diff --git a/plugins/bt/org.eclipse.papyrus.robotics.bt.architecture/META-INF/MANIFEST.MF b/plugins/bt/org.eclipse.papyrus.robotics.bt.architecture/META-INF/MANIFEST.MF
index 5d64e39..699492f 100644
--- a/plugins/bt/org.eclipse.papyrus.robotics.bt.architecture/META-INF/MANIFEST.MF
+++ b/plugins/bt/org.eclipse.papyrus.robotics.bt.architecture/META-INF/MANIFEST.MF
@@ -3,7 +3,6 @@
 Bundle-Name: %pluginName
 Bundle-SymbolicName: org.eclipse.papyrus.robotics.bt.architecture;singleton:=true
 Bundle-Version: 0.7.0.qualifier
-Bundle-Localization: plugin
 Bundle-RequiredExecutionEnvironment: JavaSE-1.8
 Bundle-Activator: org.eclipse.papyrus.robotics.bt.architecture.Activator
 Require-Bundle: org.eclipse.papyrus.infra.architecture;bundle-version="1.0.0",
diff --git a/plugins/bt/org.eclipse.papyrus.robotics.bt.types/META-INF/MANIFEST.MF b/plugins/bt/org.eclipse.papyrus.robotics.bt.types/META-INF/MANIFEST.MF
index 053df39..1c11397 100644
--- a/plugins/bt/org.eclipse.papyrus.robotics.bt.types/META-INF/MANIFEST.MF
+++ b/plugins/bt/org.eclipse.papyrus.robotics.bt.types/META-INF/MANIFEST.MF
@@ -3,7 +3,6 @@
 Bundle-Name: %pluginName
 Bundle-SymbolicName: org.eclipse.papyrus.robotics.bt.types;singleton:=true
 Bundle-Version: 0.7.0.qualifier
-Bundle-Localization: plugin
 Bundle-Activator: org.eclipse.papyrus.robotics.bt.types.Activator
 Require-Bundle: org.eclipse.gmf.runtime.emf.type.core;bundle-version="[1.9.0,2.0.0)",
  org.eclipse.gmf.runtime.notation.edit;bundle-version="1.7.0",
diff --git a/plugins/customization/org.eclipse.papyrus.robotics.library/models/robotics.library.notation b/plugins/customization/org.eclipse.papyrus.robotics.library/models/robotics.library.notation
index 9d756bb..de84bcc 100644
--- a/plugins/customization/org.eclipse.papyrus.robotics.library/models/robotics.library.notation
+++ b/plugins/customization/org.eclipse.papyrus.robotics.library/models/robotics.library.notation
@@ -573,420 +573,311 @@
       <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_JrFIGE6uEeqXQMDifjgMQQ"/>
     </edges>
   </notation:Diagram>
-  <notation:Diagram xmi:id="_2mvvkCarEeiurq-kTHMlgA" type="PapyrusUMLClassDiagram" name="resources" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_ZKiksCa1EeiEe6pPmtq0wQ" type="Class_Shape" fontHeight="11">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Yu3O4CdxEeikJeAC9ZXoXA" source="PapyrusCSSForceValue">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Yu3O4SdxEeikJeAC9ZXoXA" key="gradient" value="true"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_c1a0kCdxEeikJeAC9ZXoXA" key="fillColor" value="true"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_ZKs8wCa1EeiEe6pPmtq0wQ" type="Class_NameLabel"/>
-      <children xmi:type="notation:DecorationNode" xmi:id="_ZKtj0Ca1EeiEe6pPmtq0wQ" type="Class_FloatingNameLabel">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_ZKtj0Sa1EeiEe6pPmtq0wQ" y="15"/>
+  <notation:Diagram xmi:id="_15ZoMPjhEeqA4v_JqiO9QA" type="PapyrusUMLStateMachineDiagram" name="DefaultSkillFSMDiagram" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_15ZoMfjhEeqA4v_JqiO9QA" type="StateMachine_Shape">
+      <children xmi:type="notation:DecorationNode" xmi:id="_15ZoMvjhEeqA4v_JqiO9QA" type="StateMachine_NameLabel">
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_15ZoM_jhEeqA4v_JqiO9QA" width="831" height="36"/>
       </children>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_ZKuK4Ca1EeiEe6pPmtq0wQ" visible="false" type="Class_AttributeCompartment">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_ZKuK4Sa1EeiEe6pPmtq0wQ"/>
-        <styles xmi:type="notation:SortingStyle" xmi:id="_ZKuK4ia1EeiEe6pPmtq0wQ"/>
-        <styles xmi:type="notation:FilteringStyle" xmi:id="_ZKuK4ya1EeiEe6pPmtq0wQ"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ZKuK5Ca1EeiEe6pPmtq0wQ"/>
-      </children>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_ZKuK5Sa1EeiEe6pPmtq0wQ" visible="false" type="Class_OperationCompartment">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_ZKuK5ia1EeiEe6pPmtq0wQ"/>
-        <styles xmi:type="notation:SortingStyle" xmi:id="_ZKuK5ya1EeiEe6pPmtq0wQ"/>
-        <styles xmi:type="notation:FilteringStyle" xmi:id="_ZKuK6Ca1EeiEe6pPmtq0wQ"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ZKuK6Sa1EeiEe6pPmtq0wQ"/>
-      </children>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_ZKuK6ia1EeiEe6pPmtq0wQ" type="Class_NestedClassifierCompartment">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_lbqTcElkEeiH7PUTM35BlA" source="PapyrusCSSForceValue">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lbqTcUlkEeiH7PUTM35BlA" key="visible" value="true"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_sUS_MElkEeiH7PUTM35BlA" key="showTitle" value="true"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uRvjUElkEeiH7PUTM35BlA" key="collapsed" value="true"/>
-        </eAnnotations>
-        <children xmi:type="notation:Shape" xmi:id="_mPsYcElkEeiH7PUTM35BlA" type="Class_ClassNestedClassifierLabel">
-          <element xmi:type="uml:Class" href="robotics.library.uml#_OXBTIElkEeiH7PUTM35BlA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_mPsYcUlkEeiH7PUTM35BlA"/>
-        </children>
-        <styles xmi:type="notation:TitleStyle" xmi:id="_ZKuK6ya1EeiEe6pPmtq0wQ"/>
-        <styles xmi:type="notation:SortingStyle" xmi:id="_ZKuK7Ca1EeiEe6pPmtq0wQ"/>
-        <styles xmi:type="notation:FilteringStyle" xmi:id="_ZKuK7Sa1EeiEe6pPmtq0wQ"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ZKuK7ia1EeiEe6pPmtq0wQ"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_jhxmkCdrEeikJeAC9ZXoXA" type="StereotypeLabel">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_U3ZqkCdwEeikJeAC9ZXoXA" source="PapyrusCSSForceValue">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_U3ZqkSdwEeikJeAC9ZXoXA" key="visible" value="true"/>
-        </eAnnotations>
-        <styles xmi:type="notation:StringValueStyle" xmi:id="_jhxmkSdrEeikJeAC9ZXoXA" name="stereotype" stringValue="MARTE::MARTE_DesignModel::SRM::SW_Concurrency::SwSchedulableResource"/>
-        <element xmi:type="uml:Stereotype" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_hQja8BJhEdypOJGS7WfJjQ"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_jhxmkidrEeikJeAC9ZXoXA"/>
-      </children>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_jjXiAidrEeikJeAC9ZXoXA" type="StereotypeCompartment">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_XRpfcCdwEeikJeAC9ZXoXA" source="PapyrusCSSForceValue">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_XRpfcSdwEeikJeAC9ZXoXA" key="visible" value="true"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_jjonwidrEeikJeAC9ZXoXA" visible="false" type="StereotypeProperty">
-          <element xmi:type="uml:Property" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_kCHIYBG4Edyb1KzJ7GkiGA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_jjonwydrEeikJeAC9ZXoXA"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_jjonwCdrEeikJeAC9ZXoXA" visible="false" type="StereotypeProperty">
-          <element xmi:type="uml:Property" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_h0jEoRG4Edyb1KzJ7GkiGA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_jjonwSdrEeikJeAC9ZXoXA"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_jjoAtCdrEeikJeAC9ZXoXA" visible="false" type="StereotypeProperty">
-          <element xmi:type="uml:Property" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_5BUqEBG0Edyb1KzJ7GkiGA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_jjoAtSdrEeikJeAC9ZXoXA"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_jjoAsidrEeikJeAC9ZXoXA" visible="false" type="StereotypeProperty">
-          <element xmi:type="uml:Property" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_HNL9wBGzEdyb1KzJ7GkiGA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_jjoAsydrEeikJeAC9ZXoXA"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_jjnZpidrEeikJeAC9ZXoXA" visible="false" type="StereotypeProperty">
-          <element xmi:type="uml:Property" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_CmJhMBGzEdyb1KzJ7GkiGA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_jjnZpydrEeikJeAC9ZXoXA"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_jjoAsCdrEeikJeAC9ZXoXA" visible="false" type="StereotypeProperty">
-          <element xmi:type="uml:Property" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_G2PdYBGzEdyb1KzJ7GkiGA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_jjoAsSdrEeikJeAC9ZXoXA"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_jjnZpCdrEeikJeAC9ZXoXA" visible="false" type="StereotypeProperty">
-          <element xmi:type="uml:Property" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_kM2UUBJeEdy3Td9UhuLFPg"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_jjnZpSdrEeikJeAC9ZXoXA"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_jjnZoidrEeikJeAC9ZXoXA" visible="false" type="StereotypeProperty">
-          <element xmi:type="uml:Property" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_kJRb4BJeEdy3Td9UhuLFPg"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_jjnZoydrEeikJeAC9ZXoXA"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_jjnZoCdrEeikJeAC9ZXoXA" visible="false" type="StereotypeProperty">
-          <element xmi:type="uml:Property" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_kFZogBJeEdy3Td9UhuLFPg"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_jjnZoSdrEeikJeAC9ZXoXA"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_jjmylCdrEeikJeAC9ZXoXA" visible="false" type="StereotypeProperty">
-          <element xmi:type="uml:Property" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_kBq_EBJeEdy3Td9UhuLFPg"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_jjmylSdrEeikJeAC9ZXoXA"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_jjmykidrEeikJeAC9ZXoXA" visible="false" type="StereotypeProperty">
-          <element xmi:type="uml:Property" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_j98VoBJeEdy3Td9UhuLFPg"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_jjmykydrEeikJeAC9ZXoXA"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_jjmykCdrEeikJeAC9ZXoXA" visible="false" type="StereotypeProperty">
-          <element xmi:type="uml:Property" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_j5CAcBJeEdy3Td9UhuLFPg"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_jjmykSdrEeikJeAC9ZXoXA"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_jjmLhCdrEeikJeAC9ZXoXA" visible="false" type="StereotypeProperty">
-          <element xmi:type="uml:Property" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_R3qMoDLrEd2HYNz2hI9A2g"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_jjmLhSdrEeikJeAC9ZXoXA"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_jjmLgidrEeikJeAC9ZXoXA" visible="false" type="StereotypeProperty">
-          <element xmi:type="uml:Property" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_Z0xbUBJgEdy3Td9UhuLFPg"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_jjmLgydrEeikJeAC9ZXoXA"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_jjmLgCdrEeikJeAC9ZXoXA" visible="false" type="StereotypeProperty">
-          <element xmi:type="uml:Property" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_ZtK-gBJgEdy3Td9UhuLFPg"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_jjmLgSdrEeikJeAC9ZXoXA"/>
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-        <children xmi:type="notation:DecorationNode" xmi:id="_jjlkdCdrEeikJeAC9ZXoXA" visible="false" type="StereotypeProperty">
-          <element xmi:type="uml:Property" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_Zo2fMBJgEdy3Td9UhuLFPg"/>
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-          <layoutConstraint xmi:type="notation:Location" xmi:id="_jjlkcydrEeikJeAC9ZXoXA"/>
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-        <children xmi:type="notation:DecorationNode" xmi:id="_jjlkcCdrEeikJeAC9ZXoXA" visible="false" type="StereotypeProperty">
-          <element xmi:type="uml:Property" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_Zh_pQBJgEdy3Td9UhuLFPg"/>
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-        <children xmi:type="notation:DecorationNode" xmi:id="_jjk9ZCdrEeikJeAC9ZXoXA" visible="false" type="StereotypeProperty">
-          <element xmi:type="uml:Property" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_Zfw0oBJgEdy3Td9UhuLFPg"/>
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-        <children xmi:type="notation:DecorationNode" xmi:id="_jjk9YidrEeikJeAC9ZXoXA" visible="false" type="StereotypeProperty">
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-          <element xmi:type="uml:Property" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_ZaPbcBJgEdy3Td9UhuLFPg"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_jjk9YSdrEeikJeAC9ZXoXA"/>
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-        <children xmi:type="notation:DecorationNode" xmi:id="_jjkWVCdrEeikJeAC9ZXoXA" visible="false" type="StereotypeProperty">
-          <element xmi:type="uml:Property" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_ZXHO8BJgEdy3Td9UhuLFPg"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_jjkWVSdrEeikJeAC9ZXoXA"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_jjkWUidrEeikJeAC9ZXoXA" visible="false" type="StereotypeProperty">
-          <element xmi:type="uml:Property" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_ZTPbkBJgEdy3Td9UhuLFPg"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_jjkWUydrEeikJeAC9ZXoXA"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_jjkWUCdrEeikJeAC9ZXoXA" visible="false" type="StereotypeProperty">
-          <element xmi:type="uml:Property" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_ZQQZABJgEdy3Td9UhuLFPg"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_jjkWUSdrEeikJeAC9ZXoXA"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_jjjvQidrEeikJeAC9ZXoXA" type="StereotypeProperty">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_8948ICeNEeikJeAC9ZXoXA" source="PapyrusCSSForceValue">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_8948ISeNEeikJeAC9ZXoXA" key="visible" value="true"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_15ZoNPjhEeqA4v_JqiO9QA" type="StateMachine_RegionCompartment">
+        <children xmi:type="notation:Shape" xmi:id="_15ZoNfjhEeqA4v_JqiO9QA" type="Region_Shape">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_15ZoNvjhEeqA4v_JqiO9QA" source="RegionAnnotationKey">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_15ZoN_jhEeqA4v_JqiO9QA" key="RegionZoneKey" value=""/>
           </eAnnotations>
-          <element xmi:type="uml:Property" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_ZM1RkBJgEdy3Td9UhuLFPg"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_jjjvQydrEeikJeAC9ZXoXA"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_15ZoOPjhEeqA4v_JqiO9QA" type="Region_SubvertexCompartment">
+            <children xmi:type="notation:Shape" xmi:id="__u9YEPjhEeqA4v_JqiO9QA" type="State_Shape">
+              <children xmi:type="notation:DecorationNode" xmi:id="__u9_IPjhEeqA4v_JqiO9QA" type="State_NameLabel">
+                <layoutConstraint xmi:type="notation:Bounds" xmi:id="__wBvEPjhEeqA4v_JqiO9QA" width="207" height="36"/>
+              </children>
+              <children xmi:type="notation:DecorationNode" xmi:id="__u9_IfjhEeqA4v_JqiO9QA" type="State_FloatingNameLabel">
+                <layoutConstraint xmi:type="notation:Location" xmi:id="__u9_IvjhEeqA4v_JqiO9QA" x="40"/>
+              </children>
+              <children xmi:type="notation:BasicCompartment" xmi:id="__u9_I_jhEeqA4v_JqiO9QA" type="State_RegionCompartment">
+                <layoutConstraint xmi:type="notation:Bounds" xmi:id="__u9_JPjhEeqA4v_JqiO9QA" y="36" width="207" height="61"/>
+              </children>
+              <element xmi:type="uml:State" href="robotics.library.uml#_4Qge-PjgEeqA4v_JqiO9QA"/>
+              <layoutConstraint xmi:type="notation:Bounds" xmi:id="__u9YEfjhEeqA4v_JqiO9QA" x="309" y="169" width="207" height="97"/>
+            </children>
+            <children xmi:type="notation:Shape" xmi:id="__vbSKfjhEeqA4v_JqiO9QA" type="StereotypeComment">
+              <styles xmi:type="notation:TitleStyle" xmi:id="__vbSKvjhEeqA4v_JqiO9QA"/>
+              <styles xmi:type="notation:EObjectValueStyle" xmi:id="__vbSLPjhEeqA4v_JqiO9QA" name="BASE_ELEMENT">
+                <eObjectValue xmi:type="uml:State" href="robotics.library.uml#_4Qge-PjgEeqA4v_JqiO9QA"/>
+              </styles>
+              <element xsi:nil="true"/>
+              <layoutConstraint xmi:type="notation:Bounds" xmi:id="__vbSK_jhEeqA4v_JqiO9QA" x="200"/>
+            </children>
+            <children xmi:type="notation:Shape" xmi:id="_BfuyIPjiEeqA4v_JqiO9QA" type="State_Shape">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_BiWoUPjiEeqA4v_JqiO9QA" source="PapyrusCSSForceValue">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_BiWoUfjiEeqA4v_JqiO9QA" key="mutable" value="true"/>
+              </eAnnotations>
+              <children xmi:type="notation:DecorationNode" xmi:id="_BfuyIvjiEeqA4v_JqiO9QA" type="State_NameLabel">
+                <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Bho2oPjiEeqA4v_JqiO9QA" width="207" height="36"/>
+              </children>
+              <children xmi:type="notation:DecorationNode" xmi:id="_BfvZMPjiEeqA4v_JqiO9QA" type="State_FloatingNameLabel">
+                <layoutConstraint xmi:type="notation:Location" xmi:id="_BfvZMfjiEeqA4v_JqiO9QA" x="40"/>
+              </children>
+              <children xmi:type="notation:BasicCompartment" xmi:id="_BfvZMvjiEeqA4v_JqiO9QA" type="State_RegionCompartment">
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-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_7dYoNWabEemi1oa9g-q1fQ"/>
