArrayLayout {
+
+	/**
+	 * The cached value of the '{@link #getDim() <em>Dim</em>}' containment reference list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getDim()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<MultiArrayDimension> dim;
+
+	/**
+	 * The default value of the '{@link #getData_offset() <em>Data offset</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getData_offset()
+	 * @generated
+	 * @ordered
+	 */
+	protected static final long DATA_OFFSET_EDEFAULT = 0L;
+
+	/**
+	 * The cached value of the '{@link #getData_offset() <em>Data offset</em>}' attribute.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getData_offset()
+	 * @generated
+	 * @ordered
+	 */
+	protected long data_offset = DATA_OFFSET_EDEFAULT;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected MultiArrayLayoutImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Std_datatypesPackage.Literals.MULTI_ARRAY_LAYOUT;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<MultiArrayDimension> getDim() {
+		if(dim == null) {
+			dim = new EObjectContainmentEList<MultiArrayDimension>(MultiArrayDimension.class, this, Std_datatypesPackage.MULTI_ARRAY_LAYOUT__DIM);
+		}
+		return dim;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public long getData_offset() {
+		return data_offset;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setData_offset(long newData_offset) {
+		long oldData_offset = data_offset;
+		data_offset = newData_offset;
+		if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Std_datatypesPackage.MULTI_ARRAY_LAYOUT__DATA_OFFSET, oldData_offset, data_offset));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Std_datatypesPackage.MULTI_ARRAY_LAYOUT__DIM:
+			return ((InternalEList<?>)getDim()).basicRemove(otherEnd, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Std_datatypesPackage.MULTI_ARRAY_LAYOUT__DIM:
+			return getDim();
+		case Std_datatypesPackage.MULTI_ARRAY_LAYOUT__DATA_OFFSET:
+			return getData_offset();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@SuppressWarnings("unchecked")
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Std_datatypesPackage.MULTI_ARRAY_LAYOUT__DIM:
+			getDim().clear();
+			getDim().addAll((Collection<? extends MultiArrayDimension>)newValue);
+			return;
+		case Std_datatypesPackage.MULTI_ARRAY_LAYOUT__DATA_OFFSET:
+			setData_offset((Long)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Std_datatypesPackage.MULTI_ARRAY_LAYOUT__DIM:
+			getDim().clear();
+			return;
+		case Std_datatypesPackage.MULTI_ARRAY_LAYOUT__DATA_OFFSET:
+			setData_offset(DATA_OFFSET_EDEFAULT);
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Std_datatypesPackage.MULTI_ARRAY_LAYOUT__DIM:
+			return dim != null && !dim.isEmpty();
+		case Std_datatypesPackage.MULTI_ARRAY_LAYOUT__DATA_OFFSET:
+			return data_offset != DATA_OFFSET_EDEFAULT;
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (data_offset: ");
+		result.append(data_offset);
+		result.append(')');
+		return result.toString();
+	}
+
+} //MultiArrayLayoutImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/Std_datatypesFactoryImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/Std_datatypesFactoryImpl.java
new file mode 100644
index 00000000000..1f08feaca01
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/Std_datatypesFactoryImpl.java
@@ -0,0 +1,722 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl;
+
+import java.util.Date;
+
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.EDataType;
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.emf.ecore.EPackage;
+import org.eclipse.emf.ecore.impl.EFactoryImpl;
+import org.eclipse.emf.ecore.plugin.EcorePlugin;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ByteMultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ColorRGBA;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int16MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int32MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int64MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int8MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayDimension;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayLayout;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesFactory;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UIint16MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt64MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8MultiArray;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model <b>Factory</b>.
+ * <!-- end-user-doc -->
+ * 
+ * @generated
+ */
+public class Std_datatypesFactoryImpl extends EFactoryImpl implements Std_datatypesFactory {
+
+	/**
+	 * Creates the default factory implementation.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public static Std_datatypesFactory init() {
+		try {
+			Std_datatypesFactory theStd_datatypesFactory = (Std_datatypesFactory)EPackage.Registry.INSTANCE.getEFactory("http:///RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes.ecore");
+			if(theStd_datatypesFactory != null) {
+				return theStd_datatypesFactory;
+			}
+		} catch (Exception exception) {
+			EcorePlugin.INSTANCE.log(exception);
+		}
+		return new Std_datatypesFactoryImpl();
+	}
+
+	/**
+	 * Creates an instance of the factory.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Std_datatypesFactoryImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public EObject create(EClass eClass) {
+		switch(eClass.getClassifierID()) {
+		case Std_datatypesPackage.HEADER:
+			return createHeader();
+		case Std_datatypesPackage.MULTI_ARRAY_DIMENSION:
+			return createMultiArrayDimension();
+		case Std_datatypesPackage.MULTI_ARRAY_LAYOUT:
+			return createMultiArrayLayout();
+		case Std_datatypesPackage.BYTE_MULTI_ARRAY:
+			return createByteMultiArray();
+		case Std_datatypesPackage.COLOR_RGBA:
+			return createColorRGBA();
+		case Std_datatypesPackage.FLOAT32_MULTI_ARRAY:
+			return createFloat32MultiArray();
+		case Std_datatypesPackage.INT32_MULTI_ARRAY:
+			return createInt32MultiArray();
+		case Std_datatypesPackage.INT8_MULTI_ARRAY:
+			return createInt8MultiArray();
+		case Std_datatypesPackage.INT16_MULTI_ARRAY:
+			return createInt16MultiArray();
+		case Std_datatypesPackage.INT64_MULTI_ARRAY:
+			return createInt64MultiArray();
+		case Std_datatypesPackage.FLOAT64_MULTI_ARRAY:
+			return createFloat64MultiArray();
+		case Std_datatypesPackage.UINT64_MULTI_ARRAY:
+			return createUInt64MultiArray();
+		case Std_datatypesPackage.UIINT16_MULTI_ARRAY:
+			return createUIint16MultiArray();
+		case Std_datatypesPackage.UINT32_MULTI_ARRAY:
+			return createUInt32MultiArray();
+		case Std_datatypesPackage.UINT8_MULTI_ARRAY:
+			return createUInt8MultiArray();
+		default:
+			throw new IllegalArgumentException("The class '" + eClass.getName() + "' is not a valid classifier");
+		}
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object createFromString(EDataType eDataType, String initialValue) {
+		switch(eDataType.getClassifierID()) {
+		case Std_datatypesPackage.UINT32:
+			return createUInt32FromString(eDataType, initialValue);
+		case Std_datatypesPackage.TIME:
+			return createTimeFromString(eDataType, initialValue);
+		case Std_datatypesPackage.STRING:
+			return createStringFromString(eDataType, initialValue);
+		case Std_datatypesPackage.BYTE:
+			return createByteFromString(eDataType, initialValue);
+		case Std_datatypesPackage.FLOAT64:
+			return createFloat64FromString(eDataType, initialValue);
+		case Std_datatypesPackage.INT8:
+			return createInt8FromString(eDataType, initialValue);
+		case Std_datatypesPackage.BOOL:
+			return createBoolFromString(eDataType, initialValue);
+		case Std_datatypesPackage.UINT8:
+			return createUInt8FromString(eDataType, initialValue);
+		case Std_datatypesPackage.UINT16:
+			return createUInt16FromString(eDataType, initialValue);
+		case Std_datatypesPackage.INT32:
+			return createInt32FromString(eDataType, initialValue);
+		case Std_datatypesPackage.INT16:
+			return createInt16FromString(eDataType, initialValue);
+		case Std_datatypesPackage.CHAR:
+			return createCharFromString(eDataType, initialValue);
+		case Std_datatypesPackage.DURATION:
+			return createDurationFromString(eDataType, initialValue);
+		case Std_datatypesPackage.INT64:
+			return createInt64FromString(eDataType, initialValue);
+		case Std_datatypesPackage.UINT64:
+			return createUInt64FromString(eDataType, initialValue);
+		case Std_datatypesPackage.FLOAT32:
+			return createFloat32FromString(eDataType, initialValue);
+		default:
+			throw new IllegalArgumentException("The datatype '" + eDataType.getName() + "' is not a valid classifier");
+		}
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String convertToString(EDataType eDataType, Object instanceValue) {
+		switch(eDataType.getClassifierID()) {
+		case Std_datatypesPackage.UINT32:
+			return convertUInt32ToString(eDataType, instanceValue);
+		case Std_datatypesPackage.TIME:
+			return convertTimeToString(eDataType, instanceValue);
+		case Std_datatypesPackage.STRING:
+			return convertStringToString(eDataType, instanceValue);
+		case Std_datatypesPackage.BYTE:
+			return convertByteToString(eDataType, instanceValue);
+		case Std_datatypesPackage.FLOAT64:
+			return convertFloat64ToString(eDataType, instanceValue);
+		case Std_datatypesPackage.INT8:
+			return convertInt8ToString(eDataType, instanceValue);
+		case Std_datatypesPackage.BOOL:
+			return convertBoolToString(eDataType, instanceValue);
+		case Std_datatypesPackage.UINT8:
+			return convertUInt8ToString(eDataType, instanceValue);
+		case Std_datatypesPackage.UINT16:
+			return convertUInt16ToString(eDataType, instanceValue);
+		case Std_datatypesPackage.INT32:
+			return convertInt32ToString(eDataType, instanceValue);
+		case Std_datatypesPackage.INT16:
+			return convertInt16ToString(eDataType, instanceValue);
+		case Std_datatypesPackage.CHAR:
+			return convertCharToString(eDataType, instanceValue);
+		case Std_datatypesPackage.DURATION:
+			return convertDurationToString(eDataType, instanceValue);
+		case Std_datatypesPackage.INT64:
+			return convertInt64ToString(eDataType, instanceValue);
+		case Std_datatypesPackage.UINT64:
+			return convertUInt64ToString(eDataType, instanceValue);
+		case Std_datatypesPackage.FLOAT32:
+			return convertFloat32ToString(eDataType, instanceValue);
+		default:
+			throw new IllegalArgumentException("The datatype '" + eDataType.getName() + "' is not a valid classifier");
+		}
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Header createHeader() {
+		HeaderImpl header = new HeaderImpl();
+		return header;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public MultiArrayDimension createMultiArrayDimension() {
+		MultiArrayDimensionImpl multiArrayDimension = new MultiArrayDimensionImpl();
+		return multiArrayDimension;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public MultiArrayLayout createMultiArrayLayout() {
+		MultiArrayLayoutImpl multiArrayLayout = new MultiArrayLayoutImpl();
+		return multiArrayLayout;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public ByteMultiArray createByteMultiArray() {
+		ByteMultiArrayImpl byteMultiArray = new ByteMultiArrayImpl();
+		return byteMultiArray;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public ColorRGBA createColorRGBA() {
+		ColorRGBAImpl colorRGBA = new ColorRGBAImpl();
+		return colorRGBA;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Float32MultiArray createFloat32MultiArray() {
+		Float32MultiArrayImpl float32MultiArray = new Float32MultiArrayImpl();
+		return float32MultiArray;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Int32MultiArray createInt32MultiArray() {
+		Int32MultiArrayImpl int32MultiArray = new Int32MultiArrayImpl();
+		return int32MultiArray;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Int8MultiArray createInt8MultiArray() {
+		Int8MultiArrayImpl int8MultiArray = new Int8MultiArrayImpl();
+		return int8MultiArray;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Int16MultiArray createInt16MultiArray() {
+		Int16MultiArrayImpl int16MultiArray = new Int16MultiArrayImpl();