+    <edges xmi:type="notation:Connector" xmi:id="_B8HMIPjiEeqA4v_JqiO9QA" type="Transition_Edge" source="__u9YEPjhEeqA4v_JqiO9QA" target="_B7nc4PjiEeqA4v_JqiO9QA">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_B9LjIvjiEeqA4v_JqiO9QA" source="PapyrusCSSForceValue">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_B9LjI_jiEeqA4v_JqiO9QA" key="mutable" value="true"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_B8HMI_jiEeqA4v_JqiO9QA" type="Transition_NameLabel">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_CXGfAPjiEeqA4v_JqiO9QA" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_B8HMJPjiEeqA4v_JqiO9QA" x="1" y="18"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_B8HMJfjiEeqA4v_JqiO9QA" type="Transition_GuardLabel">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_CXSFMPjiEeqA4v_JqiO9QA" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_B8HMJvjiEeqA4v_JqiO9QA" x="-36" y="16"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_B8HzMPjiEeqA4v_JqiO9QA" type="Transition_StereotypeLabel">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_CXcdQPjiEeqA4v_JqiO9QA" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_B8HzMfjiEeqA4v_JqiO9QA" x="56" y="-20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_B8HMIfjiEeqA4v_JqiO9QA"/>
+      <element xmi:type="uml:Transition" href="robotics.library.uml#_4Qge8_jgEeqA4v_JqiO9QA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_B8HMIvjiEeqA4v_JqiO9QA" points="[410, 479, -643984, -643984]$[-20, 29, -643984, -643984]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_B8HzMvjiEeqA4v_JqiO9QA" id="(0.6763285024154589,1.0)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_B8HzM_jiEeqA4v_JqiO9QA" id="(0.4830917874396135,0.0)"/>
     </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_F82XqfmPEemo9pEPSkbULg" type="StereotypeCommentLink" source="_gn3fQC3DEeitsIbICg0CnA" target="_F82XpfmPEemo9pEPSkbULg">
-      <styles xmi:type="notation:FontStyle" xmi:id="_F82XqvmPEemo9pEPSkbULg"/>
-      <styles xmi:type="notation:EObjectValueStyle" xmi:id="_F82-svmPEemo9pEPSkbULg" name="BASE_ELEMENT">
-        <eObjectValue xmi:type="uml:DataType" href="robotics.library.uml#_gnYXEC3DEeitsIbICg0CnA"/>
+    <edges xmi:type="notation:Connector" xmi:id="_B8PvBPjiEeqA4v_JqiO9QA" type="StereotypeCommentLink" source="_B8HMIPjiEeqA4v_JqiO9QA" target="_B8PvAPjiEeqA4v_JqiO9QA">
+      <styles xmi:type="notation:FontStyle" xmi:id="_B8PvBfjiEeqA4v_JqiO9QA"/>
+      <styles xmi:type="notation:EObjectValueStyle" xmi:id="_B8PvCfjiEeqA4v_JqiO9QA" name="BASE_ELEMENT">
+        <eObjectValue xmi:type="uml:Transition" href="robotics.library.uml#_4Qge8_jgEeqA4v_JqiO9QA"/>
       </styles>
       <element xsi:nil="true"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_F82Xq_mPEemo9pEPSkbULg" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_F82-sPmPEemo9pEPSkbULg"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_F82-sfmPEemo9pEPSkbULg"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_B8PvBvjiEeqA4v_JqiO9QA" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_B8PvB_jiEeqA4v_JqiO9QA"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_B8PvCPjiEeqA4v_JqiO9QA"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_LnGDt_jiEeqA4v_JqiO9QA" type="StereotypeCommentLink" source="_Ll-CUPjiEeqA4v_JqiO9QA" target="_LnGDs_jiEeqA4v_JqiO9QA">
+      <styles xmi:type="notation:FontStyle" xmi:id="_LnGDuPjiEeqA4v_JqiO9QA"/>
+      <styles xmi:type="notation:EObjectValueStyle" xmi:id="_LnGDvPjiEeqA4v_JqiO9QA" name="BASE_ELEMENT">
+        <eObjectValue xmi:type="uml:Pseudostate" href="robotics.library.uml#_4Qge9_jgEeqA4v_JqiO9QA"/>
+      </styles>
+      <element xsi:nil="true"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_LnGDufjiEeqA4v_JqiO9QA" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_LnGDuvjiEeqA4v_JqiO9QA"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_LnGDu_jiEeqA4v_JqiO9QA"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_OsE3oPjiEeqA4v_JqiO9QA" type="Transition_Edge" source="_Ll-CUPjiEeqA4v_JqiO9QA" target="__u9YEPjhEeqA4v_JqiO9QA">
+      <children xmi:type="notation:DecorationNode" xmi:id="_OsFesPjiEeqA4v_JqiO9QA" type="Transition_NameLabel">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_Stp2sPjiEeqA4v_JqiO9QA" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_OsFesfjiEeqA4v_JqiO9QA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_OsFesvjiEeqA4v_JqiO9QA" type="Transition_GuardLabel">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_St3SEPjiEeqA4v_JqiO9QA" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_OsFes_jiEeqA4v_JqiO9QA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_OsFetPjiEeqA4v_JqiO9QA" type="Transition_StereotypeLabel">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_SuGioPjiEeqA4v_JqiO9QA" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_OsFetfjiEeqA4v_JqiO9QA" y="60"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_OsE3ofjiEeqA4v_JqiO9QA"/>
+      <element xmi:type="uml:Transition" href="robotics.library.uml#_4Qge8vjgEeqA4v_JqiO9QA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_OsE3ovjiEeqA4v_JqiO9QA" points="[443, 114, -643984, -643984]$[452, 219, -643984, -643984]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_P2nYIPjiEeqA4v_JqiO9QA" id="(0.45714285714285713,0.9090909090909091)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_OsZnwfjiEeqA4v_JqiO9QA" type="StereotypeCommentLink" source="_OsE3oPjiEeqA4v_JqiO9QA" target="_OsZAs_jiEeqA4v_JqiO9QA">
+      <styles xmi:type="notation:FontStyle" xmi:id="_OsZnwvjiEeqA4v_JqiO9QA"/>
+      <styles xmi:type="notation:EObjectValueStyle" xmi:id="_OsZnxvjiEeqA4v_JqiO9QA" name="BASE_ELEMENT">
+        <eObjectValue xmi:type="uml:Transition" href="robotics.library.uml#_4Qge8vjgEeqA4v_JqiO9QA"/>
+      </styles>
+      <element xsi:nil="true"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_OsZnw_jiEeqA4v_JqiO9QA" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_OsZnxPjiEeqA4v_JqiO9QA"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_OsZnxfjiEeqA4v_JqiO9QA"/>
     </edges>
   </notation:Diagram>
 </xmi:XMI>
diff --git a/plugins/customization/org.eclipse.papyrus.robotics.library/models/robotics.library.uml b/plugins/customization/org.eclipse.papyrus.robotics.library/models/robotics.library.uml
index cde1b50..b671552 100644
--- a/plugins/customization/org.eclipse.papyrus.robotics.library/models/robotics.library.uml
+++ b/plugins/customization/org.eclipse.papyrus.robotics.library/models/robotics.library.uml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<xmi:XMI xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:DataTypes="http://www.eclipse.org/papyrus/DataTypes/1" xmlns:SW_Concurrency="http://www.eclipse.org/papyrus/SW_Concurrency/1" xmlns:bpc="http://www.eclipse.org/papyrus/robotics/bpc/1" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:robotics.commpattern="http://www.eclipse.org/papyrus/robotics/commpattern/1" xmlns:robotics.components="http://www.eclipse.org/papyrus/robotics/components/1" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xsi:schemaLocation="http://www.eclipse.org/papyrus/DataTypes/1 http://www.eclipse.org/papyrus/MARTE/1#//MARTE_Annexes/VSL/DataTypes http://www.eclipse.org/papyrus/SW_Concurrency/1 http://www.eclipse.org/papyrus/MARTE/1#//MARTE_DesignModel/SRM/SW_Concurrency http://www.eclipse.org/papyrus/robotics/commpattern/1 http://www.eclipse.org/papyrus/robotics/1#//commpattern http://www.eclipse.org/papyrus/robotics/components/1 http://www.eclipse.org/papyrus/robotics/1#//components">
+<xmi:XMI xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:bpc="http://www.eclipse.org/papyrus/robotics/bpc/1" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:robotics.commpattern="http://www.eclipse.org/papyrus/robotics/commpattern/1" xmlns:robotics.skills="http://www.eclipse.org/papyrus/robotics/skills/1" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xsi:schemaLocation="http://www.eclipse.org/papyrus/robotics/commpattern/1 http://www.eclipse.org/papyrus/robotics/1#//commpattern http://www.eclipse.org/papyrus/robotics/skills/1 http://www.eclipse.org/papyrus/robotics/1#//skills">
   <uml:Model xmi:id="_LaOOAJcvEeeV0-Lu2yLOjA" name="robotics">
     <packageImport xmi:type="uml:PackageImport" xmi:id="_3bM1UJijEee4S-CBnWqXWg">
       <importedPackage xmi:type="uml:Model" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#_0"/>
@@ -56,52 +56,24 @@
         </ownedTemplateSignature>
       </packagedElement>
     </packagedElement>
-    <packagedElement xmi:type="uml:Package" xmi:id="_jFmxoPn9Eee8c8wpObBu7w" name="execcontainer">
-      <packagedElement xmi:type="uml:Class" xmi:id="_dFzyYPn9Eee8c8wpObBu7w" name="Thread">
-        <nestedClassifier xmi:type="uml:Class" xmi:id="_OXBTIElkEeiH7PUTM35BlA" name="ParameterSet">
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_gYuUoPn9Eee8c8wpObBu7w" name="local_priority_range" visibility="public" type="_gnYXEC3DEeitsIbICg0CnA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GK_F4C3FEeitsIbICg0CnA"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GLe1IC3FEeitsIbICg0CnA" value="1"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_J2D5sCeUEeikJeAC9ZXoXA" name="local_priority">
-            <type xmi:type="uml:DataType" href="pathmap://Papyrus_PROFILES/MARTE_Library.library.uml#_0KWSgBFQEdyUJeMeN__D-A"/>
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_H2dwQC3FEeitsIbICg0CnA"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_H2ygYC3FEeitsIbICg0CnA" value="1"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_VWCxwCeZEeikJeAC9ZXoXA" name="interarrival_range" type="_-SPdcC3DEeitsIbICg0CnA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_InoHcC3FEeitsIbICg0CnA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_IoEMUC3FEeitsIbICg0CnA" value="1"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_0AfrYC3EEeitsIbICg0CnA" name="interarrival_time" visibility="public">
-            <type xmi:type="uml:DataType" href="pathmap://Papyrus_PROFILES/MARTE_Library.library.uml#_kMwX8BFREdyUJeMeN__D-A"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Property" xmi:id="__pc7MC53Eei0V9-WLHIyvg" name="rel_deadline" visibility="public">
-            <type xmi:type="uml:DataType" href="pathmap://Papyrus_PROFILES/MARTE_Library.library.uml#_kMwX8BFREdyUJeMeN__D-A"/>
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_nFPzUC58Eei0V9-WLHIyvg"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_nFpb8C58Eei0V9-WLHIyvg" value="1"/>
-          </ownedAttribute>
-        </nestedClassifier>
+    <packagedElement xmi:type="uml:Package" xmi:id="_ysOXAPjgEeqA4v_JqiO9QA" name="skillsemantics">
+      <packagedElement xmi:type="uml:StateMachine" xmi:id="_4Qge8PjgEeqA4v_JqiO9QA" name="DefaultSkillFSMTemplate">
+        <region xmi:type="uml:Region" xmi:id="_4Qge8fjgEeqA4v_JqiO9QA" name="Region1">
+          <transition xmi:type="uml:Transition" xmi:id="_4Qge8vjgEeqA4v_JqiO9QA" source="_4Qge9_jgEeqA4v_JqiO9QA" target="_4Qge-PjgEeqA4v_JqiO9QA"/>
+          <transition xmi:type="uml:Transition" xmi:id="_4Qge8_jgEeqA4v_JqiO9QA" source="_4Qge-PjgEeqA4v_JqiO9QA" target="_4Qge-vjgEeqA4v_JqiO9QA">
+            <trigger xmi:type="uml:Trigger" xmi:id="_4Qge9PjgEeqA4v_JqiO9QA" event="_87HQEPjkEeqA4v_JqiO9QA"/>
+          </transition>
+          <transition xmi:type="uml:Transition" xmi:id="_4Qge9fjgEeqA4v_JqiO9QA" source="_4Qge-PjgEeqA4v_JqiO9QA" target="_4Qge-fjgEeqA4v_JqiO9QA">
+            <trigger xmi:type="uml:Trigger" xmi:id="_4Qge9vjgEeqA4v_JqiO9QA" event="_XuDHEPjlEeqA4v_JqiO9QA"/>
+          </transition>
+          <subvertex xmi:type="uml:Pseudostate" xmi:id="_4Qge9_jgEeqA4v_JqiO9QA" name="Initial1"/>
+          <subvertex xmi:type="uml:State" xmi:id="_4Qge-PjgEeqA4v_JqiO9QA" name="run"/>
+          <subvertex xmi:type="uml:State" xmi:id="_4Qge-fjgEeqA4v_JqiO9QA" name="failure"/>
+          <subvertex xmi:type="uml:State" xmi:id="_4Qge-vjgEeqA4v_JqiO9QA" name="success"/>
+        </region>
       </packagedElement>
-      <packagedElement xmi:type="uml:DataType" xmi:id="_gnYXEC3DEeitsIbICg0CnA" name="PriorityRange">
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_qx-i0C3DEeitsIbICg0CnA" name="bound" isOrdered="true">
-          <type xmi:type="uml:DataType" href="pathmap://Papyrus_PROFILES/MARTE_Library.library.uml#_0KWSgBFQEdyUJeMeN__D-A"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_27OzoC3DEeitsIbICg0CnA" value="2"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_275iAC3DEeitsIbICg0CnA" value="2"/>
-        </ownedAttribute>
-      </packagedElement>
-      <packagedElement xmi:type="uml:DataType" xmi:id="_-SPdcC3DEeitsIbICg0CnA" name="InterarrivalTimeRange">
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_D_hwYC3EEeitsIbICg0CnA" name="bound" isOrdered="true">
-          <type xmi:type="uml:DataType" href="pathmap://Papyrus_PROFILES/MARTE_Library.library.uml#_kMwX8BFREdyUJeMeN__D-A"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_E7PxwC3EEeitsIbICg0CnA" value="2"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_E7wIEC3EEeitsIbICg0CnA" value="2"/>
-        </ownedAttribute>
-      </packagedElement>
-      <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_twveoPn9Eee8c8wpObBu7w">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_twzwEPn9Eee8c8wpObBu7w" source="http://www.eclipse.org/uml2/2.0.0/UML">
-          <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/MARTE/1#//MARTE_DesignModel/SRM/SW_Concurrency"/>
-        </eAnnotations>
-        <appliedProfile xmi:type="uml:Profile" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_A_vtYBJeEdy3Td9UhuLFPg"/>
-      </profileApplication>
+      <packagedElement xmi:type="uml:SignalEvent" xmi:id="_87HQEPjkEeqA4v_JqiO9QA" name="onSuccess"/>
+      <packagedElement xmi:type="uml:SignalEvent" xmi:id="_XuDHEPjlEeqA4v_JqiO9QA" name="onFailure"/>
     </packagedElement>
     <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_Z-u0wJc5EeeMi5p56pRHFw">
       <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Z-9eQJc5EeeMi5p56pRHFw" source="http://www.eclipse.org/uml2/2.0.0/UML">
@@ -168,12 +140,5 @@
     <v xmi:type="bpc:VersionMetaData" xmi:id="_D3NncSapEeiurq-kTHMlgA"/>
     <id xmi:type="bpc:IdMetaData" xmi:id="_D3NnciapEeiurq-kTHMlgA" instance_uid="_D3NnciapEeiurq-kTHMlgA"/>
   </robotics.commpattern:CommunicationPattern>
-  <DataTypes:IntervalType xmi:id="_n9awgC3DEeitsIbICg0CnA" intervalAttrib="_qx-i0C3DEeitsIbICg0CnA" base_DataType="_gnYXEC3DEeitsIbICg0CnA"/>
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-  <robotics.components:Activity xmi:id="_fX78ECaqEeiurq-kTHMlgA" base_Class="_dFzyYPn9Eee8c8wpObBu7w">
-    <v xmi:type="bpc:VersionMetaData" xmi:id="_fX78ESaqEeiurq-kTHMlgA"/>
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-  </robotics.components:Activity>
-  <SW_Concurrency:SwSchedulableResource xmi:id="_u3vi8Pn9Eee8c8wpObBu7w" base_Classifier="_dFzyYPn9Eee8c8wpObBu7w" type="" periodElements="_VWCxwCeZEeikJeAC9ZXoXA _0AfrYC3EEeitsIbICg0CnA" priorityElements="_gYuUoPn9Eee8c8wpObBu7w _J2D5sCeUEeikJeAC9ZXoXA" deadlineElements="__pc7MC53Eei0V9-WLHIyvg"/>
   <robotics.commpattern:CommunicationPattern xmi:id="_qnlnQDBjEeqxv6YJjwaRyw" base_Collaboration="_tHLhEDBhEeqxv6YJjwaRyw"/>
 </xmi:XMI>
diff --git a/plugins/customization/org.eclipse.papyrus.robotics.library/models/skills/manipulation.skills.di b/plugins/customization/org.eclipse.papyrus.robotics.library/models/skills/manipulation.skills.di
deleted file mode 100644
index ab2ca42..0000000
--- a/plugins/customization/org.eclipse.papyrus.robotics.library/models/skills/manipulation.skills.di
+++ /dev/null
@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<architecture:ArchitectureDescription xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:architecture="http://www.eclipse.org/papyrus/infra/core/architecture" contextId="org.eclipse.papyrus.robotics.architecture"/>
diff --git a/plugins/customization/org.eclipse.papyrus.robotics.library/models/skills/manipulation.skills.notation b/plugins/customization/org.eclipse.papyrus.robotics.library/models/skills/manipulation.skills.notation
deleted file mode 100644
index 11c0308..0000000
--- a/plugins/customization/org.eclipse.papyrus.robotics.library/models/skills/manipulation.skills.notation
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diff --git a/plugins/customization/org.eclipse.papyrus.robotics.library/models/skills/manipulation.skills.uml b/plugins/customization/org.eclipse.papyrus.robotics.library/models/skills/manipulation.skills.uml
deleted file mode 100644
index 4dc3a9c..0000000
--- a/plugins/customization/org.eclipse.papyrus.robotics.library/models/skills/manipulation.skills.uml
+++ /dev/null
@@ -1,48 +0,0 @@
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diff --git a/plugins/customization/org.eclipse.papyrus.robotics.library/models/skills/manmachineinterface.skills.di b/plugins/customization/org.eclipse.papyrus.robotics.library/models/skills/manmachineinterface.skills.di
deleted file mode 100644
index ab2ca42..0000000
--- a/plugins/customization/org.eclipse.papyrus.robotics.library/models/skills/manmachineinterface.skills.di
+++ /dev/null
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diff --git a/plugins/customization/org.eclipse.papyrus.robotics.library/models/skills/manmachineinterface.skills.notation b/plugins/customization/org.eclipse.papyrus.robotics.library/models/skills/manmachineinterface.skills.notation
deleted file mode 100644
index ec4ef13..0000000
--- a/plugins/customization/org.eclipse.papyrus.robotics.library/models/skills/manmachineinterface.skills.notation
+++ /dev/null
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diff --git a/plugins/customization/org.eclipse.papyrus.robotics.library/models/skills/manmachineinterface.skills.uml b/plugins/customization/org.eclipse.papyrus.robotics.library/models/skills/manmachineinterface.skills.uml
deleted file mode 100644
index 5889687..0000000
--- a/plugins/customization/org.eclipse.papyrus.robotics.library/models/skills/manmachineinterface.skills.uml
+++ /dev/null
@@ -1,43 +0,0 @@
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diff --git a/plugins/customization/org.eclipse.papyrus.robotics.library/models/skills/motion.skills.notation b/plugins/customization/org.eclipse.papyrus.robotics.library/models/skills/motion.skills.notation
deleted file mode 100644
index b167a54..0000000
--- a/plugins/customization/org.eclipse.papyrus.robotics.library/models/skills/motion.skills.notation
+++ /dev/null
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-    <element xsi:nil="true"/>
-    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_d6cHs2abEemi1oa9g-q1fQ" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
-    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_d6cHtGabEemi1oa9g-q1fQ"/>
-    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_d6cHtWabEemi1oa9g-q1fQ"/>
-  </edges>
-  <edges xmi:type="notation:Connector" xmi:id="_OGYKVGahEemmM5xNE4Zdfg" type="StereotypeCommentLink" source="_d6WBEGabEemi1oa9g-q1fQ" target="_OGYKUGahEemmM5xNE4Zdfg">
-    <styles xmi:type="notation:FontStyle" xmi:id="_OGYKVWahEemmM5xNE4Zdfg"/>
-    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_OGYKWWahEemmM5xNE4Zdfg" name="BASE_ELEMENT">
-      <eObjectValue xmi:type="uml:Interface" href="motion.skills.uml#_ffxWMEDdEemSWsc0fABanw"/>
-    </styles>
-    <element xsi:nil="true"/>
-    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_OGYKVmahEemmM5xNE4Zdfg" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
-    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_OGYKV2ahEemmM5xNE4Zdfg"/>
-    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_OGYKWGahEemmM5xNE4Zdfg"/>
-  </edges>
-  <edges xmi:type="notation:Connector" xmi:id="_uS94RN7fEemhZKV097oeHg" type="StereotypeCommentLink" source="_d6WBEGabEemi1oa9g-q1fQ" target="_uS94QN7fEemhZKV097oeHg">
-    <styles xmi:type="notation:FontStyle" xmi:id="_uS94Rd7fEemhZKV097oeHg"/>
-    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_uS94Sd7fEemhZKV097oeHg" name="BASE_ELEMENT">
-      <eObjectValue xmi:type="uml:Interface" href="motion.skills.uml#_ffxWMEDdEemSWsc0fABanw"/>
-    </styles>
-    <element xsi:nil="true"/>
-    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_uS94Rt7fEemhZKV097oeHg" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
-    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_uS94R97fEemhZKV097oeHg"/>
-    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_uS94SN7fEemhZKV097oeHg"/>
-  </edges>
-  <edges xmi:type="notation:Connector" xmi:id="_jQfKpPc7EemIzIm1KvK29w" type="StereotypeCommentLink" source="_d6WBEGabEemi1oa9g-q1fQ" target="_jQfKoPc7EemIzIm1KvK29w">
-    <styles xmi:type="notation:FontStyle" xmi:id="_jQfKpfc7EemIzIm1KvK29w"/>
-    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_jQfKqfc7EemIzIm1KvK29w" name="BASE_ELEMENT">
-      <eObjectValue xmi:type="uml:Interface" href="motion.skills.uml#_ffxWMEDdEemSWsc0fABanw"/>
-    </styles>
-    <element xsi:nil="true"/>
-    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_jQfKpvc7EemIzIm1KvK29w" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
-    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_jQfKp_c7EemIzIm1KvK29w"/>
-    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_jQfKqPc7EemIzIm1KvK29w"/>
-  </edges>
-  <edges xmi:type="notation:Connector" xmi:id="_4wPXdBC7EeqmPYpdxNWcdQ" type="StereotypeCommentLink" source="_d6WBEGabEemi1oa9g-q1fQ" target="_4wPXcBC7EeqmPYpdxNWcdQ">
-    <styles xmi:type="notation:FontStyle" xmi:id="_4wPXdRC7EeqmPYpdxNWcdQ"/>
-    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_4wPXeRC7EeqmPYpdxNWcdQ" name="BASE_ELEMENT">
-      <eObjectValue xmi:type="uml:Interface" href="motion.skills.uml#_ffxWMEDdEemSWsc0fABanw"/>
-    </styles>
-    <element xsi:nil="true"/>
-    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_4wPXdhC7EeqmPYpdxNWcdQ" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
-    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_4wPXdxC7EeqmPYpdxNWcdQ"/>
-    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_4wPXeBC7EeqmPYpdxNWcdQ"/>
-  </edges>
-  <edges xmi:type="notation:Connector" xmi:id="_Ne6GkRapEeqd-K6eNCeXPg" type="StereotypeCommentLink" source="_d6WBEGabEemi1oa9g-q1fQ" target="_Ne5fgxapEeqd-K6eNCeXPg">
-    <styles xmi:type="notation:FontStyle" xmi:id="_Ne6GkhapEeqd-K6eNCeXPg"/>
-    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_Ne6GlhapEeqd-K6eNCeXPg" name="BASE_ELEMENT">
-      <eObjectValue xmi:type="uml:Interface" href="motion.skills.uml#_ffxWMEDdEemSWsc0fABanw"/>
-    </styles>
-    <element xsi:nil="true"/>
-    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_Ne6GkxapEeqd-K6eNCeXPg" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
-    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_Ne6GlBapEeqd-K6eNCeXPg"/>
-    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_Ne6GlRapEeqd-K6eNCeXPg"/>
-  </edges>
-</notation:Diagram>
diff --git a/plugins/customization/org.eclipse.papyrus.robotics.library/models/skills/motion.skills.uml b/plugins/customization/org.eclipse.papyrus.robotics.library/models/skills/motion.skills.uml
deleted file mode 100644
index 5770c8a..0000000
--- a/plugins/customization/org.eclipse.papyrus.robotics.library/models/skills/motion.skills.uml
+++ /dev/null
@@ -1,50 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<xmi:XMI xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:robotics.generics="http://www.eclipse.org/papyrus/robotics/generics/1" xmlns:robotics.skills="http://www.eclipse.org/papyrus/robotics/skills/1" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xsi:schemaLocation="http://www.eclipse.org/papyrus/robotics/generics/1 http://www.eclipse.org/papyrus/robotics/1#//generics http://www.eclipse.org/papyrus/robotics/skills/1 http://www.eclipse.org/papyrus/robotics/1#//skills">
-  <uml:Model xmi:id="_LaOOAJcvEeeV0-Lu2yLOjA" name="MotionSkillsModel">
-    <packageImport xmi:type="uml:PackageImport" xmi:id="_KuuPkPc8EemIzIm1KvK29w">
-      <importedPackage xmi:type="uml:Package" href="pathmap://ROBOTICS_LIBRARIES/servicedefs/basic.servicedef.uml#_8JwMgK9gEei3oP7IwGfT7w"/>
-    </packageImport>
-    <packagedElement xmi:type="uml:Interface" xmi:id="_ffxWMEDdEemSWsc0fABanw" name="MotionSkills">
-      <ownedOperation xmi:type="uml:Operation" xmi:id="_7p_MgD9ZEemSWsc0fABanw" name="moveTo">
-        <ownedParameter xmi:type="uml:Parameter" xmi:id="_TJFTc2XWEemcGYU9HSdtug" name="p">
-          <type xmi:type="uml:DataType" href="pathmap://ROBOTICS_LIBRARIES/servicedefs/basic.servicedef.uml#_C8KQcK-NEei3oP7IwGfT7w"/>
-        </ownedParameter>
-        <ownedParameter xmi:type="uml:Parameter" xmi:id="_P2fpABapEeqd-K6eNCeXPg" name="run" direction="return"/>
-        <ownedParameter xmi:type="uml:Parameter" xmi:id="_RfUA8BapEeqd-K6eNCeXPg" name="ok" direction="return"/>
-        <ownedParameter xmi:type="uml:Parameter" xmi:id="_Tlr3kBapEeqd-K6eNCeXPg" name="fail" direction="return"/>
-      </ownedOperation>
-      <ownedOperation xmi:type="uml:Operation" xmi:id="_TJFTdGXWEemcGYU9HSdtug" name="moveTo">
-        <ownedParameter xmi:type="uml:Parameter" xmi:id="_TJFTdWXWEemcGYU9HSdtug" name="q">
-          <type xmi:type="uml:DataType" href="pathmap://ROBOTICS_LIBRARIES/servicedefs/basic.servicedef.uml#_lBFtMK9zEei3oP7IwGfT7w"/>
-        </ownedParameter>
-        <ownedParameter xmi:type="uml:Parameter" xmi:id="_W06MoBapEeqd-K6eNCeXPg" name="run" direction="return"/>
-        <ownedParameter xmi:type="uml:Parameter" xmi:id="_YW4VsBapEeqd-K6eNCeXPg" name="ok" direction="return"/>
-        <ownedParameter xmi:type="uml:Parameter" xmi:id="_Z0wB4BapEeqd-K6eNCeXPg" name="fail" direction="return"/>
-      </ownedOperation>
-    </packagedElement>
-    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_s0qg0GXWEemcGYU9HSdtug">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_s0vZUGXWEemcGYU9HSdtug" source="http://www.eclipse.org/uml2/2.0.0/UML">
-        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//skills"/>
-      </eAnnotations>
-      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_gi8QcEu_EemIANEC5Ku3WA"/>
-    </profileApplication>
-    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_y8kpAPc7EemIzIm1KvK29w">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_y8l3IPc7EemIzIm1KvK29w" source="http://www.eclipse.org/uml2/2.0.0/UML">
-        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//generics"/>
-      </eAnnotations>
-      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_eFhjMEnvEeien6eLHpkAxA"/>
-    </profileApplication>
-  </uml:Model>
-  <robotics.skills:SkillDefinitionSet xmi:id="_xx2MgGXWEemcGYU9HSdtug" base_Interface="_ffxWMEDdEemSWsc0fABanw"/>
-  <robotics.skills:SkillDefinition xmi:id="_4BwrYGXWEemcGYU9HSdtug" base_Operation="_7p_MgD9ZEemSWsc0fABanw"/>
-  <robotics.skills:SkillDefinition xmi:id="_4zu64GXWEemcGYU9HSdtug" base_Operation="_TJFTdGXWEemcGYU9HSdtug"/>
-  <robotics.skills:InAttribute xmi:id="_9VQlUGXWEemcGYU9HSdtug" base_Parameter="_TJFTc2XWEemcGYU9HSdtug"/>
-  <robotics.skills:InAttribute xmi:id="_-a-QMGXWEemcGYU9HSdtug" base_Parameter="_TJFTdWXWEemcGYU9HSdtug"/>
-  <robotics.generics:Package xmi:id="_zlOkcPc7EemIzIm1KvK29w" base_Package="_LaOOAJcvEeeV0-Lu2yLOjA"/>
-  <robotics.skills:SkillResult xmi:id="_P2tEYBapEeqd-K6eNCeXPg" base_Parameter="_P2fpABapEeqd-K6eNCeXPg"/>
-  <robotics.skills:SkillResult xmi:id="_RfauoBapEeqd-K6eNCeXPg" base_Parameter="_RfUA8BapEeqd-K6eNCeXPg" kind="SUCCESS"/>
-  <robotics.skills:SkillResult xmi:id="_Tl1BgBapEeqd-K6eNCeXPg" base_Parameter="_Tlr3kBapEeqd-K6eNCeXPg" kind="FAILURE"/>
-  <robotics.skills:SkillResult xmi:id="_W0-eEBapEeqd-K6eNCeXPg" base_Parameter="_W06MoBapEeqd-K6eNCeXPg"/>
-  <robotics.skills:SkillResult xmi:id="_YW_DYBapEeqd-K6eNCeXPg" base_Parameter="_YW4VsBapEeqd-K6eNCeXPg" kind="SUCCESS"/>
-  <robotics.skills:SkillResult xmi:id="_Z08PIBapEeqd-K6eNCeXPg" base_Parameter="_Z0wB4BapEeqd-K6eNCeXPg" kind="FAILURE"/>
-</xmi:XMI>
diff --git a/plugins/customization/org.eclipse.papyrus.robotics.library/plugin.xml b/plugins/customization/org.eclipse.papyrus.robotics.library/plugin.xml
index 67379b4..cb78929 100644
--- a/plugins/customization/org.eclipse.papyrus.robotics.library/plugin.xml
+++ b/plugins/customization/org.eclipse.papyrus.robotics.library/plugin.xml
@@ -19,17 +19,6 @@
       </library>
    </extension>
 
-   <extension
-         point="org.eclipse.papyrus.uml.extensionpoints.UMLLibrary">
-      <library
-            description="UML library for robotic systems"
-            iconpath="platform:/plugin/org.eclipse.papyrus.robotics.profile/icons/robmosys-16x16.png"
-            name="Robotics - Service Definitions for the Robotics Domain"
-            path="pathmap://ROBOTICS_LIBRARIES/servicedefs/basic.servicedef.uml"
-            provider="CEA LIST">
-      </library>
-   </extension>
-   
 	<extension point="org.eclipse.papyrus.infra.types.core.elementTypeSetConfiguration">
 		<elementTypeSet
 			clientContextID="org.eclipse.papyrus.robotics.architecture"
diff --git a/plugins/customization/org.eclipse.papyrus.robotics.wizards/templates/robotics.skills.uml b/plugins/customization/org.eclipse.papyrus.robotics.wizards/templates/robotics.skills.uml
index f86c76b..fdfe650 100644
--- a/plugins/customization/org.eclipse.papyrus.robotics.wizards/templates/robotics.skills.uml
+++ b/plugins/customization/org.eclipse.papyrus.robotics.wizards/templates/robotics.skills.uml
@@ -1,15 +1,10 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <xmi:XMI xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:robotics.generics="http://www.eclipse.org/papyrus/robotics/generics/1" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xsi:schemaLocation="http://www.eclipse.org/papyrus/robotics/generics/1 http://www.eclipse.org/papyrus/robotics/1#//generics">
   <uml:Model xmi:id="_9BZ1sEvVEeiD6o8-tlgjlw" name="template">
-    <packageImport xmi:type="uml:PackageImport" xmi:id="_9orREEvVEeiD6o8-tlgjlw">
-      <importedPackage xmi:type="uml:Model" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#_0"/>
+    <packageImport xmi:type="uml:PackageImport" xmi:id="_E1UXcPjuEeqgx64oOF0IKA">
+      <importedPackage xmi:type="uml:Package" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_ysOXAPjgEeqA4v_JqiO9QA"/>
     </packageImport>
-    <packageImport xmi:type="uml:PackageImport" xmi:id="_iRpFAAw9Eeq8h7ZMfEsM1w">
-      <importedPackage xmi:type="uml:Package" href="pathmap://ROBOTICS_LIBRARIES/servicedefs/basic.servicedef.uml#_8JwMgK9gEei3oP7IwGfT7w"/>
-    </packageImport>
-    <packageImport xmi:type="uml:PackageImport" xmi:id="_iRsvYAw9Eeq8h7ZMfEsM1w">
-      <importedPackage xmi:type="uml:Package" href="pathmap://ROBOTICS_LIBRARIES/servicedefs/basic.servicedef.uml#_zV3wsK-PEei3oP7IwGfT7w"/>
-    </packageImport>
+    <packagedElement xmi:type="uml:Package" xmi:id="_oGTcIPnbEeqfUb-dfwqxIQ" name="defaultsemantics"/>
     <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_9lYFcEvVEeiD6o8-tlgjlw">
       <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_9lYFcUvVEeiD6o8-tlgjlw" source="http://www.eclipse.org/uml2/2.0.0/UML">
         <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//generics"/>
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/CEAPilot/models/tasks/graspungrasp.bt.notation b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/CEAPilot/models/tasks/graspungrasp.bt.notation
deleted file mode 100644
index 943bd04..0000000
--- a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/CEAPilot/models/tasks/graspungrasp.bt.notation
+++ /dev/null
@@ -1,7215 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<notation:Diagram xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:notation="http://www.eclipse.org/gmf/runtime/1.0.2/notation" xmlns:style="http://www.eclipse.org/papyrus/infra/gmfdiag/style" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xmi:id="_h-5HUD9ZEemSWsc0fABanw" type="PapyrusUMLActivityDiagram" name="GraspUngrasp" measurementUnit="Pixel">
-  <children xmi:type="notation:Shape" xmi:id="_h-5HUT9ZEemSWsc0fABanw" type="Activity_Shape">
-    <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_oenccD9cEemSWsc0fABanw" source="PapyrusHyperLink_Page">
-      <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_oenccT9cEemSWsc0fABanw" key="tooltip_text" value="GripperBehavior"/>
-      <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_oenccj9cEemSWsc0fABanw" key="pageName" value="PapyrusHyperLink_Page"/>
-      <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_oenccz9cEemSWsc0fABanw" key="is_default_navigation" value="true"/>
-    </eAnnotations>
-    <children xmi:type="notation:DecorationNode" xmi:id="_h-5HUj9ZEemSWsc0fABanw" type="Activity_NameLabel"/>
-    <children xmi:type="notation:DecorationNode" xmi:id="_h-5HUz9ZEemSWsc0fABanw" type="Activity_KeywordLabel"/>
-    <children xmi:type="notation:BasicCompartment" xmi:id="_h-5HVD9ZEemSWsc0fABanw" type="Activity_ParameterCompartment">
-      <styles xmi:type="notation:SortingStyle" xmi:id="_h-5HVT9ZEemSWsc0fABanw"/>
-      <styles xmi:type="notation:FilteringStyle" xmi:id="_h-5HVj9ZEemSWsc0fABanw"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_h-5HVz9ZEemSWsc0fABanw"/>
-    </children>
-    <children xmi:type="notation:BasicCompartment" xmi:id="_h-5HWD9ZEemSWsc0fABanw" type="Activity_PreconditionCompartment">
-      <styles xmi:type="notation:SortingStyle" xmi:id="_h-5HWT9ZEemSWsc0fABanw"/>
-      <styles xmi:type="notation:FilteringStyle" xmi:id="_h-5HWj9ZEemSWsc0fABanw"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_h-5HWz9ZEemSWsc0fABanw"/>
-    </children>
-    <children xmi:type="notation:BasicCompartment" xmi:id="_h-5HXD9ZEemSWsc0fABanw" type="Activity_PostconditionCompartment">
-      <styles xmi:type="notation:SortingStyle" xmi:id="_h-5HXT9ZEemSWsc0fABanw"/>
-      <styles xmi:type="notation:FilteringStyle" xmi:id="_h-5HXj9ZEemSWsc0fABanw"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_h-5HXz9ZEemSWsc0fABanw"/>
-    </children>
-    <children xmi:type="notation:BasicCompartment" xmi:id="_h-5HYD9ZEemSWsc0fABanw" type="Activity_ActivityNodeCompartment">
-      <children xmi:type="notation:Shape" xmi:id="_SbAl4D9dEemSWsc0fABanw" type="CallOperationAction_Shape">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_TNTlgD9dEemSWsc0fABanw" source="PapyrusCSSForceValue">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_TNTlgT9dEemSWsc0fABanw" key="visible" value="true"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_rK4scEmDEemYQuT1CVPT6A" key="fillColor" value="true"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_puzZ0EzBEemPQITds2TwnQ" key="mutable" value="true"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_SbAl4j9dEemSWsc0fABanw" type="CallOperationAction_NameLabel">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_TNTlgj9dEemSWsc0fABanw" source="PapyrusCSSForceValue">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_TNTlgz9dEemSWsc0fABanw" key="visible" value="true"/>
-          </eAnnotations>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_SbAl4z9dEemSWsc0fABanw" type="CallOperationAction_FloatingNameLabel">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_TNTlhD9dEemSWsc0fABanw" source="PapyrusCSSForceValue">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_TNTlhT9dEemSWsc0fABanw" key="visible" value="true"/>
-          </eAnnotations>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_SbAl5D9dEemSWsc0fABanw" y="15"/>
-        </children>
-        <children xmi:type="notation:BasicCompartment" xmi:id="_tNWZwEzAEemPQITds2TwnQ" type="compartment_shape_display">
-          <styles xmi:type="notation:TitleStyle" xmi:id="_tNWZwUzAEemPQITds2TwnQ"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_tNWZwkzAEemPQITds2TwnQ"/>
-        </children>
-        <element xmi:type="uml:CallOperationAction" href="graspungrasp.bt.uml#_OQxaED9dEemSWsc0fABanw"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_SbAl5T9dEemSWsc0fABanw" x="115" y="218" width="90" height="70"/>
-      </children>
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diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/CEAPilot/models/tasks/graspungrasp.bt.uml b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/CEAPilot/models/tasks/graspungrasp.bt.uml
deleted file mode 100644
index 2d5e126..0000000
--- a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/CEAPilot/models/tasks/graspungrasp.bt.uml
+++ /dev/null
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diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/components/CartesianToJointSpaceMapper.compdef.notation b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/components/CartesianToJointSpaceMapper.compdef.notation
index 10ac730..444bfea 100644
--- a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/components/CartesianToJointSpaceMapper.compdef.notation
+++ b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/components/CartesianToJointSpaceMapper.compdef.notation
@@ -26,6 +26,14 @@
         <element xsi:nil="true"/>
         <layoutConstraint xmi:type="notation:Bounds" xmi:id="_2G7y8gYzEeqNXrsqfdLCpw" x="354" y="60"/>
       </children>
+      <children xmi:type="notation:Shape" xmi:id="_4xPUQP1QEeqUbLjJgbrZnQ" type="StereotypeComment">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_4xPUQf1QEeqUbLjJgbrZnQ"/>