+		return int16MultiArray;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Int64MultiArray createInt64MultiArray() {
+		Int64MultiArrayImpl int64MultiArray = new Int64MultiArrayImpl();
+		return int64MultiArray;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Float64MultiArray createFloat64MultiArray() {
+		Float64MultiArrayImpl float64MultiArray = new Float64MultiArrayImpl();
+		return float64MultiArray;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public UInt64MultiArray createUInt64MultiArray() {
+		UInt64MultiArrayImpl uInt64MultiArray = new UInt64MultiArrayImpl();
+		return uInt64MultiArray;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public UIint16MultiArray createUIint16MultiArray() {
+		UIint16MultiArrayImpl uIint16MultiArray = new UIint16MultiArrayImpl();
+		return uIint16MultiArray;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public UInt32MultiArray createUInt32MultiArray() {
+		UInt32MultiArrayImpl uInt32MultiArray = new UInt32MultiArrayImpl();
+		return uInt32MultiArray;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public UInt8MultiArray createUInt8MultiArray() {
+		UInt8MultiArrayImpl uInt8MultiArray = new UInt8MultiArrayImpl();
+		return uInt8MultiArray;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Long createUInt32FromString(EDataType eDataType, String initialValue) {
+		return (Long)super.createFromString(eDataType, initialValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String convertUInt32ToString(EDataType eDataType, Object instanceValue) {
+		return super.convertToString(eDataType, instanceValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Date createTimeFromString(EDataType eDataType, String initialValue) {
+		return (Date)super.createFromString(eDataType, initialValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String convertTimeToString(EDataType eDataType, Object instanceValue) {
+		return super.convertToString(eDataType, instanceValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String createStringFromString(EDataType eDataType, String initialValue) {
+		return (String)super.createFromString(eDataType, initialValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String convertStringToString(EDataType eDataType, Object instanceValue) {
+		return super.convertToString(eDataType, instanceValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Byte createByteFromString(EDataType eDataType, String initialValue) {
+		return (Byte)super.createFromString(eDataType, initialValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String convertByteToString(EDataType eDataType, Object instanceValue) {
+		return super.convertToString(eDataType, instanceValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Double createFloat64FromString(EDataType eDataType, String initialValue) {
+		return (Double)super.createFromString(eDataType, initialValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String convertFloat64ToString(EDataType eDataType, Object instanceValue) {
+		return super.convertToString(eDataType, instanceValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Character createInt8FromString(EDataType eDataType, String initialValue) {
+		return (Character)super.createFromString(eDataType, initialValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String convertInt8ToString(EDataType eDataType, Object instanceValue) {
+		return super.convertToString(eDataType, instanceValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Boolean createBoolFromString(EDataType eDataType, String initialValue) {
+		return (Boolean)super.createFromString(eDataType, initialValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String convertBoolToString(EDataType eDataType, Object instanceValue) {
+		return super.convertToString(eDataType, instanceValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Character createUInt8FromString(EDataType eDataType, String initialValue) {
+		return (Character)super.createFromString(eDataType, initialValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String convertUInt8ToString(EDataType eDataType, Object instanceValue) {
+		return super.convertToString(eDataType, instanceValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Integer createUInt16FromString(EDataType eDataType, String initialValue) {
+		return (Integer)super.createFromString(eDataType, initialValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String convertUInt16ToString(EDataType eDataType, Object instanceValue) {
+		return super.convertToString(eDataType, instanceValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Integer createInt32FromString(EDataType eDataType, String initialValue) {
+		return (Integer)super.createFromString(eDataType, initialValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String convertInt32ToString(EDataType eDataType, Object instanceValue) {
+		return super.convertToString(eDataType, instanceValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Integer createInt16FromString(EDataType eDataType, String initialValue) {
+		return (Integer)super.createFromString(eDataType, initialValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String convertInt16ToString(EDataType eDataType, Object instanceValue) {
+		return super.convertToString(eDataType, instanceValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Character createCharFromString(EDataType eDataType, String initialValue) {
+		return (Character)super.createFromString(eDataType, initialValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String convertCharToString(EDataType eDataType, Object instanceValue) {
+		return super.convertToString(eDataType, instanceValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Double createDurationFromString(EDataType eDataType, String initialValue) {
+		return (Double)super.createFromString(eDataType, initialValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String convertDurationToString(EDataType eDataType, Object instanceValue) {
+		return super.convertToString(eDataType, instanceValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Double createInt64FromString(EDataType eDataType, String initialValue) {
+		return (Double)super.createFromString(eDataType, initialValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String convertInt64ToString(EDataType eDataType, Object instanceValue) {
+		return super.convertToString(eDataType, instanceValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Long createUInt64FromString(EDataType eDataType, String initialValue) {
+		return (Long)super.createFromString(eDataType, initialValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String convertUInt64ToString(EDataType eDataType, Object instanceValue) {
+		return super.convertToString(eDataType, instanceValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Float createFloat32FromString(EDataType eDataType, String initialValue) {
+		return (Float)super.createFromString(eDataType, initialValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public String convertFloat32ToString(EDataType eDataType, Object instanceValue) {
+		return super.convertToString(eDataType, instanceValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Std_datatypesPackage getStd_datatypesPackage() {
+		return (Std_datatypesPackage)getEPackage();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @deprecated
+	 * @generated
+	 */
+	@Deprecated
+	public static Std_datatypesPackage getPackage() {
+		return Std_datatypesPackage.eINSTANCE;
+	}
+
+} //Std_datatypesFactoryImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/Std_datatypesPackageImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/Std_datatypesPackageImpl.java
new file mode 100644
index 00000000000..5ad29c51d0f
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/Std_datatypesPackageImpl.java
@@ -0,0 +1,1288 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl;
+
+import java.util.Date;
+
+import org.eclipse.emf.ecore.EAttribute;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.EDataType;
+import org.eclipse.emf.ecore.EPackage;
+import org.eclipse.emf.ecore.EReference;
+import org.eclipse.emf.ecore.impl.EPackageImpl;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.papyrus.RobotML.impl.RobotMLPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.Actionlib_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.Diagnostic_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.Nav_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.Oarp1_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl.Oarp1_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ByteMultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ColorRGBA;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int16MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int32MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int64MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int8MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayDimension;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayLayout;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesFactory;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UIint16MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt64MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8MultiArray;
+import org.eclipse.uml2.uml.UMLPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model <b>Package</b>.
+ * <!-- end-user-doc -->
+ * 
+ * @generated
+ */
+public class Std_datatypesPackageImpl extends EPackageImpl implements Std_datatypesPackage {
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass headerEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass multiArrayDimensionEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass multiArrayLayoutEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass byteMultiArrayEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass colorRGBAEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass float32MultiArrayEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass int32MultiArrayEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass int8MultiArrayEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass int16MultiArrayEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass int64MultiArrayEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass float64MultiArrayEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass uInt64MultiArrayEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass uIint16MultiArrayEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass uInt32MultiArrayEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EClass uInt8MultiArrayEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EDataType uInt32EDataType = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EDataType timeEDataType = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EDataType stringEDataType = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EDataType byteEDataType = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EDataType float64EDataType = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EDataType int8EDataType = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EDataType boolEDataType = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EDataType uInt8EDataType = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EDataType uInt16EDataType = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EDataType int32EDataType = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EDataType int16EDataType = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EDataType charEDataType = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EDataType durationEDataType = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EDataType int64EDataType = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EDataType uInt64EDataType = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private EDataType float32EDataType = null;
+
+	/**
+	 * Creates an instance of the model <b>Package</b>, registered with {@link org.eclipse.emf.ecore.EPackage.Registry EPackage.Registry} by the
+	 * package
+	 * package URI value.