+        <styles xmi:type="notation:EObjectValueStyle" xmi:id="_4xPUQ_1QEeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+          <eObjectValue xmi:type="uml:Class" href="CartesianToJointSpaceMapper.compdef.uml#_wUQ5IPP9EemjmZqBFQuTNw"/>
+        </styles>
+        <element xsi:nil="true"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_4xPUQv1QEeqUbLjJgbrZnQ" x="354" y="60"/>
+      </children>
       <styles xmi:type="notation:TitleStyle" xmi:id="_sVfEcbJ_Eei-3KGQRKLeMQ"/>
       <layoutConstraint xmi:type="notation:Bounds" xmi:id="_sVfEcrJ_Eei-3KGQRKLeMQ"/>
     </children>
@@ -213,6 +221,46 @@
     <element xsi:nil="true"/>
     <layoutConstraint xmi:type="notation:Bounds" xmi:id="_2Lb4cgYzEeqNXrsqfdLCpw" x="571" y="100"/>
   </children>
+  <children xmi:type="notation:Shape" xmi:id="_4xLC5v1QEeqUbLjJgbrZnQ" type="StereotypeComment">
+    <styles xmi:type="notation:TitleStyle" xmi:id="_4xLC5_1QEeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_4xLC6f1QEeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Class" href="CartesianToJointSpaceMapper.compdef.uml#_sUKOwLJ_Eei-3KGQRKLeMQ"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <layoutConstraint xmi:type="notation:Bounds" xmi:id="_4xLC6P1QEeqUbLjJgbrZnQ" x="420" y="20"/>
+  </children>
+  <children xmi:type="notation:Shape" xmi:id="_4xUMwP1QEeqUbLjJgbrZnQ" type="StereotypeComment">
+    <styles xmi:type="notation:TitleStyle" xmi:id="_4xUMwf1QEeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_4xUMw_1QEeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Port" href="CartesianToJointSpaceMapper.compdef.uml#_XxfyMLXQEeiH6Ko6HOOVWw"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <layoutConstraint xmi:type="notation:Bounds" xmi:id="_4xUMwv1QEeqUbLjJgbrZnQ" x="190" y="100"/>
+  </children>
+  <children xmi:type="notation:Shape" xmi:id="_4xZFQP1QEeqUbLjJgbrZnQ" type="StereotypeComment">
+    <styles xmi:type="notation:TitleStyle" xmi:id="_4xZFQf1QEeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_4xZFQ_1QEeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Port" href="CartesianToJointSpaceMapper.compdef.uml#_zHJ7wLXQEeiH6Ko6HOOVWw"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <layoutConstraint xmi:type="notation:Bounds" xmi:id="_4xZFQv1QEeqUbLjJgbrZnQ" x="190" y="220"/>
+  </children>
+  <children xmi:type="notation:Shape" xmi:id="_4xek0P1QEeqUbLjJgbrZnQ" type="StereotypeComment">
+    <styles xmi:type="notation:TitleStyle" xmi:id="_4xek0f1QEeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_4xek0_1QEeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Port" href="CartesianToJointSpaceMapper.compdef.uml#_DvlGkLXREeiH6Ko6HOOVWw"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <layoutConstraint xmi:type="notation:Bounds" xmi:id="_4xek0v1QEeqUbLjJgbrZnQ" x="571" y="220"/>
+  </children>
+  <children xmi:type="notation:Shape" xmi:id="_4xjdUP1QEeqUbLjJgbrZnQ" type="StereotypeComment">
+    <styles xmi:type="notation:TitleStyle" xmi:id="_4xjdUf1QEeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_4xjdU_1QEeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Port" href="CartesianToJointSpaceMapper.compdef.uml#_QdLakLXREeiH6Ko6HOOVWw"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <layoutConstraint xmi:type="notation:Bounds" xmi:id="_4xjdUv1QEeqUbLjJgbrZnQ" x="571" y="100"/>
+  </children>
   <styles xmi:type="notation:StringValueStyle" xmi:id="_qZt7UbJ_Eei-3KGQRKLeMQ" name="diagram_compatibility_version" stringValue="1.4.0"/>
   <styles xmi:type="notation:DiagramStyle" xmi:id="_qZt7UrJ_Eei-3KGQRKLeMQ"/>
   <styles xmi:type="style:PapyrusDiagramStyle" xmi:id="_qZt7U7J_Eei-3KGQRKLeMQ" diagramKindId="org.eclipse.papyrus.robotics.diagram.component">
@@ -439,4 +487,64 @@
     <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_2LcfgwYzEeqNXrsqfdLCpw"/>
     <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_2LcfhAYzEeqNXrsqfdLCpw"/>
   </edges>
+  <edges xmi:type="notation:Connector" xmi:id="_4xLC6v1QEeqUbLjJgbrZnQ" type="StereotypeCommentLink" source="_sVdPQLJ_Eei-3KGQRKLeMQ" target="_4xLC5v1QEeqUbLjJgbrZnQ">
+    <styles xmi:type="notation:FontStyle" xmi:id="_4xLC6_1QEeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_4xLp4P1QEeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Class" href="CartesianToJointSpaceMapper.compdef.uml#_sUKOwLJ_Eei-3KGQRKLeMQ"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_4xLC7P1QEeqUbLjJgbrZnQ" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_4xLC7f1QEeqUbLjJgbrZnQ"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_4xLC7v1QEeqUbLjJgbrZnQ"/>
+  </edges>
+  <edges xmi:type="notation:Connector" xmi:id="_4xPURP1QEeqUbLjJgbrZnQ" type="StereotypeCommentLink" source="_wVu4wPP9EemjmZqBFQuTNw" target="_4xPUQP1QEeqUbLjJgbrZnQ">
+    <styles xmi:type="notation:FontStyle" xmi:id="_4xPURf1QEeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_4xPUSf1QEeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Class" href="CartesianToJointSpaceMapper.compdef.uml#_wUQ5IPP9EemjmZqBFQuTNw"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_4xPURv1QEeqUbLjJgbrZnQ" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_4xPUR_1QEeqUbLjJgbrZnQ"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_4xPUSP1QEeqUbLjJgbrZnQ"/>
+  </edges>
+  <edges xmi:type="notation:Connector" xmi:id="_4xUMxP1QEeqUbLjJgbrZnQ" type="StereotypeCommentLink" source="_X0BhwLXQEeiH6Ko6HOOVWw" target="_4xUMwP1QEeqUbLjJgbrZnQ">
+    <styles xmi:type="notation:FontStyle" xmi:id="_4xUMxf1QEeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_4xUMyf1QEeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Port" href="CartesianToJointSpaceMapper.compdef.uml#_XxfyMLXQEeiH6Ko6HOOVWw"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_4xUMxv1QEeqUbLjJgbrZnQ" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_4xUMx_1QEeqUbLjJgbrZnQ"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_4xUMyP1QEeqUbLjJgbrZnQ"/>
+  </edges>
+  <edges xmi:type="notation:Connector" xmi:id="_4xZFRP1QEeqUbLjJgbrZnQ" type="StereotypeCommentLink" source="_zJEnULXQEeiH6Ko6HOOVWw" target="_4xZFQP1QEeqUbLjJgbrZnQ">
+    <styles xmi:type="notation:FontStyle" xmi:id="_4xZFRf1QEeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_4xZFSf1QEeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Port" href="CartesianToJointSpaceMapper.compdef.uml#_zHJ7wLXQEeiH6Ko6HOOVWw"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_4xZFRv1QEeqUbLjJgbrZnQ" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_4xZFR_1QEeqUbLjJgbrZnQ"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_4xZFSP1QEeqUbLjJgbrZnQ"/>
+  </edges>
+  <edges xmi:type="notation:Connector" xmi:id="_4xek1P1QEeqUbLjJgbrZnQ" type="StereotypeCommentLink" source="_DyFA8LXREeiH6Ko6HOOVWw" target="_4xek0P1QEeqUbLjJgbrZnQ">
+    <styles xmi:type="notation:FontStyle" xmi:id="_4xek1f1QEeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_4xek2f1QEeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Port" href="CartesianToJointSpaceMapper.compdef.uml#_DvlGkLXREeiH6Ko6HOOVWw"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_4xek1v1QEeqUbLjJgbrZnQ" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_4xek1_1QEeqUbLjJgbrZnQ"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_4xek2P1QEeqUbLjJgbrZnQ"/>
+  </edges>
+  <edges xmi:type="notation:Connector" xmi:id="_4xjdVP1QEeqUbLjJgbrZnQ" type="StereotypeCommentLink" source="_QfGGILXREeiH6Ko6HOOVWw" target="_4xjdUP1QEeqUbLjJgbrZnQ">
+    <styles xmi:type="notation:FontStyle" xmi:id="_4xjdVf1QEeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_4xjdWf1QEeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Port" href="CartesianToJointSpaceMapper.compdef.uml#_QdLakLXREeiH6Ko6HOOVWw"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_4xjdVv1QEeqUbLjJgbrZnQ" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_4xjdV_1QEeqUbLjJgbrZnQ"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_4xjdWP1QEeqUbLjJgbrZnQ"/>
+  </edges>
 </notation:Diagram>
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/components/CartesianToJointSpaceMapper.compdef.uml b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/components/CartesianToJointSpaceMapper.compdef.uml
index a6a6aac..9a494a5 100644
--- a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/components/CartesianToJointSpaceMapper.compdef.uml
+++ b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/components/CartesianToJointSpaceMapper.compdef.uml
@@ -4,11 +4,8 @@
     <packageImport xmi:type="uml:PackageImport" xmi:id="_9orREEvVEeiD6o8-tlgjlw">
       <importedPackage xmi:type="uml:Model" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#_0"/>
     </packageImport>
-    <packageImport xmi:type="uml:PackageImport" xmi:id="_WA2x4ExPEei_Sui04GqxlQ">
-      <importedPackage xmi:type="uml:Model" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_LaOOAJcvEeeV0-Lu2yLOjA"/>
-    </packageImport>
     <packageImport xmi:type="uml:PackageImport" xmi:id="_LviigPP-EemjmZqBFQuTNw">
-      <importedPackage xmi:type="uml:Model" href="pathmap://ROBOTICS_LIBRARIES/servicedefs/basic.servicedef.uml#_9BZ1sEvVEeiD6o8-tlgjlw"/>
+      <importedPackage xmi:type="uml:Model" href="../services/basic.servicedef.uml#_9BZ1sEvVEeiD6o8-tlgjlw"/>
     </packageImport>
     <packagedElement xmi:type="uml:Class" xmi:id="_sUKOwLJ_Eei-3KGQRKLeMQ" name="CartesianToJointSpaceMapper">
       <ownedAttribute xmi:type="uml:Port" xmi:id="_XxfyMLXQEeiH6Ko6HOOVWw" name="DesiredPose3d" type="_XxxfALXQEeiH6Ko6HOOVWw" aggregation="composite"/>
@@ -21,20 +18,20 @@
       <nestedClassifier xmi:type="uml:Class" xmi:id="_zHONMLXQEeiH6Ko6HOOVWw" name="JointAngleStateCS"/>
       <nestedClassifier xmi:type="uml:Class" xmi:id="_Dvp_ELXREeiH6Ko6HOOVWw" name="ReferenceJointStateCS">
         <interfaceRealization xmi:type="uml:InterfaceRealization" xmi:id="_Wxw50PP-EemjmZqBFQuTNw" client="_Dvp_ELXREeiH6Ko6HOOVWw">
-          <supplier xmi:type="uml:Interface" href="pathmap://ROBOTICS_LIBRARIES/servicedefs/basic.servicedef.uml#_1CnPALBCEei3oP7IwGfT7w"/>
-          <contract xmi:type="uml:Interface" href="pathmap://ROBOTICS_LIBRARIES/servicedefs/basic.servicedef.uml#_1CnPALBCEei3oP7IwGfT7w"/>
+          <supplier xmi:type="uml:Interface" href="../services/basic.servicedef.uml#_1CnPALBCEei3oP7IwGfT7w"/>
+          <contract xmi:type="uml:Interface" href="../services/basic.servicedef.uml#_1CnPALBCEei3oP7IwGfT7w"/>
         </interfaceRealization>
       </nestedClassifier>
       <nestedClassifier xmi:type="uml:Class" xmi:id="_QdOd4LXREeiH6Ko6HOOVWw" name="CSforCartesianToJointMapper"/>
     </packagedElement>
     <packagedElement xmi:type="uml:Usage" xmi:id="_LwIYYPP-EemjmZqBFQuTNw" client="_XxxfALXQEeiH6Ko6HOOVWw">
-      <supplier xmi:type="uml:Interface" href="pathmap://ROBOTICS_LIBRARIES/servicedefs/basic.servicedef.uml#_IgcbILJ8Eei-3KGQRKLeMQ"/>
+      <supplier xmi:type="uml:Interface" href="../services/basic.servicedef.uml#_IgcbILJ8Eei-3KGQRKLeMQ"/>
     </packagedElement>
     <packagedElement xmi:type="uml:Usage" xmi:id="_RaeFAPP-EemjmZqBFQuTNw" client="_zHONMLXQEeiH6Ko6HOOVWw">
-      <supplier xmi:type="uml:Interface" href="pathmap://ROBOTICS_LIBRARIES/servicedefs/basic.servicedef.uml#_1CnPALBCEei3oP7IwGfT7w"/>
+      <supplier xmi:type="uml:Interface" href="../services/basic.servicedef.uml#_1CnPALBCEei3oP7IwGfT7w"/>
     </packagedElement>
     <packagedElement xmi:type="uml:Usage" xmi:id="_b0qzAPP-EemjmZqBFQuTNw" client="_QdOd4LXREeiH6Ko6HOOVWw">
-      <supplier xmi:type="uml:Interface" href="pathmap://ROBOTICS_LIBRARIES/servicedefs/basic.servicedef.uml#_bAhL4K-OEei3oP7IwGfT7w"/>
+      <supplier xmi:type="uml:Interface" href="../services/basic.servicedef.uml#_bAhL4K-OEei3oP7IwGfT7w"/>
     </packagedElement>
     <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_9KoqMEvVEeiD6o8-tlgjlw">
       <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_9Kp4UEvVEeiD6o8-tlgjlw" source="http://www.eclipse.org/uml2/2.0.0/UML">
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/components/PIDController.compdef.notation b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/components/PIDController.compdef.notation
index ae4fc2a..08e2fb2 100644
--- a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/components/PIDController.compdef.notation
+++ b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/components/PIDController.compdef.notation
@@ -70,6 +70,14 @@
         <element xsi:nil="true"/>
         <layoutConstraint xmi:type="notation:Bounds" xmi:id="_GSFy8gY0EeqNXrsqfdLCpw" x="474" y="40"/>
       </children>
+      <children xmi:type="notation:Shape" xmi:id="_4qO36_1REeqUbLjJgbrZnQ" type="StereotypeComment">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_4qO37P1REeqUbLjJgbrZnQ"/>
+        <styles xmi:type="notation:EObjectValueStyle" xmi:id="_4qO37v1REeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+          <eObjectValue xmi:type="uml:Class" href="PIDController.compdef.uml#_xeb4MLXVEei9IvTQNFccfw"/>
+        </styles>
+        <element xsi:nil="true"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_4qO37f1REeqUbLjJgbrZnQ" x="474" y="40"/>
+      </children>
       <styles xmi:type="notation:TitleStyle" xmi:id="_tg5zBrXSEeiH6Ko6HOOVWw"/>
       <layoutConstraint xmi:type="notation:Bounds" xmi:id="_tg5zB7XSEeiH6Ko6HOOVWw"/>
     </children>
@@ -191,6 +199,38 @@
     <element xsi:nil="true"/>
     <layoutConstraint xmi:type="notation:Bounds" xmi:id="_GShQwgY0EeqNXrsqfdLCpw" x="611" y="217"/>
   </children>
+  <children xmi:type="notation:Shape" xmi:id="_4qMboP1REeqUbLjJgbrZnQ" type="StereotypeComment">
+    <styles xmi:type="notation:TitleStyle" xmi:id="_4qMbof1REeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_4qMbo_1REeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Class" href="PIDController.compdef.uml#_tgWZYLXSEeiH6Ko6HOOVWw"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <layoutConstraint xmi:type="notation:Bounds" xmi:id="_4qMbov1REeqUbLjJgbrZnQ" x="300" y="60"/>
+  </children>
+  <children xmi:type="notation:Shape" xmi:id="_4qSiQP1REeqUbLjJgbrZnQ" type="StereotypeComment">
+    <styles xmi:type="notation:TitleStyle" xmi:id="_4qSiQf1REeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_4qSiQ_1REeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Port" href="PIDController.compdef.uml#_v1wKgLXSEeiH6Ko6HOOVWw"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <layoutConstraint xmi:type="notation:Bounds" xmi:id="_4qSiQv1REeqUbLjJgbrZnQ" x="190" y="100"/>
+  </children>
+  <children xmi:type="notation:Shape" xmi:id="_4qWMoP1REeqUbLjJgbrZnQ" type="StereotypeComment">
+    <styles xmi:type="notation:TitleStyle" xmi:id="_4qWMof1REeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_4qWMo_1REeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Port" href="PIDController.compdef.uml#_6WV0YLXSEeiH6Ko6HOOVWw"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <layoutConstraint xmi:type="notation:Bounds" xmi:id="_4qWMov1REeqUbLjJgbrZnQ" x="190" y="250"/>
+  </children>
+  <children xmi:type="notation:Shape" xmi:id="_4qaeEP1REeqUbLjJgbrZnQ" type="StereotypeComment">
+    <styles xmi:type="notation:TitleStyle" xmi:id="_4qaeEf1REeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_4qaeE_1REeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Port" href="PIDController.compdef.uml#_TTuNELXVEei9IvTQNFccfw"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <layoutConstraint xmi:type="notation:Bounds" xmi:id="_4qaeEv1REeqUbLjJgbrZnQ" x="611" y="217"/>
+  </children>
   <styles xmi:type="notation:StringValueStyle" xmi:id="_smQIobXSEeiH6Ko6HOOVWw" name="diagram_compatibility_version" stringValue="1.4.0"/>
   <styles xmi:type="notation:DiagramStyle" xmi:id="_smQIorXSEeiH6Ko6HOOVWw"/>
   <styles xmi:type="style:PapyrusDiagramStyle" xmi:id="_smQIo7XSEeiH6Ko6HOOVWw" diagramKindId="org.eclipse.papyrus.robotics.diagram.component">
@@ -347,4 +387,54 @@
     <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_GShQxwY0EeqNXrsqfdLCpw"/>
     <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_GShQyAY0EeqNXrsqfdLCpw"/>
   </edges>
+  <edges xmi:type="notation:Connector" xmi:id="_4qMbpP1REeqUbLjJgbrZnQ" type="StereotypeCommentLink" source="_tg5zALXSEeiH6Ko6HOOVWw" target="_4qMboP1REeqUbLjJgbrZnQ">
+    <styles xmi:type="notation:FontStyle" xmi:id="_4qMbpf1REeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_4qMbqf1REeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Class" href="PIDController.compdef.uml#_tgWZYLXSEeiH6Ko6HOOVWw"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_4qMbpv1REeqUbLjJgbrZnQ" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_4qMbp_1REeqUbLjJgbrZnQ"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_4qMbqP1REeqUbLjJgbrZnQ"/>
+  </edges>
+  <edges xmi:type="notation:Connector" xmi:id="_4qO37_1REeqUbLjJgbrZnQ" type="StereotypeCommentLink" source="_x4EgMLXVEei9IvTQNFccfw" target="_4qO36_1REeqUbLjJgbrZnQ">
+    <styles xmi:type="notation:FontStyle" xmi:id="_4qO38P1REeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_4qO39P1REeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Class" href="PIDController.compdef.uml#_xeb4MLXVEei9IvTQNFccfw"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_4qO38f1REeqUbLjJgbrZnQ" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_4qO38v1REeqUbLjJgbrZnQ"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_4qO38_1REeqUbLjJgbrZnQ"/>
+  </edges>
+  <edges xmi:type="notation:Connector" xmi:id="_4qSiRP1REeqUbLjJgbrZnQ" type="StereotypeCommentLink" source="_v3OKILXSEeiH6Ko6HOOVWw" target="_4qSiQP1REeqUbLjJgbrZnQ">
+    <styles xmi:type="notation:FontStyle" xmi:id="_4qSiRf1REeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_4qSiSf1REeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Port" href="PIDController.compdef.uml#_v1wKgLXSEeiH6Ko6HOOVWw"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_4qSiRv1REeqUbLjJgbrZnQ" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_4qSiR_1REeqUbLjJgbrZnQ"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_4qSiSP1REeqUbLjJgbrZnQ"/>
+  </edges>
+  <edges xmi:type="notation:Connector" xmi:id="_4qWMpP1REeqUbLjJgbrZnQ" type="StereotypeCommentLink" source="_6XlKgLXSEeiH6Ko6HOOVWw" target="_4qWMoP1REeqUbLjJgbrZnQ">
+    <styles xmi:type="notation:FontStyle" xmi:id="_4qWMpf1REeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_4qWMqf1REeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Port" href="PIDController.compdef.uml#_6WV0YLXSEeiH6Ko6HOOVWw"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_4qWMpv1REeqUbLjJgbrZnQ" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_4qWMp_1REeqUbLjJgbrZnQ"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_4qWMqP1REeqUbLjJgbrZnQ"/>
+  </edges>
+  <edges xmi:type="notation:Connector" xmi:id="_4qaeFP1REeqUbLjJgbrZnQ" type="StereotypeCommentLink" source="_T4zQELXVEei9IvTQNFccfw" target="_4qaeEP1REeqUbLjJgbrZnQ">
+    <styles xmi:type="notation:FontStyle" xmi:id="_4qaeFf1REeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_4qaeGf1REeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Port" href="PIDController.compdef.uml#_TTuNELXVEei9IvTQNFccfw"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_4qaeFv1REeqUbLjJgbrZnQ" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_4qaeF_1REeqUbLjJgbrZnQ"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_4qaeGP1REeqUbLjJgbrZnQ"/>
+  </edges>
 </notation:Diagram>
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/components/PIDController.compdef.uml b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/components/PIDController.compdef.uml
index 8e3879f..2209f41 100644
--- a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/components/PIDController.compdef.uml
+++ b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/components/PIDController.compdef.uml
@@ -4,11 +4,8 @@
     <packageImport xmi:type="uml:PackageImport" xmi:id="_9orREEvVEeiD6o8-tlgjlw">
       <importedPackage xmi:type="uml:Model" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#_0"/>
     </packageImport>
-    <packageImport xmi:type="uml:PackageImport" xmi:id="_WA2x4ExPEei_Sui04GqxlQ">
-      <importedPackage xmi:type="uml:Model" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_LaOOAJcvEeeV0-Lu2yLOjA"/>
-    </packageImport>
     <packageImport xmi:type="uml:PackageImport" xmi:id="_wV9QUPP_EemjmZqBFQuTNw">
-      <importedPackage xmi:type="uml:Model" href="pathmap://ROBOTICS_LIBRARIES/servicedefs/basic.servicedef.uml#_9BZ1sEvVEeiD6o8-tlgjlw"/>
+      <importedPackage xmi:type="uml:Model" href="../services/basic.servicedef.uml#_9BZ1sEvVEeiD6o8-tlgjlw"/>
     </packageImport>
     <packagedElement xmi:type="uml:Class" xmi:id="_tgWZYLXSEeiH6Ko6HOOVWw" name="PIDController">
       <ownedAttribute xmi:type="uml:Port" xmi:id="_v1wKgLXSEeiH6Ko6HOOVWw" name="ReferenceJointSetPoint" type="_v1ymwLXSEeiH6Ko6HOOVWw" aggregation="composite"/>
@@ -33,13 +30,13 @@
       <nestedClassifier xmi:type="uml:Class" xmi:id="_TYGWwLXVEei9IvTQNFccfw" name="CommandActuatorStateCS"/>
     </packagedElement>
     <packagedElement xmi:type="uml:Usage" xmi:id="_wnRp0PP_EemjmZqBFQuTNw" client="_v1ymwLXSEeiH6Ko6HOOVWw">
-      <supplier xmi:type="uml:Interface" href="pathmap://ROBOTICS_LIBRARIES/servicedefs/basic.servicedef.uml#_1CnPALBCEei3oP7IwGfT7w"/>
+      <supplier xmi:type="uml:Interface" href="../services/basic.servicedef.uml#_1CnPALBCEei3oP7IwGfT7w"/>
     </packagedElement>
     <packagedElement xmi:type="uml:Usage" xmi:id="_x3LygPP_EemjmZqBFQuTNw" client="_6WY3sLXSEeiH6Ko6HOOVWw">
-      <supplier xmi:type="uml:Interface" href="pathmap://ROBOTICS_LIBRARIES/servicedefs/basic.servicedef.uml#_1CnPALBCEei3oP7IwGfT7w"/>
+      <supplier xmi:type="uml:Interface" href="../services/basic.servicedef.uml#_1CnPALBCEei3oP7IwGfT7w"/>
     </packagedElement>
     <packagedElement xmi:type="uml:Usage" xmi:id="_4mPEcPP_EemjmZqBFQuTNw" client="_TYGWwLXVEei9IvTQNFccfw">
-      <supplier xmi:type="uml:Interface" href="pathmap://ROBOTICS_LIBRARIES/servicedefs/basic.servicedef.uml#_jWcfQLXUEeiH6Ko6HOOVWw"/>
+      <supplier xmi:type="uml:Interface" href="../services/basic.servicedef.uml#_jWcfQLXUEeiH6Ko6HOOVWw"/>
     </packagedElement>
     <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_9KoqMEvVEeiD6o8-tlgjlw">
       <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_9Kp4UEvVEeiD6o8-tlgjlw" source="http://www.eclipse.org/uml2/2.0.0/UML">
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/components/RobotInterface.compdef.notation b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/components/RobotInterface.compdef.notation
index b89582e..ff17969 100644
--- a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/components/RobotInterface.compdef.notation
+++ b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/components/RobotInterface.compdef.notation
@@ -62,6 +62,14 @@
         <element xsi:nil="true"/>
         <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MXBw4gY0EeqNXrsqfdLCpw" x="374" y="20"/>
       </children>
+      <children xmi:type="notation:Shape" xmi:id="_LSoWYP1SEeqUbLjJgbrZnQ" type="StereotypeComment">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_LSoWYf1SEeqUbLjJgbrZnQ"/>
+        <styles xmi:type="notation:EObjectValueStyle" xmi:id="_LSoWY_1SEeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+          <eObjectValue xmi:type="uml:Class" href="RobotInterface.compdef.uml#_5l_mcLXbEei9IvTQNFccfw"/>
+        </styles>
+        <element xsi:nil="true"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_LSoWYv1SEeqUbLjJgbrZnQ" x="374" y="20"/>
+      </children>
       <styles xmi:type="notation:TitleStyle" xmi:id="_Gb3-obXaEei9IvTQNFccfw"/>
       <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Gb3-orXaEei9IvTQNFccfw"/>
     </children>
@@ -247,6 +255,38 @@
     <element xsi:nil="true"/>
     <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MXg5EgY0EeqNXrsqfdLCpw" x="190" y="100"/>
   </children>
+  <children xmi:type="notation:Shape" xmi:id="_LSlTLP1SEeqUbLjJgbrZnQ" type="StereotypeComment">
+    <styles xmi:type="notation:TitleStyle" xmi:id="_LSlTLf1SEeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_LSlTL_1SEeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Class" href="RobotInterface.compdef.uml#_GbVzILXaEei9IvTQNFccfw"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <layoutConstraint xmi:type="notation:Bounds" xmi:id="_LSlTLv1SEeqUbLjJgbrZnQ" x="520" y="60"/>
+  </children>
+  <children xmi:type="notation:Shape" xmi:id="_LSrZsP1SEeqUbLjJgbrZnQ" type="StereotypeComment">
+    <styles xmi:type="notation:TitleStyle" xmi:id="_LSrZsf1SEeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_LSsAwP1SEeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Port" href="RobotInterface.compdef.uml#_HjpfALXaEei9IvTQNFccfw"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <layoutConstraint xmi:type="notation:Bounds" xmi:id="_LSrZsv1SEeqUbLjJgbrZnQ" x="190" y="210"/>
+  </children>
+  <children xmi:type="notation:Shape" xmi:id="_LSvEEP1SEeqUbLjJgbrZnQ" type="StereotypeComment">
+    <styles xmi:type="notation:TitleStyle" xmi:id="_LSvEEf1SEeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_LSvEE_1SEeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Port" href="RobotInterface.compdef.uml#_UNvzELXaEei9IvTQNFccfw"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <layoutConstraint xmi:type="notation:Bounds" xmi:id="_LSvEEv1SEeqUbLjJgbrZnQ" x="531" y="160"/>
+  </children>
+  <children xmi:type="notation:Shape" xmi:id="_LS1xwP1SEeqUbLjJgbrZnQ" type="StereotypeComment">
+    <styles xmi:type="notation:TitleStyle" xmi:id="_LS1xwf1SEeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_LS1xw_1SEeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Port" href="RobotInterface.compdef.uml#_ZPW2ULXbEei9IvTQNFccfw"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <layoutConstraint xmi:type="notation:Bounds" xmi:id="_LS1xwv1SEeqUbLjJgbrZnQ" x="190" y="100"/>
+  </children>
   <styles xmi:type="notation:StringValueStyle" xmi:id="_gylekbXYEei9IvTQNFccfw" name="diagram_compatibility_version" stringValue="1.4.0"/>
   <styles xmi:type="notation:DiagramStyle" xmi:id="_gylekrXYEei9IvTQNFccfw"/>
   <styles xmi:type="style:PapyrusDiagramStyle" xmi:id="_gylek7XYEei9IvTQNFccfw" diagramKindId="org.eclipse.papyrus.robotics.diagram.component">
@@ -503,4 +543,54 @@
     <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_MXhgJAY0EeqNXrsqfdLCpw"/>
     <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_MXhgJQY0EeqNXrsqfdLCpw"/>
   </edges>
+  <edges xmi:type="notation:Connector" xmi:id="_LSlTMP1SEeqUbLjJgbrZnQ" type="StereotypeCommentLink" source="_Gb2JcLXaEei9IvTQNFccfw" target="_LSlTLP1SEeqUbLjJgbrZnQ">
+    <styles xmi:type="notation:FontStyle" xmi:id="_LSlTMf1SEeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_LSlTNf1SEeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Class" href="RobotInterface.compdef.uml#_GbVzILXaEei9IvTQNFccfw"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_LSlTMv1SEeqUbLjJgbrZnQ" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_LSlTM_1SEeqUbLjJgbrZnQ"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_LSlTNP1SEeqUbLjJgbrZnQ"/>
+  </edges>
+  <edges xmi:type="notation:Connector" xmi:id="_LSoWZP1SEeqUbLjJgbrZnQ" type="StereotypeCommentLink" source="_5nYtkLXbEei9IvTQNFccfw" target="_LSoWYP1SEeqUbLjJgbrZnQ">
+    <styles xmi:type="notation:FontStyle" xmi:id="_LSoWZf1SEeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_LSoWaf1SEeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Class" href="RobotInterface.compdef.uml#_5l_mcLXbEei9IvTQNFccfw"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_LSoWZv1SEeqUbLjJgbrZnQ" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_LSoWZ_1SEeqUbLjJgbrZnQ"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_LSoWaP1SEeqUbLjJgbrZnQ"/>
+  </edges>
+  <edges xmi:type="notation:Connector" xmi:id="_LSsAwf1SEeqUbLjJgbrZnQ" type="StereotypeCommentLink" source="_Hki24LXaEei9IvTQNFccfw" target="_LSrZsP1SEeqUbLjJgbrZnQ">
+    <styles xmi:type="notation:FontStyle" xmi:id="_LSsAwv1SEeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_LSsAxv1SEeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Port" href="RobotInterface.compdef.uml#_HjpfALXaEei9IvTQNFccfw"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_LSsAw_1SEeqUbLjJgbrZnQ" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_LSsAxP1SEeqUbLjJgbrZnQ"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_LSsAxf1SEeqUbLjJgbrZnQ"/>
+  </edges>
+  <edges xmi:type="notation:Connector" xmi:id="_LSvEFP1SEeqUbLjJgbrZnQ" type="StereotypeCommentLink" source="_UOxGwLXaEei9IvTQNFccfw" target="_LSvEEP1SEeqUbLjJgbrZnQ">
+    <styles xmi:type="notation:FontStyle" xmi:id="_LSvEFf1SEeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_LSvEGf1SEeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Port" href="RobotInterface.compdef.uml#_UNvzELXaEei9IvTQNFccfw"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_LSvEFv1SEeqUbLjJgbrZnQ" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_LSvEF_1SEeqUbLjJgbrZnQ"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_LSvEGP1SEeqUbLjJgbrZnQ"/>
+  </edges>
+  <edges xmi:type="notation:Connector" xmi:id="_LS1xxP1SEeqUbLjJgbrZnQ" type="StereotypeCommentLink" source="_ZQVtwLXbEei9IvTQNFccfw" target="_LS1xwP1SEeqUbLjJgbrZnQ">
+    <styles xmi:type="notation:FontStyle" xmi:id="_LS1xxf1SEeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_LS1xyf1SEeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Port" href="RobotInterface.compdef.uml#_ZPW2ULXbEei9IvTQNFccfw"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_LS1xxv1SEeqUbLjJgbrZnQ" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_LS1xx_1SEeqUbLjJgbrZnQ"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_LS1xyP1SEeqUbLjJgbrZnQ"/>
+  </edges>
 </notation:Diagram>
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/components/RobotInterface.compdef.uml b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/components/RobotInterface.compdef.uml
index 0bab643..098a3e8 100644
--- a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/components/RobotInterface.compdef.uml
+++ b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/components/RobotInterface.compdef.uml
@@ -4,11 +4,8 @@
     <packageImport xmi:type="uml:PackageImport" xmi:id="_9orREEvVEeiD6o8-tlgjlw">
       <importedPackage xmi:type="uml:Model" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#_0"/>
     </packageImport>
-    <packageImport xmi:type="uml:PackageImport" xmi:id="_WA2x4ExPEei_Sui04GqxlQ">
-      <importedPackage xmi:type="uml:Model" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_LaOOAJcvEeeV0-Lu2yLOjA"/>
-    </packageImport>
     <packageImport xmi:type="uml:PackageImport" xmi:id="_J2RB0PQAEemjmZqBFQuTNw">
-      <importedPackage xmi:type="uml:Model" href="pathmap://ROBOTICS_LIBRARIES/servicedefs/basic.servicedef.uml#_9BZ1sEvVEeiD6o8-tlgjlw"/>
+      <importedPackage xmi:type="uml:Model" href="../services/basic.servicedef.uml#_9BZ1sEvVEeiD6o8-tlgjlw"/>
     </packageImport>
     <packagedElement xmi:type="uml:Class" xmi:id="_GbVzILXaEei9IvTQNFccfw" name="RobotInterface">
       <ownedAttribute xmi:type="uml:Port" xmi:id="_HjpfALXaEei9IvTQNFccfw" name="CommandActuatorTorques" type="_HjvloLXaEei9IvTQNFccfw" aggregation="composite">
@@ -24,20 +21,20 @@
       </nestedClassifier>
       <nestedClassifier xmi:type="uml:Class" xmi:id="_ZPbu0LXbEei9IvTQNFccfw" name="CSforComponentDefinition162">
         <interfaceRealization xmi:type="uml:InterfaceRealization" xmi:id="_KG3poPQAEemjmZqBFQuTNw" client="_ZPbu0LXbEei9IvTQNFccfw">
-          <supplier xmi:type="uml:Interface" href="pathmap://ROBOTICS_LIBRARIES/servicedefs/basic.servicedef.uml#_bAhL4K-OEei3oP7IwGfT7w"/>
-          <contract xmi:type="uml:Interface" href="pathmap://ROBOTICS_LIBRARIES/servicedefs/basic.servicedef.uml#_bAhL4K-OEei3oP7IwGfT7w"/>
+          <supplier xmi:type="uml:Interface" href="../services/basic.servicedef.uml#_bAhL4K-OEei3oP7IwGfT7w"/>
+          <contract xmi:type="uml:Interface" href="../services/basic.servicedef.uml#_bAhL4K-OEei3oP7IwGfT7w"/>
         </interfaceRealization>
       </nestedClassifier>
       <nestedClassifier xmi:type="uml:Class" xmi:id="_HjvloLXaEei9IvTQNFccfw" name="CSforComponentDefinition16">
         <interfaceRealization xmi:type="uml:InterfaceRealization" xmi:id="_MNW1APQAEemjmZqBFQuTNw" client="_HjvloLXaEei9IvTQNFccfw">
-          <supplier xmi:type="uml:Interface" href="pathmap://ROBOTICS_LIBRARIES/servicedefs/basic.servicedef.uml#_jWcfQLXUEeiH6Ko6HOOVWw"/>
-          <contract xmi:type="uml:Interface" href="pathmap://ROBOTICS_LIBRARIES/servicedefs/basic.servicedef.uml#_jWcfQLXUEeiH6Ko6HOOVWw"/>
+          <supplier xmi:type="uml:Interface" href="../services/basic.servicedef.uml#_jWcfQLXUEeiH6Ko6HOOVWw"/>
+          <contract xmi:type="uml:Interface" href="../services/basic.servicedef.uml#_jWcfQLXUEeiH6Ko6HOOVWw"/>
         </interfaceRealization>
       </nestedClassifier>
       <nestedClassifier xmi:type="uml:Class" xmi:id="_UN15sLXaEei9IvTQNFccfw" name="CSforComponentDefinition161">
         <interfaceRealization xmi:type="uml:InterfaceRealization" xmi:id="_QnVtAPQAEemjmZqBFQuTNw" client="_UN15sLXaEei9IvTQNFccfw">
-          <supplier xmi:type="uml:Interface" href="pathmap://ROBOTICS_LIBRARIES/servicedefs/basic.servicedef.uml#_1CnPALBCEei3oP7IwGfT7w"/>
-          <contract xmi:type="uml:Interface" href="pathmap://ROBOTICS_LIBRARIES/servicedefs/basic.servicedef.uml#_1CnPALBCEei3oP7IwGfT7w"/>
+          <supplier xmi:type="uml:Interface" href="../services/basic.servicedef.uml#_1CnPALBCEei3oP7IwGfT7w"/>
+          <contract xmi:type="uml:Interface" href="../services/basic.servicedef.uml#_1CnPALBCEei3oP7IwGfT7w"/>
         </interfaceRealization>
       </nestedClassifier>
     </packagedElement>
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/components/TrajectoryGenerator.compdef.notation b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/components/TrajectoryGenerator.compdef.notation
index fff2852..1fe9320 100644
--- a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/components/TrajectoryGenerator.compdef.notation
+++ b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/components/TrajectoryGenerator.compdef.notation
@@ -34,6 +34,22 @@
         <element xsi:nil="true"/>
         <layoutConstraint xmi:type="notation:Bounds" xmi:id="_RyukkgY0EeqNXrsqfdLCpw" x="234" y="40"/>
       </children>
+      <children xmi:type="notation:Shape" xmi:id="_Cd6Ye_1SEeqUbLjJgbrZnQ" type="StereotypeComment">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_Cd6YfP1SEeqUbLjJgbrZnQ"/>
+        <styles xmi:type="notation:EObjectValueStyle" xmi:id="_Cd6Yfv1SEeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+          <eObjectValue xmi:type="uml:Class" href="TrajectoryGenerator.compdef.uml#_BBljYLXeEei9IvTQNFccfw"/>
+        </styles>
+        <element xsi:nil="true"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Cd6Yff1SEeqUbLjJgbrZnQ" x="234" y="40"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_JnUEEP1SEeqUbLjJgbrZnQ" type="StereotypeComment">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_JnUEEf1SEeqUbLjJgbrZnQ"/>
+        <styles xmi:type="notation:EObjectValueStyle" xmi:id="_JnUEE_1SEeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+          <eObjectValue xmi:type="uml:Class" href="TrajectoryGenerator.compdef.uml#_BBljYLXeEei9IvTQNFccfw"/>
+        </styles>
+        <element xsi:nil="true"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_JnUEEv1SEeqUbLjJgbrZnQ" x="234" y="40"/>
+      </children>
       <styles xmi:type="notation:TitleStyle" xmi:id="_7R2ZY7XdEei9IvTQNFccfw"/>
       <layoutConstraint xmi:type="notation:Bounds" xmi:id="_7R2ZZLXdEei9IvTQNFccfw"/>
     </children>
@@ -103,6 +119,38 @@
     <element xsi:nil="true"/>
     <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Ry0rMgY0EeqNXrsqfdLCpw" x="511" y="120"/>
   </children>
+  <children xmi:type="notation:Shape" xmi:id="_Cd38Sv1SEeqUbLjJgbrZnQ" type="StereotypeComment">
+    <styles xmi:type="notation:TitleStyle" xmi:id="_Cd38S_1SEeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_Cd38Tf1SEeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Class" href="TrajectoryGenerator.compdef.uml#_7Rl6sLXdEei9IvTQNFccfw"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Cd38TP1SEeqUbLjJgbrZnQ" x="520" y="60"/>
+  </children>
+  <children xmi:type="notation:Shape" xmi:id="_Cd-C0P1SEeqUbLjJgbrZnQ" type="StereotypeComment">
+    <styles xmi:type="notation:TitleStyle" xmi:id="_Cd-C0f1SEeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_Cd-C0_1SEeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Port" href="TrajectoryGenerator.compdef.uml#_B1rSwLXeEei9IvTQNFccfw"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Cd-C0v1SEeqUbLjJgbrZnQ" x="511" y="120"/>
+  </children>
+  <children xmi:type="notation:Shape" xmi:id="_JnQZzv1SEeqUbLjJgbrZnQ" type="StereotypeComment">