+	 * <p>
+	 * Note: the correct way to create the package is via the static factory method {@link #init init()}, which also performs initialization of the
+	 * package, or returns the registered package, if one already exists. <!-- begin-user-doc --> <!-- end-user-doc -->
+	 * 
+	 * @see org.eclipse.emf.ecore.EPackage.Registry
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage#eNS_URI
+	 * @see #init()
+	 * @generated
+	 */
+	private Std_datatypesPackageImpl() {
+		super(eNS_URI, Std_datatypesFactory.eINSTANCE);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private static boolean isInited = false;
+
+	/**
+	 * Creates, registers, and initializes the <b>Package</b> for this model, and for any others upon which it depends.
+	 * 
+	 * <p>
+	 * This method is used to initialize {@link Std_datatypesPackage#eINSTANCE} when that field is accessed. Clients should not invoke it directly.
+	 * Instead, they should simply access that field to obtain the package. <!-- begin-user-doc --> <!-- end-user-doc -->
+	 * 
+	 * @see #eNS_URI
+	 * @see #createPackageContents()
+	 * @see #initializePackageContents()
+	 * @generated
+	 */
+	public static Std_datatypesPackage init() {
+		if(isInited)
+			return (Std_datatypesPackage)EPackage.Registry.INSTANCE.getEPackage(Std_datatypesPackage.eNS_URI);
+
+		// Obtain or create and register package
+		Std_datatypesPackageImpl theStd_datatypesPackage = (Std_datatypesPackageImpl)(EPackage.Registry.INSTANCE.get(eNS_URI) instanceof Std_datatypesPackageImpl ? EPackage.Registry.INSTANCE.get(eNS_URI) : new Std_datatypesPackageImpl());
+
+		isInited = true;
+
+		// Initialize simple dependencies
+		UMLPackage.eINSTANCE.eClass();
+
+		// Obtain or create and register interdependencies
+		RobotMLPackageImpl theRobotMLPackage = (RobotMLPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(RobotMLPackage.eNS_URI) instanceof RobotMLPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(RobotMLPackage.eNS_URI) : RobotMLPackage.eINSTANCE);
+		Diagnostic_datatypesPackageImpl theDiagnostic_datatypesPackage = (Diagnostic_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Diagnostic_datatypesPackage.eNS_URI) instanceof Diagnostic_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Diagnostic_datatypesPackage.eNS_URI) : Diagnostic_datatypesPackage.eINSTANCE);
+		Geometry_datatypesPackageImpl theGeometry_datatypesPackage = (Geometry_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Geometry_datatypesPackage.eNS_URI) instanceof Geometry_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Geometry_datatypesPackage.eNS_URI) : Geometry_datatypesPackage.eINSTANCE);
+		Nav_datatypesPackageImpl theNav_datatypesPackage = (Nav_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Nav_datatypesPackage.eNS_URI) instanceof Nav_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Nav_datatypesPackage.eNS_URI) : Nav_datatypesPackage.eINSTANCE);
+		Sensor_datatypesPackageImpl theSensor_datatypesPackage = (Sensor_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Sensor_datatypesPackage.eNS_URI) instanceof Sensor_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Sensor_datatypesPackage.eNS_URI) : Sensor_datatypesPackage.eINSTANCE);
+		Actionlib_datatypesPackageImpl theActionlib_datatypesPackage = (Actionlib_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Actionlib_datatypesPackage.eNS_URI) instanceof Actionlib_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Actionlib_datatypesPackage.eNS_URI) : Actionlib_datatypesPackage.eINSTANCE);
+		Oarp1_datatypesPackageImpl theOarp1_datatypesPackage = (Oarp1_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Oarp1_datatypesPackage.eNS_URI) instanceof Oarp1_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Oarp1_datatypesPackage.eNS_URI) : Oarp1_datatypesPackage.eINSTANCE);
+		Oarp4_datatypesPackageImpl theOarp4_datatypesPackage = (Oarp4_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Oarp4_datatypesPackage.eNS_URI) instanceof Oarp4_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Oarp4_datatypesPackage.eNS_URI) : Oarp4_datatypesPackage.eINSTANCE);
+
+		// Create package meta-data objects
+		theStd_datatypesPackage.createPackageContents();
+		theRobotMLPackage.createPackageContents();
+		theDiagnostic_datatypesPackage.createPackageContents();
+		theGeometry_datatypesPackage.createPackageContents();
+		theNav_datatypesPackage.createPackageContents();
+		theSensor_datatypesPackage.createPackageContents();
+		theActionlib_datatypesPackage.createPackageContents();
+		theOarp1_datatypesPackage.createPackageContents();
+		theOarp4_datatypesPackage.createPackageContents();
+
+		// Initialize created meta-data
+		theStd_datatypesPackage.initializePackageContents();
+		theRobotMLPackage.initializePackageContents();
+		theDiagnostic_datatypesPackage.initializePackageContents();
+		theGeometry_datatypesPackage.initializePackageContents();
+		theNav_datatypesPackage.initializePackageContents();
+		theSensor_datatypesPackage.initializePackageContents();
+		theActionlib_datatypesPackage.initializePackageContents();
+		theOarp1_datatypesPackage.initializePackageContents();
+		theOarp4_datatypesPackage.initializePackageContents();
+
+		// Mark meta-data to indicate it can't be changed
+		theStd_datatypesPackage.freeze();
+
+
+		// Update the registry and return the package
+		EPackage.Registry.INSTANCE.put(Std_datatypesPackage.eNS_URI, theStd_datatypesPackage);
+		return theStd_datatypesPackage;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getHeader() {
+		return headerEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getHeader_Seq() {
+		return (EAttribute)headerEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getHeader_Stamp() {
+		return (EAttribute)headerEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getHeader_Frame_id() {
+		return (EAttribute)headerEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getMultiArrayDimension() {
+		return multiArrayDimensionEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getMultiArrayDimension_Label() {
+		return (EAttribute)multiArrayDimensionEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getMultiArrayDimension_Size() {
+		return (EAttribute)multiArrayDimensionEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getMultiArrayDimension_Stride() {
+		return (EAttribute)multiArrayDimensionEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getMultiArrayLayout() {
+		return multiArrayLayoutEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getMultiArrayLayout_Dim() {
+		return (EReference)multiArrayLayoutEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getMultiArrayLayout_Data_offset() {
+		return (EAttribute)multiArrayLayoutEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getByteMultiArray() {
+		return byteMultiArrayEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getByteMultiArray_Layout() {
+		return (EReference)byteMultiArrayEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getByteMultiArray_Data() {
+		return (EAttribute)byteMultiArrayEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getColorRGBA() {
+		return colorRGBAEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getColorRGBA_R() {
+		return (EAttribute)colorRGBAEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getColorRGBA_G() {
+		return (EAttribute)colorRGBAEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getColorRGBA_B() {
+		return (EAttribute)colorRGBAEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getColorRGBA_A() {
+		return (EAttribute)colorRGBAEClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getFloat32MultiArray() {
+		return float32MultiArrayEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getFloat32MultiArray_Layout() {
+		return (EReference)float32MultiArrayEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getFloat32MultiArray_Data() {
+		return (EAttribute)float32MultiArrayEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getInt32MultiArray() {
+		return int32MultiArrayEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getInt32MultiArray_Layout() {
+		return (EReference)int32MultiArrayEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getInt32MultiArray_Data() {
+		return (EAttribute)int32MultiArrayEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getInt8MultiArray() {
+		return int8MultiArrayEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getInt8MultiArray_Layout() {
+		return (EReference)int8MultiArrayEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getInt8MultiArray_Data() {
+		return (EAttribute)int8MultiArrayEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getInt16MultiArray() {
+		return int16MultiArrayEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getInt16MultiArray_Layout() {
+		return (EReference)int16MultiArrayEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getInt16MultiArray_Data() {
+		return (EAttribute)int16MultiArrayEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getInt64MultiArray() {
+		return int64MultiArrayEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getInt64MultiArray_Layout() {
+		return (EReference)int64MultiArrayEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getInt64MultiArray_Data() {
+		return (EAttribute)int64MultiArrayEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getFloat64MultiArray() {
+		return float64MultiArrayEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getFloat64MultiArray_Layout() {
+		return (EReference)float64MultiArrayEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getFloat64MultiArray_Data() {
+		return (EAttribute)float64MultiArrayEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getUInt64MultiArray() {
+		return uInt64MultiArrayEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getUInt64MultiArray_Layout() {
+		return (EReference)uInt64MultiArrayEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getUInt64MultiArray_Data() {
+		return (EAttribute)uInt64MultiArrayEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getUIint16MultiArray() {
+		return uIint16MultiArrayEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getUIint16MultiArray_Layout() {
+		return (EReference)uIint16MultiArrayEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getUIint16MultiArray_Data() {
+		return (EAttribute)uIint16MultiArrayEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getUInt32MultiArray() {
+		return uInt32MultiArrayEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getUInt32MultiArray_Layout() {
+		return (EReference)uInt32MultiArrayEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getUInt32MultiArray_Data() {
+		return (EAttribute)uInt32MultiArrayEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EClass getUInt8MultiArray() {
+		return uInt8MultiArrayEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EReference getUInt8MultiArray_Layout() {
+		return (EReference)uInt8MultiArrayEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EAttribute getUInt8MultiArray_Data() {
+		return (EAttribute)uInt8MultiArrayEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EDataType getUInt32() {
+		return uInt32EDataType;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EDataType getTime() {
+		return timeEDataType;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EDataType getString() {
+		return stringEDataType;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EDataType getByte() {
+		return byteEDataType;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EDataType getFloat64() {
+		return float64EDataType;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EDataType getInt8() {
+		return int8EDataType;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EDataType getBool() {
+		return boolEDataType;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EDataType getUInt8() {
+		return uInt8EDataType;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EDataType getUInt16() {
+		return uInt16EDataType;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EDataType getInt32() {
+		return int32EDataType;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EDataType getInt16() {
+		return int16EDataType;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EDataType getChar() {
+		return charEDataType;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EDataType getDuration() {
+		return durationEDataType;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EDataType getInt64() {
+		return int64EDataType;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EDataType getUInt64() {
+		return uInt64EDataType;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EDataType getFloat32() {
+		return float32EDataType;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Std_datatypesFactory getStd_datatypesFactory() {
+		return (Std_datatypesFactory)getEFactoryInstance();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private boolean isCreated = false;
+
+	/**
+	 * Creates the meta-model objects for the package. This method is
+	 * guarded to have no affect on any invocation but its first.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void createPackageContents() {
+		if(isCreated)
+			return;
+		isCreated = true;
+
+		// Create classes and their features
+		headerEClass = createEClass(HEADER);
+		createEAttribute(headerEClass, HEADER__SEQ);
+		createEAttribute(headerEClass, HEADER__STAMP);
+		createEAttribute(headerEClass, HEADER__FRAME_ID);
+
+		multiArrayDimensionEClass = createEClass(MULTI_ARRAY_DIMENSION);
+		createEAttribute(multiArrayDimensionEClass, MULTI_ARRAY_DIMENSION__LABEL);
+		createEAttribute(multiArrayDimensionEClass, MULTI_ARRAY_DIMENSION__SIZE);
+		createEAttribute(multiArrayDimensionEClass, MULTI_ARRAY_DIMENSION__STRIDE);
+
+		multiArrayLayoutEClass = createEClass(MULTI_ARRAY_LAYOUT);
+		createEReference(multiArrayLayoutEClass, MULTI_ARRAY_LAYOUT__DIM);
+		createEAttribute(multiArrayLayoutEClass, MULTI_ARRAY_LAYOUT__DATA_OFFSET);
+
+		byteMultiArrayEClass = createEClass(BYTE_MULTI_ARRAY);
+		createEReference(byteMultiArrayEClass, BYTE_MULTI_ARRAY__LAYOUT);
+		createEAttribute(byteMultiArrayEClass, BYTE_MULTI_ARRAY__DATA);
+
+		colorRGBAEClass = createEClass(COLOR_RGBA);
+		createEAttribute(colorRGBAEClass, COLOR_RGBA__R);
+		createEAttribute(colorRGBAEClass, COLOR_RGBA__G);
+		createEAttribute(colorRGBAEClass, COLOR_RGBA__B);
+		createEAttribute(colorRGBAEClass, COLOR_RGBA__A);
+
+		float32MultiArrayEClass = createEClass(FLOAT32_MULTI_ARRAY);
+		createEReference(float32MultiArrayEClass, FLOAT32_MULTI_ARRAY__LAYOUT);
+		createEAttribute(float32MultiArrayEClass, FLOAT32_MULTI_ARRAY__DATA);
+
+		int32MultiArrayEClass = createEClass(INT32_MULTI_ARRAY);
+		createEReference(int32MultiArrayEClass, INT32_MULTI_ARRAY__LAYOUT);
+		createEAttribute(int32MultiArrayEClass, INT32_MULTI_ARRAY__DATA);
+
+		int8MultiArrayEClass = createEClass(INT8_MULTI_ARRAY);
+		createEReference(int8MultiArrayEClass, INT8_MULTI_ARRAY__LAYOUT);
+		createEAttribute(int8MultiArrayEClass, INT8_MULTI_ARRAY__DATA);
+
+		int16MultiArrayEClass = createEClass(INT16_MULTI_ARRAY);
+		createEReference(int16MultiArrayEClass, INT16_MULTI_ARRAY__LAYOUT);
+		createEAttribute(int16MultiArrayEClass, INT16_MULTI_ARRAY__DATA);
+
+		int64MultiArrayEClass = createEClass(INT64_MULTI_ARRAY);
+		createEReference(int64MultiArrayEClass, INT64_MULTI_ARRAY__LAYOUT);
+		createEAttribute(int64MultiArrayEClass, INT64_MULTI_ARRAY__DATA);
+
+		float64MultiArrayEClass = createEClass(FLOAT64_MULTI_ARRAY);
+		createEReference(float64MultiArrayEClass, FLOAT64_MULTI_ARRAY__LAYOUT);
+		createEAttribute(float64MultiArrayEClass, FLOAT64_MULTI_ARRAY__DATA);
+
+		uInt64MultiArrayEClass = createEClass(UINT64_MULTI_ARRAY);
+		createEReference(uInt64MultiArrayEClass, UINT64_MULTI_ARRAY__LAYOUT);
+		createEAttribute(uInt64MultiArrayEClass, UINT64_MULTI_ARRAY__DATA);
+
+		uIint16MultiArrayEClass = createEClass(UIINT16_MULTI_ARRAY);
+		createEReference(uIint16MultiArrayEClass, UIINT16_MULTI_ARRAY__LAYOUT);
+		createEAttribute(uIint16MultiArrayEClass, UIINT16_MULTI_ARRAY__DATA);
+
+		uInt32MultiArrayEClass = createEClass(UINT32_MULTI_ARRAY);
+		createEReference(uInt32MultiArrayEClass, UINT32_MULTI_ARRAY__LAYOUT);
+		createEAttribute(uInt32MultiArrayEClass, UINT32_MULTI_ARRAY__DATA);
+
+		uInt8MultiArrayEClass = createEClass(UINT8_MULTI_ARRAY);
+		createEReference(uInt8MultiArrayEClass, UINT8_MULTI_ARRAY__LAYOUT);
+		createEAttribute(uInt8MultiArrayEClass, UINT8_MULTI_ARRAY__DATA);
+
+		// Create data types
+		uInt32EDataType = createEDataType(UINT32);
+		timeEDataType = createEDataType(TIME);
+		stringEDataType = createEDataType(STRING);
+		byteEDataType = createEDataType(BYTE);
+		float64EDataType = createEDataType(FLOAT64);
+		int8EDataType = createEDataType(INT8);
+		boolEDataType = createEDataType(BOOL);
+		uInt8EDataType = createEDataType(UINT8);
+		uInt16EDataType = createEDataType(UINT16);
+		int32EDataType = createEDataType(INT32);
+		int16EDataType = createEDataType(INT16);
+		charEDataType = createEDataType(CHAR);
+		durationEDataType = createEDataType(DURATION);
+		int64EDataType = createEDataType(INT64);
+		uInt64EDataType = createEDataType(UINT64);
+		float32EDataType = createEDataType(FLOAT32);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	private boolean isInitialized = false;
+
+	/**
+	 * Complete the initialization of the package and its meta-model. This
+	 * method is guarded to have no affect on any invocation but its first.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void initializePackageContents() {
+		if(isInitialized)
+			return;
+		isInitialized = true;
+
+		// Initialize package
+		setName(eNAME);
+		setNsPrefix(eNS_PREFIX);
+		setNsURI(eNS_URI);
+
+		// Create type parameters
+
+		// Set bounds for type parameters
+
+		// Add supertypes to classes
+
+		// Initialize classes and features; add operations and parameters
+		initEClass(headerEClass, Header.class, "Header", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getHeader_Seq(), this.getUInt32(), "seq", null, 1, 1, Header.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getHeader_Stamp(), this.getTime(), "stamp", null, 1, 1, Header.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getHeader_Frame_id(), this.getString(), "frame_id", null, 1, 1, Header.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(multiArrayDimensionEClass, MultiArrayDimension.class, "MultiArrayDimension", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getMultiArrayDimension_Label(), this.getString(), "label", null, 1, 1, MultiArrayDimension.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getMultiArrayDimension_Size(), this.getUInt32(), "size", null, 1, 1, MultiArrayDimension.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getMultiArrayDimension_Stride(), this.getUInt32(), "stride", null, 1, 1, MultiArrayDimension.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(multiArrayLayoutEClass, MultiArrayLayout.class, "MultiArrayLayout", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getMultiArrayLayout_Dim(), this.getMultiArrayDimension(), null, "dim", null, 0, -1, MultiArrayLayout.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getMultiArrayLayout_Data_offset(), this.getUInt32(), "data_offset", null, 1, 1, MultiArrayLayout.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(byteMultiArrayEClass, ByteMultiArray.class, "ByteMultiArray", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getByteMultiArray_Layout(), this.getMultiArrayLayout(), null, "layout", null, 1, 1, ByteMultiArray.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getByteMultiArray_Data(), this.getByte(), "data", null, 0, -1, ByteMultiArray.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(colorRGBAEClass, ColorRGBA.class, "ColorRGBA", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getColorRGBA_R(), this.getFloat32(), "r", null, 1, 1, ColorRGBA.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getColorRGBA_G(), this.getFloat32(), "g", null, 1, 1, ColorRGBA.