+    <styles xmi:type="notation:TitleStyle" xmi:id="_JnQZz_1SEeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_JnRAwP1SEeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Class" href="TrajectoryGenerator.compdef.uml#_7Rl6sLXdEei9IvTQNFccfw"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <layoutConstraint xmi:type="notation:Bounds" xmi:id="_JnQZ0P1SEeqUbLjJgbrZnQ" x="520" y="60"/>
+  </children>
+  <children xmi:type="notation:Shape" xmi:id="_JnaKsP1SEeqUbLjJgbrZnQ" type="StereotypeComment">
+    <styles xmi:type="notation:TitleStyle" xmi:id="_JnaKsf1SEeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_JnaKs_1SEeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Port" href="TrajectoryGenerator.compdef.uml#_B1rSwLXeEei9IvTQNFccfw"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <layoutConstraint xmi:type="notation:Bounds" xmi:id="_JnaKsv1SEeqUbLjJgbrZnQ" x="511" y="120"/>
+  </children>
   <styles xmi:type="notation:StringValueStyle" xmi:id="_6ZAs4bXdEei9IvTQNFccfw" name="diagram_compatibility_version" stringValue="1.4.0"/>
   <styles xmi:type="notation:DiagramStyle" xmi:id="_6ZAs4rXdEei9IvTQNFccfw"/>
   <styles xmi:type="style:PapyrusDiagramStyle" xmi:id="_6ZAs47XdEei9IvTQNFccfw" diagramKindId="org.eclipse.papyrus.robotics.diagram.component">
@@ -199,4 +247,64 @@
     <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_Ry0rNwY0EeqNXrsqfdLCpw"/>
     <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_Ry0rOAY0EeqNXrsqfdLCpw"/>
   </edges>
+  <edges xmi:type="notation:Connector" xmi:id="_Cd38Tv1SEeqUbLjJgbrZnQ" type="StereotypeCommentLink" source="_7R1yULXdEei9IvTQNFccfw" target="_Cd38Sv1SEeqUbLjJgbrZnQ">
+    <styles xmi:type="notation:FontStyle" xmi:id="_Cd38T_1SEeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_Cd38U_1SEeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Class" href="TrajectoryGenerator.compdef.uml#_7Rl6sLXdEei9IvTQNFccfw"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_Cd38UP1SEeqUbLjJgbrZnQ" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_Cd38Uf1SEeqUbLjJgbrZnQ"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_Cd38Uv1SEeqUbLjJgbrZnQ"/>
+  </edges>
+  <edges xmi:type="notation:Connector" xmi:id="_Cd6Yf_1SEeqUbLjJgbrZnQ" type="StereotypeCommentLink" source="_BCC2YLXeEei9IvTQNFccfw" target="_Cd6Ye_1SEeqUbLjJgbrZnQ">
+    <styles xmi:type="notation:FontStyle" xmi:id="_Cd6YgP1SEeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_Cd6YhP1SEeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Class" href="TrajectoryGenerator.compdef.uml#_BBljYLXeEei9IvTQNFccfw"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_Cd6Ygf1SEeqUbLjJgbrZnQ" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_Cd6Ygv1SEeqUbLjJgbrZnQ"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_Cd6Yg_1SEeqUbLjJgbrZnQ"/>
+  </edges>
+  <edges xmi:type="notation:Connector" xmi:id="_Cd-C1P1SEeqUbLjJgbrZnQ" type="StereotypeCommentLink" source="_B2d88LXeEei9IvTQNFccfw" target="_Cd-C0P1SEeqUbLjJgbrZnQ">
+    <styles xmi:type="notation:FontStyle" xmi:id="_Cd-C1f1SEeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_Cd-C2f1SEeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Port" href="TrajectoryGenerator.compdef.uml#_B1rSwLXeEei9IvTQNFccfw"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_Cd-C1v1SEeqUbLjJgbrZnQ" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_Cd-C1_1SEeqUbLjJgbrZnQ"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_Cd-C2P1SEeqUbLjJgbrZnQ"/>
+  </edges>
+  <edges xmi:type="notation:Connector" xmi:id="_JnRAwf1SEeqUbLjJgbrZnQ" type="StereotypeCommentLink" source="_7R1yULXdEei9IvTQNFccfw" target="_JnQZzv1SEeqUbLjJgbrZnQ">
+    <styles xmi:type="notation:FontStyle" xmi:id="_JnRAwv1SEeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_JnRAxv1SEeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Class" href="TrajectoryGenerator.compdef.uml#_7Rl6sLXdEei9IvTQNFccfw"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_JnRAw_1SEeqUbLjJgbrZnQ" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_JnRAxP1SEeqUbLjJgbrZnQ"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_JnRAxf1SEeqUbLjJgbrZnQ"/>
+  </edges>
+  <edges xmi:type="notation:Connector" xmi:id="_JnUEFP1SEeqUbLjJgbrZnQ" type="StereotypeCommentLink" source="_BCC2YLXeEei9IvTQNFccfw" target="_JnUEEP1SEeqUbLjJgbrZnQ">
+    <styles xmi:type="notation:FontStyle" xmi:id="_JnUEFf1SEeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_JnUEGf1SEeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Class" href="TrajectoryGenerator.compdef.uml#_BBljYLXeEei9IvTQNFccfw"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_JnUEFv1SEeqUbLjJgbrZnQ" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_JnUEF_1SEeqUbLjJgbrZnQ"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_JnUEGP1SEeqUbLjJgbrZnQ"/>
+  </edges>
+  <edges xmi:type="notation:Connector" xmi:id="_JnaKtP1SEeqUbLjJgbrZnQ" type="StereotypeCommentLink" source="_B2d88LXeEei9IvTQNFccfw" target="_JnaKsP1SEeqUbLjJgbrZnQ">
+    <styles xmi:type="notation:FontStyle" xmi:id="_JnaKtf1SEeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_JnaKuf1SEeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Port" href="TrajectoryGenerator.compdef.uml#_B1rSwLXeEei9IvTQNFccfw"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_JnaKtv1SEeqUbLjJgbrZnQ" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_JnaKt_1SEeqUbLjJgbrZnQ"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_JnaKuP1SEeqUbLjJgbrZnQ"/>
+  </edges>
 </notation:Diagram>
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/components/TrajectoryGenerator.compdef.uml b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/components/TrajectoryGenerator.compdef.uml
index 17c2a42..b489f0d 100644
--- a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/components/TrajectoryGenerator.compdef.uml
+++ b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/components/TrajectoryGenerator.compdef.uml
@@ -4,8 +4,8 @@
     <packageImport xmi:type="uml:PackageImport" xmi:id="_9orREEvVEeiD6o8-tlgjlw">
       <importedPackage xmi:type="uml:Model" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#_0"/>
     </packageImport>
-    <packageImport xmi:type="uml:PackageImport" xmi:id="_WA2x4ExPEei_Sui04GqxlQ">
-      <importedPackage xmi:type="uml:Model" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_LaOOAJcvEeeV0-Lu2yLOjA"/>
+    <packageImport xmi:type="uml:PackageImport" xmi:id="_iReQsP1SEeqUbLjJgbrZnQ">
+      <importedPackage xmi:type="uml:Model" href="../services/basic.servicedef.uml#_9BZ1sEvVEeiD6o8-tlgjlw"/>
     </packageImport>
     <packagedElement xmi:type="uml:Class" xmi:id="_7Rl6sLXdEei9IvTQNFccfw" name="TrajectoryGenerator">
       <ownedAttribute xmi:type="uml:Port" xmi:id="_B1rSwLXeEei9IvTQNFccfw" name="ReferencePose3d" type="_B1tvALXeEei9IvTQNFccfw" aggregation="composite"/>
@@ -13,8 +13,8 @@
     </packagedElement>
     <packagedElement xmi:type="uml:Class" xmi:id="_B1tvALXeEei9IvTQNFccfw" name="CSforTrajectoryGenerator">
       <interfaceRealization xmi:type="uml:InterfaceRealization" xmi:id="_MBaG8LXeEei9IvTQNFccfw" name="ComponentInstanceConfiguration1" client="_B1tvALXeEei9IvTQNFccfw">
-        <supplier xmi:type="uml:Interface" href="pathmap://ROBOTICS_LIBRARIES/servicedefs/basic.servicedef.uml#_IgcbILJ8Eei-3KGQRKLeMQ"/>
-        <contract xmi:type="uml:Interface" href="pathmap://ROBOTICS_LIBRARIES/servicedefs/basic.servicedef.uml#_IgcbILJ8Eei-3KGQRKLeMQ"/>
+        <supplier xmi:type="uml:Interface" href="../services/basic.servicedef.uml#_IgcbILJ8Eei-3KGQRKLeMQ"/>
+        <contract xmi:type="uml:Interface" href="../services/basic.servicedef.uml#_IgcbILJ8Eei-3KGQRKLeMQ"/>
       </interfaceRealization>
     </packagedElement>
     <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_9KoqMEvVEeiD6o8-tlgjlw">
diff --git a/plugins/customization/org.eclipse.papyrus.robotics.library/models/servicedefs/basic.servicedef.di b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/services/basic.servicedef.di
similarity index 100%
rename from plugins/customization/org.eclipse.papyrus.robotics.library/models/servicedefs/basic.servicedef.di
rename to plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/services/basic.servicedef.di
diff --git a/plugins/customization/org.eclipse.papyrus.robotics.library/models/servicedefs/basic.servicedef.notation b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/services/basic.servicedef.notation
similarity index 83%
rename from plugins/customization/org.eclipse.papyrus.robotics.library/models/servicedefs/basic.servicedef.notation
rename to plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/services/basic.servicedef.notation
index 8b25949..bb8a0c7 100644
--- a/plugins/customization/org.eclipse.papyrus.robotics.library/models/servicedefs/basic.servicedef.notation
+++ b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/services/basic.servicedef.notation
@@ -673,6 +673,118 @@
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       <layoutConstraint xmi:type="notation:Bounds" xmi:id="_VErBcvmGEemo9pEPSkbULg" x="700" y="460"/>
     </children>
+    <children xmi:type="notation:Shape" xmi:id="_ExuDkP1REeqUbLjJgbrZnQ" type="StereotypeComment">
+      <styles xmi:type="notation:TitleStyle" xmi:id="_ExuDkf1REeqUbLjJgbrZnQ"/>
+      <styles xmi:type="notation:EObjectValueStyle" xmi:id="_ExuDk_1REeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+        <eObjectValue xmi:type="uml:DataType" href="basic.servicedef.uml#_lBFtMK9zEei3oP7IwGfT7w"/>
+      </styles>
+      <element xsi:nil="true"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ExuDkv1REeqUbLjJgbrZnQ" x="700" y="260"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_EyKIcP1REeqUbLjJgbrZnQ" type="StereotypeComment">
+      <styles xmi:type="notation:TitleStyle" xmi:id="_EyKIcf1REeqUbLjJgbrZnQ"/>
+      <styles xmi:type="notation:EObjectValueStyle" xmi:id="_EyKIc_1REeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+        <eObjectValue xmi:type="uml:DataType" href="basic.servicedef.uml#_lUtkEK-EEei3oP7IwGfT7w"/>
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+      <element xsi:nil="true"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_EyKIcv1REeqUbLjJgbrZnQ" x="220" y="260"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_EyhU0P1REeqUbLjJgbrZnQ" type="StereotypeComment">
+      <styles xmi:type="notation:TitleStyle" xmi:id="_EyhU0f1REeqUbLjJgbrZnQ"/>
+      <styles xmi:type="notation:EObjectValueStyle" xmi:id="_EyhU0_1REeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+        <eObjectValue xmi:type="uml:DataType" href="basic.servicedef.uml#_pY2dAK-GEei3oP7IwGfT7w"/>
+      </styles>
+      <element xsi:nil="true"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_EyhU0v1REeqUbLjJgbrZnQ" x="463" y="40"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_Ey5vUP1REeqUbLjJgbrZnQ" type="StereotypeComment">
+      <styles xmi:type="notation:TitleStyle" xmi:id="_Ey5vUf1REeqUbLjJgbrZnQ"/>
+      <styles xmi:type="notation:EObjectValueStyle" xmi:id="_Ey5vU_1REeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+        <eObjectValue xmi:type="uml:DataType" href="basic.servicedef.uml#_tDKyoK-GEei3oP7IwGfT7w"/>
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+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Ey5vUv1REeqUbLjJgbrZnQ" x="646" y="40"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_EzPtkP1REeqUbLjJgbrZnQ" type="StereotypeComment">
+      <styles xmi:type="notation:TitleStyle" xmi:id="_EzPtkf1REeqUbLjJgbrZnQ"/>
+      <styles xmi:type="notation:EObjectValueStyle" xmi:id="_EzPtk_1REeqUbLjJgbrZnQ" name="BASE_ELEMENT">
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+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_EzPtkv1REeqUbLjJgbrZnQ" x="830" y="40"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_EzpWMP1REeqUbLjJgbrZnQ" type="StereotypeComment">
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+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_EzpWMv1REeqUbLjJgbrZnQ" x="460" y="260"/>
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+    </children>
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+      <styles xmi:type="notation:TitleStyle" xmi:id="_E14K0f1REeqUbLjJgbrZnQ"/>
+      <styles xmi:type="notation:EObjectValueStyle" xmi:id="_E14K0_1REeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+        <eObjectValue xmi:type="uml:Generalization" href="basic.servicedef.uml#_c56sULAkEei3oP7IwGfT7w"/>
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+      <element xsi:nil="true"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_E14K0v1REeqUbLjJgbrZnQ" x="700" y="460"/>
+    </children>
     <styles xmi:type="notation:StringValueStyle" xmi:id="_SxhDka9hEei3oP7IwGfT7w" name="diagram_compatibility_version" stringValue="1.4.0"/>
     <styles xmi:type="notation:DiagramStyle" xmi:id="_SxhDkq9hEei3oP7IwGfT7w"/>
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@@ -1268,6 +1380,146 @@
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       <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_VErBePmGEemo9pEPSkbULg"/>
     </edges>
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+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_ExuDmP1REeqUbLjJgbrZnQ"/>
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similarity index 100%
rename from plugins/customization/org.eclipse.papyrus.robotics.library/models/servicedefs/basic.servicedef.uml
rename to plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/services/basic.servicedef.uml
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/system/PRC2CartesianMode.system.notation b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/system/PRC2CartesianMode.system.notation
index daf8e96..419fb8c 100644
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+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_nXFfqP1SEeqUbLjJgbrZnQ"/>
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-  <edges xmi:type="notation:Connector" xmi:id="_XUtmdAY0EeqNXrsqfdLCpw" type="StereotypeCommentLink" source="_qDRMvPXgEemYIvmIMIju1w" target="_XUtmcAY0EeqNXrsqfdLCpw">
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+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_nXOplf1SEeqUbLjJgbrZnQ"/>
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 </notation:Diagram>
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/system/PRC2CartesianMode.system.uml b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/system/PRC2CartesianMode.system.uml
index e04c01a..3a9e722 100644
--- a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/system/PRC2CartesianMode.system.uml
+++ b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/PRC2/models/system/PRC2CartesianMode.system.uml
@@ -4,9 +4,6 @@
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       <importedPackage xmi:type="uml:Model" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#_0"/>
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     <packageImport xmi:type="uml:PackageImport" xmi:id="_CzF7MPGpEemfxsTZOxyxVQ">
       <importedPackage xmi:type="uml:Model" href="../components/TrajectoryGenerator.compdef.uml#_9BZ1sEvVEeiD6o8-tlgjlw"/>
     </packageImport>
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/carve_uc1/models/skills/usecase1.skills.notation b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/carve_uc1/models/skills/usecase1.skills.notation
index a7a9640..0d73491 100644
--- a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/carve_uc1/models/skills/usecase1.skills.notation
+++ b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/carve_uc1/models/skills/usecase1.skills.notation
@@ -12,21 +12,33 @@
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     </children>
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-        <element xmi:type="uml:Operation" href="usecase1.skills.uml#_VQQmIBdxEeqwBcDywFJmAw"/>
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_VQkIIRdxEeqwBcDywFJmAw"/>
+      <children xmi:type="notation:Shape" xmi:id="_nGGzcP1JEeqCsOUHjQSKyA" type="Operation_InterfaceOperationLabel">
+        <element xmi:type="uml:Operation" href="usecase1.skills.uml#_8johcP1IEeqCsOUHjQSKyA"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_nGGzcf1JEeqCsOUHjQSKyA"/>
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-        <layoutConstraint xmi:type="notation:Location" xmi:id="_px76cRdxEeqwBcDywFJmAw"/>
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+        <element xmi:type="uml:Operation" href="usecase1.skills.uml#_PKxRIP1IEeqCsOUHjQSKyA"/>
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+      <children xmi:type="notation:Shape" xmi:id="_nGgcEP1JEeqCsOUHjQSKyA" type="Operation_InterfaceOperationLabel">
+        <element xmi:type="uml:Operation" href="usecase1.skills.uml#_PWEswP1JEeqCsOUHjQSKyA"/>
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+      <children xmi:type="notation:Shape" xmi:id="_nGyv8P1JEeqCsOUHjQSKyA" type="Operation_InterfaceOperationLabel">
+        <element xmi:type="uml:Operation" href="usecase1.skills.uml#_ZGeP0P1JEeqCsOUHjQSKyA"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_nGyv8f1JEeqCsOUHjQSKyA"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_nHIuMP1JEeqCsOUHjQSKyA" type="Operation_InterfaceOperationLabel">
+        <element xmi:type="uml:Operation" href="usecase1.skills.uml#_v0OFAP1HEeqCsOUHjQSKyA"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_nHIuMf1JEeqCsOUHjQSKyA"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_nHiW0P1JEeqCsOUHjQSKyA" type="Operation_InterfaceOperationLabel">
+        <element xmi:type="uml:Operation" href="usecase1.skills.uml#_w2pLUP1HEeqCsOUHjQSKyA"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_nHiW0f1JEeqCsOUHjQSKyA"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_nH_CwP1JEeqCsOUHjQSKyA" type="Operation_InterfaceOperationLabel">
+        <element xmi:type="uml:Operation" href="usecase1.skills.uml#_K41BQPyMEeq4zuCvA50udg"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_nH_Cwf1JEeqCsOUHjQSKyA"/>
       </children>
       <styles xmi:type="notation:TitleStyle" xmi:id="_TQo3yRdxEeqwBcDywFJmAw"/>
       <styles xmi:type="notation:SortingStyle" xmi:id="_TQo3yhdxEeqwBcDywFJmAw"/>
@@ -40,15 +52,15 @@
       <layoutConstraint xmi:type="notation:Bounds" xmi:id="_TQpe1hdxEeqwBcDywFJmAw"/>
     </children>
     <element xmi:type="uml:Interface" href="usecase1.skills.uml#_TN5FwBdxEeqwBcDywFJmAw"/>