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getColorRGBA_B(), this.getFloat32(), "b", null, 1, 1, ColorRGBA.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getColorRGBA_A(), this.getFloat32(), "a", null, 1, 1, ColorRGBA.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(float32MultiArrayEClass, Float32MultiArray.class, "Float32MultiArray", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getFloat32MultiArray_Layout(), this.getMultiArrayLayout(), null, "layout", null, 1, 1, Float32MultiArray.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getFloat32MultiArray_Data(), this.getFloat32(), "data", null, 0, -1, Float32MultiArray.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(int32MultiArrayEClass, Int32MultiArray.class, "Int32MultiArray", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getInt32MultiArray_Layout(), this.getMultiArrayLayout(), null, "layout", null, 1, 1, Int32MultiArray.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getInt32MultiArray_Data(), this.getInt32(), "data", null, 0, -1, Int32MultiArray.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(int8MultiArrayEClass, Int8MultiArray.class, "Int8MultiArray", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getInt8MultiArray_Layout(), this.getMultiArrayLayout(), null, "layout", null, 1, 1, Int8MultiArray.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getInt8MultiArray_Data(), this.getInt8(), "data", null, 0, -1, Int8MultiArray.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(int16MultiArrayEClass, Int16MultiArray.class, "Int16MultiArray", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getInt16MultiArray_Layout(), this.getMultiArrayLayout(), null, "layout", null, 1, 1, Int16MultiArray.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getInt16MultiArray_Data(), this.getInt16(), "data", null, 0, -1, Int16MultiArray.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(int64MultiArrayEClass, Int64MultiArray.class, "Int64MultiArray", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getInt64MultiArray_Layout(), this.getMultiArrayLayout(), null, "layout", null, 1, 1, Int64MultiArray.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getInt64MultiArray_Data(), this.getInt64(), "data", null, 0, -1, Int64MultiArray.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(float64MultiArrayEClass, Float64MultiArray.class, "Float64MultiArray", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getFloat64MultiArray_Layout(), this.getMultiArrayLayout(), null, "layout", null, 1, 1, Float64MultiArray.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getFloat64MultiArray_Data(), this.getFloat64(), "data", null, 0, -1, Float64MultiArray.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(uInt64MultiArrayEClass, UInt64MultiArray.class, "UInt64MultiArray", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getUInt64MultiArray_Layout(), this.getMultiArrayLayout(), null, "layout", null, 1, 1, UInt64MultiArray.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getUInt64MultiArray_Data(), this.getUInt64(), "data", null, 0, -1, UInt64MultiArray.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(uIint16MultiArrayEClass, UIint16MultiArray.class, "UIint16MultiArray", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getUIint16MultiArray_Layout(), this.getMultiArrayLayout(), null, "layout", null, 1, 1, UIint16MultiArray.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getUIint16MultiArray_Data(), this.getUInt16(), "data", null, 0, -1, UIint16MultiArray.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(uInt32MultiArrayEClass, UInt32MultiArray.class, "UInt32MultiArray", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getUInt32MultiArray_Layout(), this.getMultiArrayLayout(), null, "layout", null, 1, 1, UInt32MultiArray.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getUInt32MultiArray_Data(), this.getUInt32(), "data", null, 0, -1, UInt32MultiArray.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(uInt8MultiArrayEClass, UInt8MultiArray.class, "UInt8MultiArray", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getUInt8MultiArray_Layout(), this.getMultiArrayLayout(), null, "layout", null, 1, 1, UInt8MultiArray.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getUInt8MultiArray_Data(), this.getUInt8(), "data", null, 0, -1, UInt8MultiArray.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		// Initialize data types
+		initEDataType(uInt32EDataType, long.class, "UInt32", IS_SERIALIZABLE, !IS_GENERATED_INSTANCE_CLASS);
+		initEDataType(timeEDataType, Date.class, "Time", IS_SERIALIZABLE, !IS_GENERATED_INSTANCE_CLASS);
+		initEDataType(stringEDataType, String.class, "String", IS_SERIALIZABLE, !IS_GENERATED_INSTANCE_CLASS);
+		initEDataType(byteEDataType, byte.class, "Byte", IS_SERIALIZABLE, !IS_GENERATED_INSTANCE_CLASS);
+		initEDataType(float64EDataType, double.class, "Float64", IS_SERIALIZABLE, !IS_GENERATED_INSTANCE_CLASS);
+		initEDataType(int8EDataType, char.class, "Int8", IS_SERIALIZABLE, !IS_GENERATED_INSTANCE_CLASS);
+		initEDataType(boolEDataType, boolean.class, "Bool", IS_SERIALIZABLE, !IS_GENERATED_INSTANCE_CLASS);
+		initEDataType(uInt8EDataType, char.class, "UInt8", IS_SERIALIZABLE, !IS_GENERATED_INSTANCE_CLASS);
+		initEDataType(uInt16EDataType, int.class, "UInt16", IS_SERIALIZABLE, !IS_GENERATED_INSTANCE_CLASS);
+		initEDataType(int32EDataType, int.class, "Int32", IS_SERIALIZABLE, !IS_GENERATED_INSTANCE_CLASS);
+		initEDataType(int16EDataType, int.class, "Int16", IS_SERIALIZABLE, !IS_GENERATED_INSTANCE_CLASS);
+		initEDataType(charEDataType, char.class, "Char", IS_SERIALIZABLE, !IS_GENERATED_INSTANCE_CLASS);
+		initEDataType(durationEDataType, double.class, "Duration", IS_SERIALIZABLE, !IS_GENERATED_INSTANCE_CLASS);
+		initEDataType(int64EDataType, double.class, "Int64", IS_SERIALIZABLE, !IS_GENERATED_INSTANCE_CLASS);
+		initEDataType(uInt64EDataType, long.class, "UInt64", IS_SERIALIZABLE, !IS_GENERATED_INSTANCE_CLASS);
+		initEDataType(float32EDataType, float.class, "Float32", IS_SERIALIZABLE, !IS_GENERATED_INSTANCE_CLASS);
+
+		// Create resource
+		createResource(eNS_URI);
+	}
+
+} //Std_datatypesPackageImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/UIint16MultiArrayImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/UIint16MultiArrayImpl.java
new file mode 100644
index 00000000000..4ad7db46619
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/UIint16MultiArrayImpl.java
@@ -0,0 +1,258 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl;
+
+import java.util.Collection;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.emf.ecore.util.EDataTypeUniqueEList;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayLayout;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UIint16MultiArray;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>UIint16 Multi Array</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.UIint16MultiArrayImpl#getLayout <em>
+ * Layout</em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.UIint16MultiArrayImpl#getData <em>Data
+ * </em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class UIint16MultiArrayImpl extends EObjectImpl implements UIint16MultiArray {
+
+	/**
+	 * The cached value of the '{@link #getLayout() <em>Layout</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLayout()
+	 * @generated
+	 * @ordered
+	 */
+	protected MultiArrayLayout layout;
+
+	/**
+	 * The cached value of the '{@link #getData() <em>Data</em>}' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getData()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Integer> data;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected UIint16MultiArrayImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Std_datatypesPackage.Literals.UIINT16_MULTI_ARRAY;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public MultiArrayLayout getLayout() {
+		return layout;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetLayout(MultiArrayLayout newLayout, NotificationChain msgs) {
+		MultiArrayLayout oldLayout = layout;
+		layout = newLayout;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Std_datatypesPackage.UIINT16_MULTI_ARRAY__LAYOUT, oldLayout, newLayout);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setLayout(MultiArrayLayout newLayout) {
+		if(newLayout != layout) {
+			NotificationChain msgs = null;
+			if(layout != null)
+				msgs = ((InternalEObject)layout).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Std_datatypesPackage.UIINT16_MULTI_ARRAY__LAYOUT, null, msgs);
+			if(newLayout != null)
+				msgs = ((InternalEObject)newLayout).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Std_datatypesPackage.UIINT16_MULTI_ARRAY__LAYOUT, null, msgs);
+			msgs = basicSetLayout(newLayout, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Std_datatypesPackage.UIINT16_MULTI_ARRAY__LAYOUT, newLayout, newLayout));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Integer> getData() {
+		if(data == null) {
+			data = new EDataTypeUniqueEList<Integer>(Integer.class, this, Std_datatypesPackage.UIINT16_MULTI_ARRAY__DATA);
+		}
+		return data;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Std_datatypesPackage.UIINT16_MULTI_ARRAY__LAYOUT:
+			return basicSetLayout(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Std_datatypesPackage.UIINT16_MULTI_ARRAY__LAYOUT:
+			return getLayout();
+		case Std_datatypesPackage.UIINT16_MULTI_ARRAY__DATA:
+			return getData();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@SuppressWarnings("unchecked")
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Std_datatypesPackage.UIINT16_MULTI_ARRAY__LAYOUT:
+			setLayout((MultiArrayLayout)newValue);
+			return;
+		case Std_datatypesPackage.UIINT16_MULTI_ARRAY__DATA:
+			getData().clear();
+			getData().addAll((Collection<? extends Integer>)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Std_datatypesPackage.UIINT16_MULTI_ARRAY__LAYOUT:
+			setLayout((MultiArrayLayout)null);
+			return;
+		case Std_datatypesPackage.UIINT16_MULTI_ARRAY__DATA:
+			getData().clear();
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Std_datatypesPackage.UIINT16_MULTI_ARRAY__LAYOUT:
+			return layout != null;
+		case Std_datatypesPackage.UIINT16_MULTI_ARRAY__DATA:
+			return data != null && !data.isEmpty();
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (data: ");
+		result.append(data);
+		result.append(')');
+		return result.toString();
+	}
+
+} //UIint16MultiArrayImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/UInt32MultiArrayImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/UInt32MultiArrayImpl.java
new file mode 100644
index 00000000000..dd25e140b5b
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/UInt32MultiArrayImpl.java
@@ -0,0 +1,258 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl;
+
+import java.util.Collection;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.emf.ecore.util.EDataTypeUniqueEList;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayLayout;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32MultiArray;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>UInt32 Multi Array</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.UInt32MultiArrayImpl#getLayout <em>Layout
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.UInt32MultiArrayImpl#getData <em>Data
+ * </em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class UInt32MultiArrayImpl extends EObjectImpl implements UInt32MultiArray {
+
+	/**
+	 * The cached value of the '{@link #getLayout() <em>Layout</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLayout()
+	 * @generated
+	 * @ordered
+	 */
+	protected MultiArrayLayout layout;
+
+	/**
+	 * The cached value of the '{@link #getData() <em>Data</em>}' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getData()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Long> data;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected UInt32MultiArrayImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Std_datatypesPackage.Literals.UINT32_MULTI_ARRAY;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public MultiArrayLayout getLayout() {
+		return layout;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetLayout(MultiArrayLayout newLayout, NotificationChain msgs) {
+		MultiArrayLayout oldLayout = layout;
+		layout = newLayout;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Std_datatypesPackage.UINT32_MULTI_ARRAY__LAYOUT, oldLayout, newLayout);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setLayout(MultiArrayLayout newLayout) {
+		if(newLayout != layout) {
+			NotificationChain msgs = null;
+			if(layout != null)
+				msgs = ((InternalEObject)layout).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Std_datatypesPackage.UINT32_MULTI_ARRAY__LAYOUT, null, msgs);
+			if(newLayout != null)
+				msgs = ((InternalEObject)newLayout).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Std_datatypesPackage.UINT32_MULTI_ARRAY__LAYOUT, null, msgs);
+			msgs = basicSetLayout(newLayout, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Std_datatypesPackage.UINT32_MULTI_ARRAY__LAYOUT, newLayout, newLayout));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Long> getData() {
+		if(data == null) {
+			data = new EDataTypeUniqueEList<Long>(Long.class, this, Std_datatypesPackage.UINT32_MULTI_ARRAY__DATA);
+		}
+		return data;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Std_datatypesPackage.UINT32_MULTI_ARRAY__LAYOUT:
+			return basicSetLayout(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Std_datatypesPackage.UINT32_MULTI_ARRAY__LAYOUT:
+			return getLayout();
+		case Std_datatypesPackage.UINT32_MULTI_ARRAY__DATA:
+			return getData();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@SuppressWarnings("unchecked")
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Std_datatypesPackage.UINT32_MULTI_ARRAY__LAYOUT:
+			setLayout((MultiArrayLayout)newValue);
+			return;
+		case Std_datatypesPackage.UINT32_MULTI_ARRAY__DATA:
+			getData().clear();
+			getData().addAll((Collection<? extends Long>)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Std_datatypesPackage.UINT32_MULTI_ARRAY__LAYOUT:
+			setLayout((MultiArrayLayout)null);
+			return;
+		case Std_datatypesPackage.UINT32_MULTI_ARRAY__DATA:
+			getData().clear();
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Std_datatypesPackage.UINT32_MULTI_ARRAY__LAYOUT:
+			return layout != null;
+		case Std_datatypesPackage.UINT32_MULTI_ARRAY__DATA:
+			return data != null && !data.isEmpty();
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (data: ");
+		result.append(data);
+		result.append(')');
+		return result.toString();
+	}
+
+} //UInt32MultiArrayImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/UInt64MultiArrayImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/UInt64MultiArrayImpl.java
new file mode 100644
index 00000000000..5e756364540
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/UInt64MultiArrayImpl.java
@@ -0,0 +1,258 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl;
+
+import java.util.Collection;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.emf.ecore.util.EDataTypeUniqueEList;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayLayout;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt64MultiArray;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>UInt64 Multi Array</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.UInt64MultiArrayImpl#getLayout <em>Layout
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.UInt64MultiArrayImpl#getData <em>Data
+ * </em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class UInt64MultiArrayImpl extends EObjectImpl implements UInt64MultiArray {
+
+	/**
+	 * The cached value of the '{@link #getLayout() <em>Layout</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLayout()
+	 * @generated
+	 * @ordered
+	 */
+	protected MultiArrayLayout layout;
+
+	/**
+	 * The cached value of the '{@link #getData() <em>Data</em>}' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getData()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Long> data;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected UInt64MultiArrayImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Std_datatypesPackage.Literals.UINT64_MULTI_ARRAY;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public MultiArrayLayout getLayout() {
+		return layout;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetLayout(MultiArrayLayout newLayout, NotificationChain msgs) {
+		MultiArrayLayout oldLayout = layout;
+		layout = newLayout;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Std_datatypesPackage.UINT64_MULTI_ARRAY__LAYOUT, oldLayout, newLayout);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setLayout(MultiArrayLayout newLayout) {
+		if(newLayout != layout) {
+			NotificationChain msgs = null;
+			if(layout != null)
+				msgs = ((InternalEObject)layout).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Std_datatypesPackage.UINT64_MULTI_ARRAY__LAYOUT, null, msgs);
+			if(newLayout != null)
+				msgs = ((InternalEObject)newLayout).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Std_datatypesPackage.UINT64_MULTI_ARRAY__LAYOUT, null, msgs);
+			msgs = basicSetLayout(newLayout, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Std_datatypesPackage.UINT64_MULTI_ARRAY__LAYOUT, newLayout, newLayout));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Long> getData() {
+		if(data == null) {
+			data = new EDataTypeUniqueEList<Long>(Long.class, this, Std_datatypesPackage.UINT64_MULTI_ARRAY__DATA);
+		}
+		return data;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Std_datatypesPackage.UINT64_MULTI_ARRAY__LAYOUT:
+			return basicSetLayout(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Std_datatypesPackage.UINT64_MULTI_ARRAY__LAYOUT:
+			return getLayout();
+		case Std_datatypesPackage.UINT64_MULTI_ARRAY__DATA:
+			return getData();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@SuppressWarnings("unchecked")
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Std_datatypesPackage.UINT64_MULTI_ARRAY__LAYOUT:
+			setLayout((MultiArrayLayout)newValue);
+			return;
+		case Std_datatypesPackage.UINT64_MULTI_ARRAY__DATA:
+			getData().clear();
+			getData().addAll((Collection<? extends Long>)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Std_datatypesPackage.UINT64_MULTI_ARRAY__LAYOUT:
+			setLayout((MultiArrayLayout)null);
+			return;
+		case Std_datatypesPackage.UINT64_MULTI_ARRAY__DATA:
+			getData().clear();
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Std_datatypesPackage.UINT64_MULTI_ARRAY__LAYOUT:
+			return layout != null;
+		case Std_datatypesPackage.UINT64_MULTI_ARRAY__DATA:
+			return data != null && !data.isEmpty();
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (data: ");
+		result.append(data);
+		result.append(')');
+		return result.toString();
+	}
+
+} //UInt64MultiArrayImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/UInt8MultiArrayImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/UInt8MultiArrayImpl.java
new file mode 100644
index 00000000000..09759e9bb31
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/impl/UInt8MultiArrayImpl.java
@@ -0,0 +1,258 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl;
+
+import java.util.Collection;
+
+import org.eclipse.emf.common.notify.Notification;
+import org.eclipse.emf.common.notify.NotificationChain;
+import org.eclipse.emf.common.util.EList;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.InternalEObject;
+import org.eclipse.emf.ecore.impl.ENotificationImpl;
+import org.eclipse.emf.ecore.impl.EObjectImpl;
+import org.eclipse.emf.ecore.util.EDataTypeUniqueEList;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayLayout;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8MultiArray;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model object '<em><b>UInt8 Multi Array</b></em>'.