-    <layoutConstraint xmi:type="notation:Bounds" xmi:id="_TQSScRdxEeqwBcDywFJmAw" x="300" y="60" width="381" height="161"/>
+    <layoutConstraint xmi:type="notation:Bounds" xmi:id="_TQSScRdxEeqwBcDywFJmAw" x="180" y="60" width="381" height="161"/>
   </children>
-  <children xmi:type="notation:Shape" xmi:id="_TTQG4BdxEeqwBcDywFJmAw" type="StereotypeComment">
-    <styles xmi:type="notation:TitleStyle" xmi:id="_TTQG4RdxEeqwBcDywFJmAw"/>
-    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_TTQt8BdxEeqwBcDywFJmAw" name="BASE_ELEMENT">
+  <children xmi:type="notation:Shape" xmi:id="_iiCKUP1UEeqYVY68BYoXgg" type="StereotypeComment">
+    <styles xmi:type="notation:TitleStyle" xmi:id="_iiCKUf1UEeqYVY68BYoXgg"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_iiCKU_1UEeqYVY68BYoXgg" name="BASE_ELEMENT">
       <eObjectValue xmi:type="uml:Interface" href="usecase1.skills.uml#_TN5FwBdxEeqwBcDywFJmAw"/>
     </styles>
     <element xsi:nil="true"/>
-    <layoutConstraint xmi:type="notation:Bounds" xmi:id="_TTQG4hdxEeqwBcDywFJmAw" x="200"/>
+    <layoutConstraint xmi:type="notation:Bounds" xmi:id="_iiCKUv1UEeqYVY68BYoXgg" x="380" y="80"/>
   </children>
   <styles xmi:type="notation:StringValueStyle" xmi:id="_C1QqcRdxEeqwBcDywFJmAw" name="diagram_compatibility_version" stringValue="1.4.0"/>
   <styles xmi:type="notation:DiagramStyle" xmi:id="_C1QqchdxEeqwBcDywFJmAw"/>
@@ -56,14 +68,14 @@
     <owner xmi:type="uml:Model" href="usecase1.skills.uml#_C02awBdxEeqwBcDywFJmAw"/>
   </styles>
   <element xmi:type="uml:Model" href="usecase1.skills.uml#_C02awBdxEeqwBcDywFJmAw"/>
-  <edges xmi:type="notation:Connector" xmi:id="_TTQt8RdxEeqwBcDywFJmAw" type="StereotypeCommentLink" source="_TQSScBdxEeqwBcDywFJmAw" target="_TTQG4BdxEeqwBcDywFJmAw">
-    <styles xmi:type="notation:FontStyle" xmi:id="_TTQt8hdxEeqwBcDywFJmAw"/>
-    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_TTQt9hdxEeqwBcDywFJmAw" name="BASE_ELEMENT">
+  <edges xmi:type="notation:Connector" xmi:id="_iiCKVP1UEeqYVY68BYoXgg" type="StereotypeCommentLink" source="_TQSScBdxEeqwBcDywFJmAw" target="_iiCKUP1UEeqYVY68BYoXgg">
+    <styles xmi:type="notation:FontStyle" xmi:id="_iiCKVf1UEeqYVY68BYoXgg"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_iiCxYP1UEeqYVY68BYoXgg" name="BASE_ELEMENT">
       <eObjectValue xmi:type="uml:Interface" href="usecase1.skills.uml#_TN5FwBdxEeqwBcDywFJmAw"/>
     </styles>
     <element xsi:nil="true"/>
-    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_TTQt8xdxEeqwBcDywFJmAw" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
-    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_TTQt9BdxEeqwBcDywFJmAw"/>
-    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_TTQt9RdxEeqwBcDywFJmAw"/>
+    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_iiCKVv1UEeqYVY68BYoXgg" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_iiCKV_1UEeqYVY68BYoXgg"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_iiCKWP1UEeqYVY68BYoXgg"/>
   </edges>
 </notation:Diagram>
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/carve_uc1/models/skills/usecase1.skills.uml b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/carve_uc1/models/skills/usecase1.skills.uml
index ec1d061..5c96e66 100644
--- a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/carve_uc1/models/skills/usecase1.skills.uml
+++ b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/carve_uc1/models/skills/usecase1.skills.uml
@@ -1,56 +1,206 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <xmi:XMI xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:robotics.generics="http://www.eclipse.org/papyrus/robotics/generics/1" xmlns:robotics.skills="http://www.eclipse.org/papyrus/robotics/skills/1" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xsi:schemaLocation="http://www.eclipse.org/papyrus/robotics/generics/1 http://www.eclipse.org/papyrus/robotics/1#//generics http://www.eclipse.org/papyrus/robotics/skills/1 http://www.eclipse.org/papyrus/robotics/1#//skills">
   <uml:Model xmi:id="_C02awBdxEeqwBcDywFJmAw" name="Usecase1Skills">
-    <packageImport xmi:type="uml:PackageImport" xmi:id="_C02awRdxEeqwBcDywFJmAw">
-      <importedPackage xmi:type="uml:Model" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#_0"/>
+    <packageImport xmi:type="uml:PackageImport" xmi:id="_KrX7cPyJEeq4zuCvA50udg">
+      <importedPackage xmi:type="uml:Package" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_ysOXAPjgEeqA4v_JqiO9QA"/>
     </packageImport>
-    <packageImport xmi:type="uml:PackageImport" xmi:id="_C02awhdxEeqwBcDywFJmAw">
-      <importedPackage xmi:type="uml:Package" href="pathmap://ROBOTICS_LIBRARIES/servicedefs/basic.servicedef.uml#_8JwMgK9gEei3oP7IwGfT7w"/>
+    <packageImport xmi:type="uml:PackageImport" xmi:id="_XymCkP1IEeqCsOUHjQSKyA">
+      <importedPackage xmi:type="uml:Model" href="pathmap://ROS2_LIB_BASE/services/geometry_msgs.servicedef.uml#ID"/>
     </packageImport>
-    <packageImport xmi:type="uml:PackageImport" xmi:id="_C02awxdxEeqwBcDywFJmAw">
-      <importedPackage xmi:type="uml:Package" href="pathmap://ROBOTICS_LIBRARIES/servicedefs/basic.servicedef.uml#_zV3wsK-PEei3oP7IwGfT7w"/>
+    <packageImport xmi:type="uml:PackageImport" xmi:id="_5n3ecP1JEeqCsOUHjQSKyA">
+      <importedPackage xmi:type="uml:Model" href="pathmap://ROS2_LIB_BASE/services/std_msgs.servicedef.uml#ID"/>
     </packageImport>
     <packagedElement xmi:type="uml:Interface" xmi:id="_TN5FwBdxEeqwBcDywFJmAw" name="UseCase1Skills">
-      <ownedOperation xmi:type="uml:Operation" xmi:id="_VQQmIBdxEeqwBcDywFJmAw" name="moveTo">
-        <ownedParameter xmi:type="uml:Parameter" xmi:id="_Wg-nIBdxEeqwBcDywFJmAw" name="loc_id">
-          <type xmi:type="uml:PrimitiveType" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#String"/>
+      <ownedOperation xmi:type="uml:Operation" xmi:id="_8johcP1IEeqCsOUHjQSKyA" name="MoveTo" method="_kM0toP1TEeqxN54SGkuIKA">
+        <ownedParameter xmi:type="uml:Parameter" xmi:id="__I7vwP1IEeqCsOUHjQSKyA" name="loc_id">
+          <type xmi:type="uml:DataType" href="pathmap://ROS2_LIB_BASE/services/std_msgs.servicedef.uml#ID_msg_String"/>
         </ownedParameter>
-        <ownedParameter xmi:type="uml:Parameter" xmi:id="_YuyigBdxEeqwBcDywFJmAw" name="run" direction="return"/>
-        <ownedParameter xmi:type="uml:Parameter" xmi:id="_ZzQ3QBdxEeqwBcDywFJmAw" name="ok" direction="return"/>
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-        <ownedParameter xmi:type="uml:Parameter" xmi:id="_e2ZZ8BdxEeqwBcDywFJmAw" name="rob_blk" direction="return"/>
+        <ownedParameter xmi:type="uml:Parameter" xmi:id="__I-zEP1IEeqCsOUHjQSKyA" name="run" direction="return"/>
+        <ownedParameter xmi:type="uml:Parameter" xmi:id="__JBPUP1IEeqCsOUHjQSKyA" name="ok" direction="return"/>
+        <ownedParameter xmi:type="uml:Parameter" xmi:id="__JESoP1IEeqCsOUHjQSKyA" name="unk_loc" direction="return"/>
+        <ownedParameter xmi:type="uml:Parameter" xmi:id="__JGu4P1IEeqCsOUHjQSKyA" name="rob_blk" direction="return"/>
       </ownedOperation>
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-          <type xmi:type="uml:PrimitiveType" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#String"/>
+      <ownedOperation xmi:type="uml:Operation" xmi:id="_PKxRIP1IEeqCsOUHjQSKyA" name="MoveTo" method="_s4HCwP1TEeqxN54SGkuIKA">
+        <ownedParameter xmi:type="uml:Parameter" xmi:id="_UFnagP1IEeqCsOUHjQSKyA" name="loc_p">
+          <type xmi:type="uml:DataType" href="pathmap://ROS2_LIB_BASE/services/geometry_msgs.servicedef.uml#ID_msg_Pose"/>
         </ownedParameter>
-        <ownedParameter xmi:type="uml:Parameter" xmi:id="_9jmuIBdxEeqwBcDywFJmAw" name="obj_p" direction="out">
+      </ownedOperation>
+      <ownedOperation xmi:type="uml:Operation" xmi:id="_PWEswP1JEeqCsOUHjQSKyA" name="FindObj" method="_xUXysP1TEeqxN54SGkuIKA">
+        <ownedParameter xmi:type="uml:Parameter" xmi:id="_T_Ll4P1JEeqCsOUHjQSKyA" name="obj_id">
+          <type xmi:type="uml:DataType" href="pathmap://ROS2_LIB_BASE/services/std_msgs.servicedef.uml#ID_msg_String"/>
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+        <ownedParameter xmi:type="uml:Parameter" xmi:id="_T_PQQP1JEeqCsOUHjQSKyA" name="obj_p" direction="out">
           <type xmi:type="uml:DataType" href="pathmap://ROBOTICS_LIBRARIES/servicedefs/basic.servicedef.uml#_C8KQcK-NEei3oP7IwGfT7w"/>
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+        <ownedParameter xmi:type="uml:Parameter" xmi:id="_T_V98P1JEeqCsOUHjQSKyA" name="ok" direction="return"/>
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+        <ownedParameter xmi:type="uml:Parameter" xmi:id="_cwN9sP1JEeqCsOUHjQSKyA" name="obj_p">
+          <type xmi:type="uml:DataType" href="pathmap://ROS2_LIB_BASE/services/geometry_msgs.servicedef.uml#ID_msg_Pose"/>
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+        <ownedParameter xmi:type="uml:Parameter" xmi:id="_cwRoEP1JEeqCsOUHjQSKyA" name="grasp_p" direction="out">
+          <type xmi:type="uml:DataType" href="pathmap://ROS2_LIB_BASE/services/geometry_msgs.servicedef.uml#ID_msg_Pose"/>
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+        <ownedParameter xmi:type="uml:Parameter" xmi:id="_cwVScP1JEeqCsOUHjQSKyA" name="run" direction="return"/>
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+        <ownedParameter xmi:type="uml:Parameter" xmi:id="_FlNFEP1IEeqCsOUHjQSKyA" name="run" direction="return"/>
+        <ownedParameter xmi:type="uml:Parameter" xmi:id="_HdeOQP1IEeqCsOUHjQSKyA" name="ok" direction="return"/>
+        <ownedParameter xmi:type="uml:Parameter" xmi:id="_IxO8MP1IEeqCsOUHjQSKyA" name="fail" direction="return"/>
       </ownedOperation>
+      <ownedOperation xmi:type="uml:Operation" xmi:id="_w2pLUP1HEeqCsOUHjQSKyA" name="CloseGripper" method="_AGN2YP1UEeqxN54SGkuIKA">
+        <ownedParameter xmi:type="uml:Parameter" xmi:id="_KVb54P1IEeqCsOUHjQSKyA" name="run" direction="return"/>
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+        <ownedParameter xmi:type="uml:Parameter" xmi:id="_MweY8P1IEeqCsOUHjQSKyA" name="fail" direction="return"/>
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+        <ownedParameter xmi:type="uml:Parameter" xmi:id="_RpYIAPyMEeq4zuCvA50udg" name="action_id">
+          <type xmi:type="uml:DataType" href="pathmap://ROS2_LIB_BASE/services/std_msgs.servicedef.uml#ID_msg_String"/>
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+        <ownedParameter xmi:type="uml:Parameter" xmi:id="_RpjHIPyMEeq4zuCvA50udg" name="run" direction="return"/>
+        <ownedParameter xmi:type="uml:Parameter" xmi:id="_RpmxgPyMEeq4zuCvA50udg" name="ok" direction="return"/>
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+    <packagedElement xmi:type="uml:Package" xmi:id="_cOl6kPyJEeq4zuCvA50udg" name="defaultsemantics">
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+        <region xmi:type="uml:Region" xmi:id="_4Qge8fjgEeqA4v_JqiO9QA" name="Region1">
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+          <subvertex xmi:type="uml:State" xmi:id="_4Qge-PjgEeqA4v_JqiO9QA" name="run"/>
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+  <robotics.skills:TransitionEdge xmi:id="_xUbdEP1TEeqxN54SGkuIKA" instance_uid="_Rk4tQPjhEeqA4v_JqiO9QA" base_Transition="_xUXys_1TEeqxN54SGkuIKA"/>
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+  <robotics.skills:SkillInitialState xmi:id="_xUcrMP1TEeqxN54SGkuIKA" base_Pseudostate="_xUXyt_1TEeqxN54SGkuIKA"/>
+  <robotics.skills:SkillOperationalState xmi:id="_xUdSQP1TEeqxN54SGkuIKA" instance_uid="_TxnDgPjhEeqA4v_JqiO9QA" base_State="_xUXyuP1TEeqxN54SGkuIKA"/>
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+  <robotics.skills:SkillFSMRegion xmi:id="_2Yi3MP1TEeqxN54SGkuIKA" base_Region="_2YhCAf1TEeqxN54SGkuIKA"/>
+  <robotics.skills:TransitionEdge xmi:id="_2YjeQP1TEeqxN54SGkuIKA" instance_uid="_Q_YMcPjhEeqA4v_JqiO9QA" base_Transition="_2YhCAv1TEeqxN54SGkuIKA"/>
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+  <robotics.skills:SkillOperationalState xmi:id="_2Yl6gP1TEeqxN54SGkuIKA" instance_uid="_TxnDgPjhEeqA4v_JqiO9QA" base_State="_2YhCCP1TEeqxN54SGkuIKA"/>
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+  <robotics.skills:TransitionEdge xmi:id="_8jAOUP1TEeqxN54SGkuIKA" instance_uid="_Q_YMcPjhEeqA4v_JqiO9QA" base_Transition="_8i-ZIv1TEeqxN54SGkuIKA"/>
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+  <robotics.skills:SkillOperationalState xmi:id="_AGSH0f1UEeqxN54SGkuIKA" instance_uid="_TxnDgPjhEeqA4v_JqiO9QA" base_State="_AGN2aP1UEeqxN54SGkuIKA"/>
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 </xmi:XMI>
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/carve_uc1/models/tasks/usecase1.bt.notation b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/carve_uc1/models/tasks/usecase1.bt.notation
index c5957b2..188f3f1 100644
--- a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/carve_uc1/models/tasks/usecase1.bt.notation
+++ b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/carve_uc1/models/tasks/usecase1.bt.notation
@@ -27,14 +27,6 @@
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         <layoutConstraint xmi:type="notation:Bounds" xmi:id="_-qRwYBdzEeqTH7Mef4_p-A" x="365" y="18" width="101" height="61"/>
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-        <styles xmi:type="notation:TitleStyle" xmi:id="_-tHpBBdzEeqTH7Mef4_p-A"/>
-        <styles xmi:type="notation:EObjectValueStyle" xmi:id="_-tIQEBdzEeqTH7Mef4_p-A" name="BASE_ELEMENT">
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-        <element xsi:nil="true"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_-tHpBRdzEeqTH7Mef4_p-A" x="200"/>
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       <children xmi:type="notation:Shape" xmi:id="_BB2EsBd0EeqTH7Mef4_p-A" type="CallBehaviorAction_Shape">
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         <children xmi:type="notation:DecorationNode" xmi:id="_BB2Esxd0EeqTH7Mef4_p-A" type="CallBehaviorAction_FloatingNameLabel">
@@ -43,14 +35,6 @@
         <element xmi:type="uml:CallBehaviorAction" href="usecase1.bt.uml#_BBp3cBd0EeqTH7Mef4_p-A"/>
         <layoutConstraint xmi:type="notation:Bounds" xmi:id="_BB2EtRd0EeqTH7Mef4_p-A" x="235" y="138" width="101" height="61"/>
       </children>
-      <children xmi:type="notation:Shape" xmi:id="_BCEHIBd0EeqTH7Mef4_p-A" type="StereotypeComment">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_BCEHIRd0EeqTH7Mef4_p-A"/>
-        <styles xmi:type="notation:EObjectValueStyle" xmi:id="_BCEHIxd0EeqTH7Mef4_p-A" name="BASE_ELEMENT">
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-        <element xsi:nil="true"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_BCEHIhd0EeqTH7Mef4_p-A" x="200"/>
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       <children xmi:type="notation:Shape" xmi:id="_BjGXoBd0EeqTH7Mef4_p-A" type="CallBehaviorAction_Shape">
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         <children xmi:type="notation:DecorationNode" xmi:id="_BjGXoxd0EeqTH7Mef4_p-A" type="CallBehaviorAction_FloatingNameLabel">
@@ -59,224 +43,6 @@
         <element xmi:type="uml:CallBehaviorAction" href="usecase1.bt.uml#_Bi48QBd0EeqTH7Mef4_p-A"/>
         <layoutConstraint xmi:type="notation:Bounds" xmi:id="_BjG-sBd0EeqTH7Mef4_p-A" x="315" y="258" width="101" height="61"/>
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-        <styles xmi:type="notation:TitleStyle" xmi:id="_BjNsZhd0EeqTH7Mef4_p-A"/>
-        <styles xmi:type="notation:EObjectValueStyle" xmi:id="_BjNsaBd0EeqTH7Mef4_p-A" name="BASE_ELEMENT">
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@@ -693,19 +583,9 @@
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-    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_L7qG4Rd0EeqTH7Mef4_p-A" id="(0.6274509803921569,0.0)"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_L7qG4Rd0EeqTH7Mef4_p-A" id="(0.5643564356435643,0.0)"/>
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-  <edges xmi:type="notation:Connector" xmi:id="_L7HUVBd0EeqTH7Mef4_p-A" type="StereotypeCommentLink" source="_L6wH8Bd0EeqTH7Mef4_p-A" target="_L7HUUBd0EeqTH7Mef4_p-A">
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-    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_L7HUWRd0EeqTH7Mef4_p-A" name="BASE_ELEMENT">
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-    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_L7HUWBd0EeqTH7Mef4_p-A"/>
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-  <edges xmi:type="notation:Connector" xmi:id="_MbCKgBd0EeqTH7Mef4_p-A" type="ControlFlow_Edge" source="_BB2EsBd0EeqTH7Mef4_p-A" target="_EGpScBd0EeqTH7Mef4_p-A">
+  <edges xmi:type="notation:Connector" xmi:id="_MbCKgBd0EeqTH7Mef4_p-A" type="ControlFlow_Edge" source="_BB2EsBd0EeqTH7Mef4_p-A" target="_TwZ4IP1LEeqUbLjJgbrZnQ">
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@@ -726,17 +606,7 @@
     <element xmi:type="uml:ControlFlow" href="usecase1.bt.uml#_MataYBd0EeqTH7Mef4_p-A"/>
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-    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_Mb8JcRd0EeqTH7Mef4_p-A" id="(0.543859649122807,0.0)"/>
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-  <edges xmi:type="notation:Connector" xmi:id="_MbYv0Rd0EeqTH7Mef4_p-A" type="StereotypeCommentLink" source="_MbCKgBd0EeqTH7Mef4_p-A" target="_MbYIwxd0EeqTH7Mef4_p-A">
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-    <element xsi:nil="true"/>
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-    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_MbYv1Rd0EeqTH7Mef4_p-A"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_Mb8JcRd0EeqTH7Mef4_p-A" id="(0.504950495049505,0.0)"/>
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   <edges xmi:type="notation:Connector" xmi:id="_M8bAUBd0EeqTH7Mef4_p-A" type="ControlFlow_Edge" source="_BB2EsBd0EeqTH7Mef4_p-A" target="_BjGXoBd0EeqTH7Mef4_p-A">
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@@ -761,17 +631,7 @@
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-  <edges xmi:type="notation:Connector" xmi:id="_M8vJZxd0EeqTH7Mef4_p-A" type="StereotypeCommentLink" source="_M8bAUBd0EeqTH7Mef4_p-A" target="_M8vJYxd0EeqTH7Mef4_p-A">
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-    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_M8vwchd0EeqTH7Mef4_p-A" name="BASE_ELEMENT">