+ * <!-- end-user-doc -->
+ * <p>
+ * The following features are implemented:
+ * <ul>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.UInt8MultiArrayImpl#getLayout <em>Layout
+ * </em>}</li>
+ * <li>{@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.UInt8MultiArrayImpl#getData <em>Data
+ * </em>}</li>
+ * </ul>
+ * </p>
+ * 
+ * @generated
+ */
+public class UInt8MultiArrayImpl extends EObjectImpl implements UInt8MultiArray {
+
+	/**
+	 * The cached value of the '{@link #getLayout() <em>Layout</em>}' containment reference.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getLayout()
+	 * @generated
+	 * @ordered
+	 */
+	protected MultiArrayLayout layout;
+
+	/**
+	 * The cached value of the '{@link #getData() <em>Data</em>}' attribute list.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @see #getData()
+	 * @generated
+	 * @ordered
+	 */
+	protected EList<Character> data;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected UInt8MultiArrayImpl() {
+		super();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	protected EClass eStaticClass() {
+		return Std_datatypesPackage.Literals.UINT8_MULTI_ARRAY;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public MultiArrayLayout getLayout() {
+		return layout;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public NotificationChain basicSetLayout(MultiArrayLayout newLayout, NotificationChain msgs) {
+		MultiArrayLayout oldLayout = layout;
+		layout = newLayout;
+		if(eNotificationRequired()) {
+			ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, Std_datatypesPackage.UINT8_MULTI_ARRAY__LAYOUT, oldLayout, newLayout);
+			if(msgs == null)
+				msgs = notification;
+			else
+				msgs.add(notification);
+		}
+		return msgs;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public void setLayout(MultiArrayLayout newLayout) {
+		if(newLayout != layout) {
+			NotificationChain msgs = null;
+			if(layout != null)
+				msgs = ((InternalEObject)layout).eInverseRemove(this, EOPPOSITE_FEATURE_BASE - Std_datatypesPackage.UINT8_MULTI_ARRAY__LAYOUT, null, msgs);
+			if(newLayout != null)
+				msgs = ((InternalEObject)newLayout).eInverseAdd(this, EOPPOSITE_FEATURE_BASE - Std_datatypesPackage.UINT8_MULTI_ARRAY__LAYOUT, null, msgs);
+			msgs = basicSetLayout(newLayout, msgs);
+			if(msgs != null)
+				msgs.dispatch();
+		} else if(eNotificationRequired())
+			eNotify(new ENotificationImpl(this, Notification.SET, Std_datatypesPackage.UINT8_MULTI_ARRAY__LAYOUT, newLayout, newLayout));
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public EList<Character> getData() {
+		if(data == null) {
+			data = new EDataTypeUniqueEList<Character>(Character.class, this, Std_datatypesPackage.UINT8_MULTI_ARRAY__DATA);
+		}
+		return data;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) {
+		switch(featureID) {
+		case Std_datatypesPackage.UINT8_MULTI_ARRAY__LAYOUT:
+			return basicSetLayout(null, msgs);
+		}
+		return super.eInverseRemove(otherEnd, featureID, msgs);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public Object eGet(int featureID, boolean resolve, boolean coreType) {
+		switch(featureID) {
+		case Std_datatypesPackage.UINT8_MULTI_ARRAY__LAYOUT:
+			return getLayout();
+		case Std_datatypesPackage.UINT8_MULTI_ARRAY__DATA:
+			return getData();
+		}
+		return super.eGet(featureID, resolve, coreType);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@SuppressWarnings("unchecked")
+	@Override
+	public void eSet(int featureID, Object newValue) {
+		switch(featureID) {
+		case Std_datatypesPackage.UINT8_MULTI_ARRAY__LAYOUT:
+			setLayout((MultiArrayLayout)newValue);
+			return;
+		case Std_datatypesPackage.UINT8_MULTI_ARRAY__DATA:
+			getData().clear();
+			getData().addAll((Collection<? extends Character>)newValue);
+			return;
+		}
+		super.eSet(featureID, newValue);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public void eUnset(int featureID) {
+		switch(featureID) {
+		case Std_datatypesPackage.UINT8_MULTI_ARRAY__LAYOUT:
+			setLayout((MultiArrayLayout)null);
+			return;
+		case Std_datatypesPackage.UINT8_MULTI_ARRAY__DATA:
+			getData().clear();
+			return;
+		}
+		super.eUnset(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public boolean eIsSet(int featureID) {
+		switch(featureID) {
+		case Std_datatypesPackage.UINT8_MULTI_ARRAY__LAYOUT:
+			return layout != null;
+		case Std_datatypesPackage.UINT8_MULTI_ARRAY__DATA:
+			return data != null && !data.isEmpty();
+		}
+		return super.eIsSet(featureID);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	@Override
+	public String toString() {
+		if(eIsProxy())
+			return super.toString();
+
+		StringBuffer result = new StringBuffer(super.toString());
+		result.append(" (data: ");
+		result.append(data);
+		result.append(')');
+		return result.toString();
+	}
+
+} //UInt8MultiArrayImpl
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/util/Std_datatypesAdapterFactory.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/util/Std_datatypesAdapterFactory.java
new file mode 100644
index 00000000000..f831ced26d5
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/util/Std_datatypesAdapterFactory.java
@@ -0,0 +1,454 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.util;
+
+import org.eclipse.emf.common.notify.Adapter;
+import org.eclipse.emf.common.notify.Notifier;
+import org.eclipse.emf.common.notify.impl.AdapterFactoryImpl;
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ByteMultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ColorRGBA;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int16MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int32MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int64MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int8MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayDimension;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayLayout;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UIint16MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt64MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8MultiArray;
+
+/**
+ * <!-- begin-user-doc -->
+ * The <b>Adapter Factory</b> for the model.
+ * It provides an adapter <code>createXXX</code> method for each class of the model.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage
+ * @generated
+ */
+public class Std_datatypesAdapterFactory extends AdapterFactoryImpl {
+
+	/**
+	 * The cached model package.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected static Std_datatypesPackage modelPackage;
+
+	/**
+	 * Creates an instance of the adapter factory.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Std_datatypesAdapterFactory() {
+		if(modelPackage == null) {
+			modelPackage = Std_datatypesPackage.eINSTANCE;
+		}
+	}
+
+	/**
+	 * Returns whether this factory is applicable for the type of the object.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns <code>true</code> if the object is either the model's package or is an instance object of the model.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return whether this factory is applicable for the type of the object.
+	 * @generated
+	 */
+	@Override
+	public boolean isFactoryForType(Object object) {
+		if(object == modelPackage) {
+			return true;
+		}
+		if(object instanceof EObject) {
+			return ((EObject)object).eClass().getEPackage() == modelPackage;
+		}
+		return false;
+	}
+
+	/**
+	 * The switch that delegates to the <code>createXXX</code> methods.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected Std_datatypesSwitch<Adapter> modelSwitch = new Std_datatypesSwitch<Adapter>() {
+
+		@Override
+		public Adapter caseHeader(Header object) {
+			return createHeaderAdapter();
+		}
+
+		@Override
+		public Adapter caseMultiArrayDimension(MultiArrayDimension object) {
+			return createMultiArrayDimensionAdapter();
+		}
+
+		@Override
+		public Adapter caseMultiArrayLayout(MultiArrayLayout object) {
+			return createMultiArrayLayoutAdapter();
+		}
+
+		@Override
+		public Adapter caseByteMultiArray(ByteMultiArray object) {
+			return createByteMultiArrayAdapter();
+		}
+
+		@Override
+		public Adapter caseColorRGBA(ColorRGBA object) {
+			return createColorRGBAAdapter();
+		}
+
+		@Override
+		public Adapter caseFloat32MultiArray(Float32MultiArray object) {
+			return createFloat32MultiArrayAdapter();
+		}
+
+		@Override
+		public Adapter caseInt32MultiArray(Int32MultiArray object) {
+			return createInt32MultiArrayAdapter();
+		}
+
+		@Override
+		public Adapter caseInt8MultiArray(Int8MultiArray object) {
+			return createInt8MultiArrayAdapter();
+		}
+
+		@Override
+		public Adapter caseInt16MultiArray(Int16MultiArray object) {
+			return createInt16MultiArrayAdapter();
+		}
+
+		@Override
+		public Adapter caseInt64MultiArray(Int64MultiArray object) {
+			return createInt64MultiArrayAdapter();
+		}
+
+		@Override
+		public Adapter caseFloat64MultiArray(Float64MultiArray object) {
+			return createFloat64MultiArrayAdapter();
+		}
+
+		@Override
+		public Adapter caseUInt64MultiArray(UInt64MultiArray object) {
+			return createUInt64MultiArrayAdapter();
+		}
+
+		@Override
+		public Adapter caseUIint16MultiArray(UIint16MultiArray object) {
+			return createUIint16MultiArrayAdapter();
+		}
+
+		@Override
+		public Adapter caseUInt32MultiArray(UInt32MultiArray object) {
+			return createUInt32MultiArrayAdapter();
+		}
+
+		@Override
+		public Adapter caseUInt8MultiArray(UInt8MultiArray object) {
+			return createUInt8MultiArrayAdapter();
+		}
+
+		@Override
+		public Adapter defaultCase(EObject object) {
+			return createEObjectAdapter();
+		}
+	};
+
+	/**
+	 * Creates an adapter for the <code>target</code>.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param target
+	 *        the object to adapt.
+	 * @return the adapter for the <code>target</code>.
+	 * @generated
+	 */
+	@Override
+	public Adapter createAdapter(Notifier target) {
+		return modelSwitch.doSwitch((EObject)target);
+	}
+
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header <em>Header</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header
+	 * @generated
+	 */
+	public Adapter createHeaderAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayDimension
+	 * <em>Multi Array Dimension</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayDimension
+	 * @generated
+	 */
+	public Adapter createMultiArrayDimensionAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayLayout <em>Multi Array Layout</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayLayout
+	 * @generated
+	 */
+	public Adapter createMultiArrayLayoutAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ByteMultiArray <em>Byte Multi Array</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ByteMultiArray
+	 * @generated
+	 */
+	public Adapter createByteMultiArrayAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ColorRGBA <em>Color RGBA</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ColorRGBA
+	 * @generated
+	 */
+	public Adapter createColorRGBAAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32MultiArray
+	 * <em>Float32 Multi Array</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32MultiArray
+	 * @generated
+	 */
+	public Adapter createFloat32MultiArrayAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int32MultiArray <em>Int32 Multi Array</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int32MultiArray
+	 * @generated
+	 */
+	public Adapter createInt32MultiArrayAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int8MultiArray <em>Int8 Multi Array</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int8MultiArray
+	 * @generated
+	 */
+	public Adapter createInt8MultiArrayAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int16MultiArray <em>Int16 Multi Array</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int16MultiArray
+	 * @generated
+	 */
+	public Adapter createInt16MultiArrayAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int64MultiArray <em>Int64 Multi Array</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int64MultiArray
+	 * @generated
+	 */
+	public Adapter createInt64MultiArrayAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64MultiArray
+	 * <em>Float64 Multi Array</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64MultiArray
+	 * @generated
+	 */
+	public Adapter createFloat64MultiArrayAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt64MultiArray <em>UInt64 Multi Array</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt64MultiArray
+	 * @generated
+	 */
+	public Adapter createUInt64MultiArrayAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UIint16MultiArray
+	 * <em>UIint16 Multi Array</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UIint16MultiArray
+	 * @generated
+	 */
+	public Adapter createUIint16MultiArrayAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32MultiArray <em>UInt32 Multi Array</em>}
+	 * '.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32MultiArray
+	 * @generated
+	 */
+	public Adapter createUInt32MultiArrayAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for an object of class '
+	 * {@link org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8MultiArray <em>UInt8 Multi Array</em>}'.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null so that we can easily ignore cases;
+	 * it's useful to ignore a case when inheritance will catch all the cases anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8MultiArray
+	 * @generated
+	 */
+	public Adapter createUInt8MultiArrayAdapter() {
+		return null;
+	}
+
+	/**
+	 * Creates a new adapter for the default case.
+	 * <!-- begin-user-doc -->
+	 * This default implementation returns null.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the new adapter.
+	 * @generated
+	 */
+	public Adapter createEObjectAdapter() {
+		return null;
+	}
+
+} //Std_datatypesAdapterFactory
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/util/Std_datatypesSwitch.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/util/Std_datatypesSwitch.java
new file mode 100644
index 00000000000..8fbee71e4f5
--- /dev/null
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotMLLibraries/RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/util/Std_datatypesSwitch.java
@@ -0,0 +1,494 @@
+/*****************************************************************************
+ * Copyright (c) 2013 CEA LIST.
+ *    
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *  Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr - Initial API and implementation
+ *****************************************************************************/
+package org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.util;
+
+import org.eclipse.emf.ecore.EObject;
+import org.eclipse.emf.ecore.EPackage;
+import org.eclipse.emf.ecore.util.Switch;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ByteMultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.ColorRGBA;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float64MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Header;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int16MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int32MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int64MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Int8MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayDimension;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.MultiArrayLayout;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UIint16MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt32MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt64MultiArray;
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.UInt8MultiArray;
+
+/**
+ * <!-- begin-user-doc -->
+ * The <b>Switch</b> for the model's inheritance hierarchy.
+ * It supports the call {@link #doSwitch(EObject) doSwitch(object)} to invoke the <code>caseXXX</code> method for each class of the model,
+ * starting with the actual class of the object
+ * and proceeding up the inheritance hierarchy
+ * until a non-null result is returned,
+ * which is the result of the switch.
+ * <!-- end-user-doc -->
+ * 
+ * @see org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage
+ * @generated
+ */
+public class Std_datatypesSwitch<T> extends Switch<T> {
+
+	/**
+	 * The cached model package
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	protected static Std_datatypesPackage modelPackage;
+
+	/**
+	 * Creates an instance of the switch.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @generated
+	 */
+	public Std_datatypesSwitch() {
+		if(modelPackage == null) {
+			modelPackage = Std_datatypesPackage.eINSTANCE;
+		}
+	}
+
+	/**
+	 * Checks whether this is a switch for the given package.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @parameter ePackage the package in question.
+	 * @return whether this is a switch for the given package.
+	 * @generated
+	 */
+	@Override
+	protected boolean isSwitchFor(EPackage ePackage) {
+		return ePackage == modelPackage;
+	}
+
+	/**
+	 * Calls <code>caseXXX</code> for each class of the model until one returns a non null result; it yields that result.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * 
+	 * @return the first non-null result returned by a <code>caseXXX</code> call.
+	 * @generated
+	 */
+	@Override
+	protected T doSwitch(int classifierID, EObject theEObject) {
+		switch(classifierID) {
+		case Std_datatypesPackage.HEADER:
+		{
+			Header header = (Header)theEObject;
+			T result = caseHeader(header);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Std_datatypesPackage.MULTI_ARRAY_DIMENSION:
+		{
+			MultiArrayDimension multiArrayDimension = (MultiArrayDimension)theEObject;
+			T result = caseMultiArrayDimension(multiArrayDimension);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Std_datatypesPackage.MULTI_ARRAY_LAYOUT:
+		{
+			MultiArrayLayout multiArrayLayout = (MultiArrayLayout)theEObject;
+			T result = caseMultiArrayLayout(multiArrayLayout);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Std_datatypesPackage.BYTE_MULTI_ARRAY:
+		{
+			ByteMultiArray byteMultiArray = (ByteMultiArray)theEObject;
+			T result = caseByteMultiArray(byteMultiArray);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Std_datatypesPackage.COLOR_RGBA:
+		{
+			ColorRGBA colorRGBA = (ColorRGBA)theEObject;
+			T result = caseColorRGBA(colorRGBA);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Std_datatypesPackage.FLOAT32_MULTI_ARRAY:
+		{
+			Float32MultiArray float32MultiArray = (Float32MultiArray)theEObject;
+			T result = caseFloat32MultiArray(float32MultiArray);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Std_datatypesPackage.INT32_MULTI_ARRAY:
+		{
+			Int32MultiArray int32MultiArray = (Int32MultiArray)theEObject;
+			T result = caseInt32MultiArray(int32MultiArray);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Std_datatypesPackage.INT8_MULTI_ARRAY:
+		{
+			Int8MultiArray int8MultiArray = (Int8MultiArray)theEObject;
+			T result = caseInt8MultiArray(int8MultiArray);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Std_datatypesPackage.INT16_MULTI_ARRAY:
+		{
+			Int16MultiArray int16MultiArray = (Int16MultiArray)theEObject;
+			T result = caseInt16MultiArray(int16MultiArray);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Std_datatypesPackage.INT64_MULTI_ARRAY:
+		{
+			Int64MultiArray int64MultiArray = (Int64MultiArray)theEObject;
+			T result = caseInt64MultiArray(int64MultiArray);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Std_datatypesPackage.FLOAT64_MULTI_ARRAY:
+		{
+			Float64MultiArray float64MultiArray = (Float64MultiArray)theEObject;
+			T result = caseFloat64MultiArray(float64MultiArray);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Std_datatypesPackage.UINT64_MULTI_ARRAY:
+		{
+			UInt64MultiArray uInt64MultiArray = (UInt64MultiArray)theEObject;
+			T result = caseUInt64MultiArray(uInt64MultiArray);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Std_datatypesPackage.UIINT16_MULTI_ARRAY:
+		{
+			UIint16MultiArray uIint16MultiArray = (UIint16MultiArray)theEObject;
+			T result = caseUIint16MultiArray(uIint16MultiArray);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Std_datatypesPackage.UINT32_MULTI_ARRAY:
+		{
+			UInt32MultiArray uInt32MultiArray = (UInt32MultiArray)theEObject;
+			T result = caseUInt32MultiArray(uInt32MultiArray);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		case Std_datatypesPackage.UINT8_MULTI_ARRAY:
+		{
+			UInt8MultiArray uInt8MultiArray = (UInt8MultiArray)theEObject;
+			T result = caseUInt8MultiArray(uInt8MultiArray);
+			if(result == null)
+				result = defaultCase(theEObject);
+			return result;
+		}
+		default:
+			return defaultCase(theEObject);
+		}
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Header</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Header</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseHeader(Header object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Multi Array Dimension</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Multi Array Dimension</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseMultiArrayDimension(MultiArrayDimension object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Multi Array Layout</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Multi Array Layout</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseMultiArrayLayout(MultiArrayLayout object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Byte Multi Array</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Byte Multi Array</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseByteMultiArray(ByteMultiArray object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Color RGBA</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Color RGBA</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseColorRGBA(ColorRGBA object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Float32 Multi Array</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Float32 Multi Array</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseFloat32MultiArray(Float32MultiArray object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Int32 Multi Array</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Int32 Multi Array</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseInt32MultiArray(Int32MultiArray object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Int8 Multi Array</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Int8 Multi Array</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseInt8MultiArray(Int8MultiArray object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Int16 Multi Array</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Int16 Multi Array</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseInt16MultiArray(Int16MultiArray object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Int64 Multi Array</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Int64 Multi Array</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseInt64MultiArray(Int64MultiArray object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>Float64 Multi Array</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>Float64 Multi Array</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseFloat64MultiArray(Float64MultiArray object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>UInt64 Multi Array</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>UInt64 Multi Array</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseUInt64MultiArray(UInt64MultiArray object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>UIint16 Multi Array</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>UIint16 Multi Array</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseUIint16MultiArray(UIint16MultiArray object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>UInt32 Multi Array</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>UInt32 Multi Array</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseUInt32MultiArray(UInt32MultiArray object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>UInt8 Multi Array</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>UInt8 Multi Array</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject) doSwitch(EObject)
+	 * @generated
+	 */
+	public T caseUInt8MultiArray(UInt8MultiArray object) {
+		return null;
+	}
+
+	/**
+	 * Returns the result of interpreting the object as an instance of '<em>EObject</em>'.
+	 * <!-- begin-user-doc -->
+	 * This implementation returns null;
+	 * returning a non-null result will terminate the switch, but this is the last case anyway.
+	 * <!-- end-user-doc -->
+	 * 
+	 * @param object
+	 *        the target of the switch.
+	 * @return the result of interpreting the object as an instance of '<em>EObject</em>'.
+	 * @see #doSwitch(org.eclipse.emf.ecore.EObject)
+	 * @generated
+	 */
+	@Override
+	public T defaultCase(EObject object) {
+		return null;
+	}
+
+} //Std_datatypesSwitch
author	cletavernie	2013-06-20 15:07:37 +0000
committer	cletavernie	2013-06-20 15:07:37 +0000
commit	ec75d2e39d2cb3b22ae476a6f75d8cc6784c12d5 (patch)
tree	308378cbf46197651caf3d211944482a01049d3e /extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus
parent	32df29f3718f67bf79e35973e5e84b0739f5d15e (diff)
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