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-    <element xsi:nil="true"/>
-    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_M8vJaRd0EeqTH7Mef4_p-A" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
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-    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_M8vwcRd0EeqTH7Mef4_p-A"/>
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-  <edges xmi:type="notation:Connector" xmi:id="_NfobEBd0EeqTH7Mef4_p-A" type="ControlFlow_Edge" source="_BjGXoBd0EeqTH7Mef4_p-A" target="_FySU4Bd0EeqTH7Mef4_p-A">
+  <edges xmi:type="notation:Connector" xmi:id="_NfobEBd0EeqTH7Mef4_p-A" type="ControlFlow_Edge" source="_BjGXoBd0EeqTH7Mef4_p-A" target="_hRT4YP1LEeqUbLjJgbrZnQ">
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@@ -792,19 +652,9 @@
     <element xmi:type="uml:ControlFlow" href="usecase1.bt.uml#_NfWHMBd0EeqTH7Mef4_p-A"/>
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-    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_NgfWsRd0EeqTH7Mef4_p-A" id="(0.48214285714285715,0.0)"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_NgfWsRd0EeqTH7Mef4_p-A" id="(0.42574257425742573,0.0)"/>
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-  <edges xmi:type="notation:Connector" xmi:id="_Nf_AZBd0EeqTH7Mef4_p-A" type="StereotypeCommentLink" source="_NfobEBd0EeqTH7Mef4_p-A" target="_Nf_AYBd0EeqTH7Mef4_p-A">
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-    <element xsi:nil="true"/>
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-    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_Nf_AaBd0EeqTH7Mef4_p-A"/>
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-  <edges xmi:type="notation:Connector" xmi:id="_N8q8YBd0EeqTH7Mef4_p-A" type="ControlFlow_Edge" source="_BjGXoBd0EeqTH7Mef4_p-A" target="_HyMXIBd0EeqTH7Mef4_p-A">
+  <edges xmi:type="notation:Connector" xmi:id="_N8q8YBd0EeqTH7Mef4_p-A" type="ControlFlow_Edge" source="_BjGXoBd0EeqTH7Mef4_p-A" target="_4FwgkP1LEeqUbLjJgbrZnQ">
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@@ -825,19 +675,9 @@
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-    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_N9gp4Rd0EeqTH7Mef4_p-A" id="(0.5172413793103449,0.0)"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_N9gp4Rd0EeqTH7Mef4_p-A" id="(0.5445544554455446,0.0)"/>
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-  <edges xmi:type="notation:Connector" xmi:id="_N9A6pBd0EeqTH7Mef4_p-A" type="StereotypeCommentLink" source="_N8q8YBd0EeqTH7Mef4_p-A" target="_N9A6oBd0EeqTH7Mef4_p-A">
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-    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_N9A6qRd0EeqTH7Mef4_p-A" name="BASE_ELEMENT">
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-    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_N9A6qBd0EeqTH7Mef4_p-A"/>
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-  <edges xmi:type="notation:Connector" xmi:id="_OcNYEBd0EeqTH7Mef4_p-A" type="ControlFlow_Edge" source="_BjGXoBd0EeqTH7Mef4_p-A" target="_JOWzIBd0EeqTH7Mef4_p-A">
+  <edges xmi:type="notation:Connector" xmi:id="_OcNYEBd0EeqTH7Mef4_p-A" type="ControlFlow_Edge" source="_BjGXoBd0EeqTH7Mef4_p-A" target="_R9qSsP1MEeqUbLjJgbrZnQ">
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@@ -858,19 +698,9 @@
     <element xmi:type="uml:ControlFlow" href="usecase1.bt.uml#_Obj30Bd0EeqTH7Mef4_p-A"/>
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-    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_Od294Rd0EeqTH7Mef4_p-A" id="(0.5263157894736842,0.0)"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_Od294Rd0EeqTH7Mef4_p-A" id="(0.49504950495049505,0.0)"/>
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-  <edges xmi:type="notation:Connector" xmi:id="_Oc5UlBd0EeqTH7Mef4_p-A" type="StereotypeCommentLink" source="_OcNYEBd0EeqTH7Mef4_p-A" target="_Oc5UkBd0EeqTH7Mef4_p-A">
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-    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_Oc57pBd0EeqTH7Mef4_p-A" name="BASE_ELEMENT">
-      <eObjectValue xmi:type="uml:ControlFlow" href="usecase1.bt.uml#_Obj30Bd0EeqTH7Mef4_p-A"/>
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-    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_Oc57oxd0EeqTH7Mef4_p-A"/>
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+  <edges xmi:type="notation:Connector" xmi:id="_O6z_oBd0EeqTH7Mef4_p-A" type="ControlFlow_Edge" source="_BjGXoBd0EeqTH7Mef4_p-A" target="_Zx0ykP1MEeqUbLjJgbrZnQ">
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@@ -891,49 +721,9 @@
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-    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_O8T0cRd0EeqTH7Mef4_p-A" id="(0.5862068965517241,0.0)"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_O8T0cRd0EeqTH7Mef4_p-A" id="(0.4752475247524752,0.0)"/>
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+  <edges xmi:type="notation:Connector" xmi:id="_zFoMABd0EeqTH7Mef4_p-A" type="ObjectFlow_Edge" source="_phQSwBd0EeqTH7Mef4_p-A" target="_TwZ4Jv1LEeqUbLjJgbrZnQ" routing="Rectilinear">
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@@ -964,20 +754,10 @@
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+  <edges xmi:type="notation:Connector" xmi:id="_3iOTIBd0EeqTH7Mef4_p-A" type="ObjectFlow_Edge" source="_fZG-EBd0EeqTH7Mef4_p-A" target="_HzNGUf1LEeqUbLjJgbrZnQ" routing="Rectilinear">
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@@ -1008,20 +788,10 @@
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+  <edges xmi:type="notation:Connector" xmi:id="_8lDT0Bd0EeqTH7Mef4_p-A" type="ObjectFlow_Edge" source="_u9_oQBd0EeqTH7Mef4_p-A" target="_hRUfdP1LEeqUbLjJgbrZnQ" routing="Rectilinear">
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@@ -1052,21 +822,11 @@
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+  <edges xmi:type="notation:Connector" xmi:id="_AnywgBd1EeqTH7Mef4_p-A" type="ObjectFlow_Edge" source="_hRUfev1LEeqUbLjJgbrZnQ" target="_rChTxP1LEeqUbLjJgbrZnQ" routing="Rectilinear">
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@@ -1097,30 +857,9 @@
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+  <edges xmi:type="notation:Connector" xmi:id="_23wkYBd1EeqTH7Mef4_p-A" type="ObjectFlow_Edge" source="_rChTyv1LEeqUbLjJgbrZnQ" target="_R9qStv1MEeqUbLjJgbrZnQ" routing="Rectilinear">
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@@ -1151,19 +890,9 @@
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     <element xmi:type="uml:ObjectFlow" href="usecase1.bt.uml#_23Z_EBd1EeqTH7Mef4_p-A"/>
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+  <edges xmi:type="notation:Connector" xmi:id="_7ZGooBd1EeqTH7Mef4_p-A" type="ControlFlow_Edge" source="_BjGXoBd0EeqTH7Mef4_p-A" target="_rCgssP1LEeqUbLjJgbrZnQ">
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@@ -1184,16 +913,286 @@
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-    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_7Z7IAhd1EeqTH7Mef4_p-A" name="BASE_ELEMENT">
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+  <edges xmi:type="notation:Connector" xmi:id="_rCnac_1LEeqUbLjJgbrZnQ" type="StereotypeCommentLink" source="_rCgssP1LEeqUbLjJgbrZnQ" target="_rCnab_1LEeqUbLjJgbrZnQ">
+    <styles xmi:type="notation:FontStyle" xmi:id="_rCnadP1LEeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_rCoBcP1LEeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:CallOperationAction" href="usecase1.bt.uml#_qOeAoP1LEeqUbLjJgbrZnQ"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_rCnadf1LEeqUbLjJgbrZnQ" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_rCnadv1LEeqUbLjJgbrZnQ"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_rCnad_1LEeqUbLjJgbrZnQ"/>
+  </edges>
+  <edges xmi:type="notation:Connector" xmi:id="_4F1ZKf1LEeqUbLjJgbrZnQ" type="StereotypeCommentLink" source="_4FwgkP1LEeqUbLjJgbrZnQ" target="_4F1ZJf1LEeqUbLjJgbrZnQ">
+    <styles xmi:type="notation:FontStyle" xmi:id="_4F1ZKv1LEeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_4F2AIf1LEeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:CallOperationAction" href="usecase1.bt.uml#_3U2BAP1LEeqUbLjJgbrZnQ"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_4F1ZK_1LEeqUbLjJgbrZnQ" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_4F1ZLP1LEeqUbLjJgbrZnQ"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_4F2AIP1LEeqUbLjJgbrZnQ"/>
+  </edges>
+  <edges xmi:type="notation:Connector" xmi:id="_R9wZV_1MEeqUbLjJgbrZnQ" type="StereotypeCommentLink" source="_R9qSsP1MEeqUbLjJgbrZnQ" target="_R9wZU_1MEeqUbLjJgbrZnQ">
+    <styles xmi:type="notation:FontStyle" xmi:id="_R9wZWP1MEeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_R9wZXP1MEeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:CallOperationAction" href="usecase1.bt.uml#_RJrRAP1MEeqUbLjJgbrZnQ"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_R9wZWf1MEeqUbLjJgbrZnQ" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_R9wZWv1MEeqUbLjJgbrZnQ"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_R9wZW_1MEeqUbLjJgbrZnQ"/>
+  </edges>
+  <edges xmi:type="notation:Connector" xmi:id="_Zx5rF_1MEeqUbLjJgbrZnQ" type="StereotypeCommentLink" source="_Zx0ykP1MEeqUbLjJgbrZnQ" target="_Zx5rE_1MEeqUbLjJgbrZnQ">
+    <styles xmi:type="notation:FontStyle" xmi:id="_Zx5rGP1MEeqUbLjJgbrZnQ"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_Zx5rHP1MEeqUbLjJgbrZnQ" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:CallOperationAction" href="usecase1.bt.uml#_ZCOhoP1MEeqUbLjJgbrZnQ"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_Zx5rGf1MEeqUbLjJgbrZnQ" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_Zx5rGv1MEeqUbLjJgbrZnQ"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_Zx5rG_1MEeqUbLjJgbrZnQ"/>
   </edges>
 </notation:Diagram>
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/carve_uc1/models/tasks/usecase1.bt.uml b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/carve_uc1/models/tasks/usecase1.bt.uml
index 434adc3..a95b009 100644
--- a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/carve_uc1/models/tasks/usecase1.bt.uml
+++ b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/carve_uc1/models/tasks/usecase1.bt.uml
@@ -1,42 +1,36 @@
 <?xml version="1.0" encoding="UTF-8"?>
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   <uml:Model xmi:id="_peiA0BdyEeqwBcDywFJmAw" name="Usecase1Bt">
-    <packageImport xmi:type="uml:PackageImport" xmi:id="_C03hgBd0EeqTH7Mef4_p-A">
-      <importedPackage xmi:type="uml:Model" href="pathmap://Robotic_EXAMPLES/behaviors/carve_uc1/skills/usecase1.skills.uml#_C02awBdxEeqwBcDywFJmAw"/>
+    <packageImport xmi:type="uml:PackageImport" xmi:id="_HxX6UP1LEeqUbLjJgbrZnQ">
+      <importedPackage xmi:type="uml:Model" href="../skills/usecase1.skills.uml#_C02awBdxEeqwBcDywFJmAw"/>
     </packageImport>
-    <packageImport xmi:type="uml:PackageImport" xmi:id="_HxkFABd0EeqTH7Mef4_p-A">
-      <importedPackage xmi:type="uml:Model" href="pathmap://ROBOTICS_LIBRARIES/skills/manipulation.skills.uml#_LaOOAJcvEeeV0-Lu2yLOjA"/>
-    </packageImport>
-    <packageImport xmi:type="uml:PackageImport" xmi:id="_JOAN0Bd0EeqTH7Mef4_p-A">
-      <importedPackage xmi:type="uml:Model" href="pathmap://ROBOTICS_LIBRARIES/skills/motion.skills.uml#_LaOOAJcvEeeV0-Lu2yLOjA"/>
-    </packageImport>
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+    <packagedElement xmi:type="uml:Activity" xmi:id="_peiA0RdyEeqwBcDywFJmAw" name="Usecase1" node="_-op_wBdzEeqTH7Mef4_p-A _BBp3cBd0EeqTH7Mef4_p-A _Bi48QBd0EeqTH7Mef4_p-A _fYfTABd0EeqTH7Mef4_p-A _pgv8cBd0EeqTH7Mef4_p-A _u9f5ABd0EeqTH7Mef4_p-A _HKSsMP1LEeqUbLjJgbrZnQ _S63-UP1LEeqUbLjJgbrZnQ _f_GCkP1LEeqUbLjJgbrZnQ _qOeAoP1LEeqUbLjJgbrZnQ _3U2BAP1LEeqUbLjJgbrZnQ _RJrRAP1MEeqUbLjJgbrZnQ _ZCOhoP1MEeqUbLjJgbrZnQ">
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+      <edge xmi:type="uml:ControlFlow" xmi:id="_L6cl8Bd0EeqTH7Mef4_p-A" name="ControlFlowEdge11" target="_HKSsMP1LEeqUbLjJgbrZnQ" source="_-op_wBdzEeqTH7Mef4_p-A"/>
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+      <edge xmi:type="uml:ObjectFlow" xmi:id="_AnbkIBd1EeqTH7Mef4_p-A" name="object_pose" target="_rB96IP1LEeqUbLjJgbrZnQ" source="_hQoi8P1LEeqUbLjJgbrZnQ">
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+      <edge xmi:type="uml:ObjectFlow" xmi:id="_23Z_EBd1EeqTH7Mef4_p-A" name="grasp_pose" target="_R9FD4P1MEeqUbLjJgbrZnQ" source="_rB96I_1LEeqUbLjJgbrZnQ">
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@@ -49,69 +43,6 @@
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-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_s6OkQhd1EeqTH7Mef4_p-A" value="1"/>
-        </result>
-        <operation xmi:type="uml:Operation" href="pathmap://Robotic_EXAMPLES/behaviors/carve_uc1/skills/usecase1.skills.uml#_EtIVkBdyEeqwBcDywFJmAw"/>
-      </node>
-      <node xmi:type="uml:CallOperationAction" xmi:id="_Gei98Bd0EeqTH7Mef4_p-A" name="" incoming="_N8Z2oBd0EeqTH7Mef4_p-A">
-        <operation xmi:type="uml:Operation" href="pathmap://ROBOTICS_LIBRARIES/skills/manipulation.skills.uml#_B7EQkDqaEemGLPXFKe4Rmw"/>
-      </node>
-      <node xmi:type="uml:CallOperationAction" xmi:id="_IYMnMBd0EeqTH7Mef4_p-A" name="" incoming="_Obj30Bd0EeqTH7Mef4_p-A">
-        <argument xmi:type="uml:InputPin" xmi:id="_JOCDABd0EeqTH7Mef4_p-A" name="p" incoming="_23Z_EBd1EeqTH7Mef4_p-A">
-          <type xmi:type="uml:DataType" href="pathmap://ROBOTICS_LIBRARIES/servicedefs/basic.servicedef.uml#_C8KQcK-NEei3oP7IwGfT7w"/>
-          <upperBound xmi:type="uml:LiteralInteger" xmi:id="_JOFGUBd0EeqTH7Mef4_p-A" value="1"/>
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-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_JOCDAhd0EeqTH7Mef4_p-A" value="1"/>
-        </argument>
-        <operation xmi:type="uml:Operation" href="pathmap://ROBOTICS_LIBRARIES/skills/motion.skills.uml#_7p_MgD9ZEemSWsc0fABanw"/>
-      </node>
-      <node xmi:type="uml:CallOperationAction" xmi:id="_JwIDcBd0EeqTH7Mef4_p-A" name="" incoming="_O6Ow0Bd0EeqTH7Mef4_p-A">
-        <operation xmi:type="uml:Operation" href="pathmap://ROBOTICS_LIBRARIES/skills/manipulation.skills.uml#_DBVVEDqaEemGLPXFKe4Rmw"/>
-      </node>
       <node xmi:type="uml:ValueSpecificationAction" xmi:id="_fYfTABd0EeqTH7Mef4_p-A" name="ACTION">
         <result xmi:type="uml:OutputPin" xmi:id="_fYiWUBd0EeqTH7Mef4_p-A" name="p" outgoing="_3hjkwBd0EeqTH7Mef4_p-A">
           <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fYiWURd0EeqTH7Mef4_p-A" value="1"/>
@@ -133,6 +64,69 @@
         </result>
         <value xmi:type="uml:LiteralString" xmi:id="_wJ7P4Bd0EeqTH7Mef4_p-A" value="bottle"/>
       </node>
+      <node xmi:type="uml:CallOperationAction" xmi:id="_HKSsMP1LEeqUbLjJgbrZnQ" name="" incoming="_L6cl8Bd0EeqTH7Mef4_p-A">
+        <argument xmi:type="uml:InputPin" xmi:id="_Hxf2IP1LEeqUbLjJgbrZnQ" name="action_id" incoming="_3hjkwBd0EeqTH7Mef4_p-A">
+          <type xmi:type="uml:DataType" href="pathmap://ROS2_LIB_BASE/services/std_msgs.servicedef.uml#ID_msg_String"/>
+          <upperBound xmi:type="uml:LiteralInteger" xmi:id="_HxqOMP1LEeqUbLjJgbrZnQ" value="1"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_Hxf2If1LEeqUbLjJgbrZnQ" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_Hxf2Iv1LEeqUbLjJgbrZnQ" value="1"/>
+        </argument>
+        <operation xmi:type="uml:Operation" href="../skills/usecase1.skills.uml#_K41BQPyMEeq4zuCvA50udg"/>
+      </node>
+      <node xmi:type="uml:CallOperationAction" xmi:id="_S63-UP1LEeqUbLjJgbrZnQ" name="" incoming="_MataYBd0EeqTH7Mef4_p-A">
+        <argument xmi:type="uml:InputPin" xmi:id="_TvxmAP1LEeqUbLjJgbrZnQ" name="loc_id" incoming="_zFQYkBd0EeqTH7Mef4_p-A">
+          <type xmi:type="uml:DataType" href="pathmap://ROS2_LIB_BASE/services/std_msgs.servicedef.uml#ID_msg_String"/>
+          <upperBound xmi:type="uml:LiteralInteger" xmi:id="_Tv0CQP1LEeqUbLjJgbrZnQ" value="1"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_TvxmAf1LEeqUbLjJgbrZnQ" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_TvxmAv1LEeqUbLjJgbrZnQ" value="1"/>
+        </argument>
+        <operation xmi:type="uml:Operation" href="../skills/usecase1.skills.uml#_8johcP1IEeqCsOUHjQSKyA"/>
+      </node>
+      <node xmi:type="uml:CallOperationAction" xmi:id="_f_GCkP1LEeqUbLjJgbrZnQ" name="" incoming="_NfWHMBd0EeqTH7Mef4_p-A">
+        <argument xmi:type="uml:InputPin" xmi:id="_hQn74P1LEeqUbLjJgbrZnQ" name="obj_id" incoming="_8kvKwBd0EeqTH7Mef4_p-A">
+          <type xmi:type="uml:DataType" href="pathmap://ROS2_LIB_BASE/services/std_msgs.servicedef.uml#ID_msg_String"/>
+          <upperBound xmi:type="uml:LiteralInteger" xmi:id="_hQuCgP1LEeqUbLjJgbrZnQ" value="1"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_hQn74f1LEeqUbLjJgbrZnQ" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_hQn74v1LEeqUbLjJgbrZnQ" value="1"/>
+        </argument>
+        <result xmi:type="uml:OutputPin" xmi:id="_hQoi8P1LEeqUbLjJgbrZnQ" name="obj_p" outgoing="_AnbkIBd1EeqTH7Mef4_p-A">
+          <type xmi:type="uml:DataType" href="pathmap://ROBOTICS_LIBRARIES/servicedefs/basic.servicedef.uml#_C8KQcK-NEei3oP7IwGfT7w"/>
+          <upperBound xmi:type="uml:LiteralInteger" xmi:id="_hQuCgf1LEeqUbLjJgbrZnQ" value="1"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_hQoi8f1LEeqUbLjJgbrZnQ" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_hQoi8v1LEeqUbLjJgbrZnQ" value="1"/>
+        </result>
+        <operation xmi:type="uml:Operation" href="../skills/usecase1.skills.uml#_PWEswP1JEeqCsOUHjQSKyA"/>
+      </node>
+      <node xmi:type="uml:CallOperationAction" xmi:id="_qOeAoP1LEeqUbLjJgbrZnQ" name="" incoming="_7YWasBd1EeqTH7Mef4_p-A">
+        <argument xmi:type="uml:InputPin" xmi:id="_rB96IP1LEeqUbLjJgbrZnQ" name="obj_p" incoming="_AnbkIBd1EeqTH7Mef4_p-A">
+          <type xmi:type="uml:DataType" href="pathmap://ROS2_LIB_BASE/services/geometry_msgs.servicedef.uml#ID_msg_Pose"/>
+          <upperBound xmi:type="uml:LiteralInteger" xmi:id="_rCBkgP1LEeqUbLjJgbrZnQ" value="1"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_rB96If1LEeqUbLjJgbrZnQ" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_rB96Iv1LEeqUbLjJgbrZnQ" value="1"/>
+        </argument>
+        <result xmi:type="uml:OutputPin" xmi:id="_rB96I_1LEeqUbLjJgbrZnQ" name="grasp_p" outgoing="_23Z_EBd1EeqTH7Mef4_p-A">
+          <type xmi:type="uml:DataType" href="pathmap://ROS2_LIB_BASE/services/geometry_msgs.servicedef.uml#ID_msg_Pose"/>
+          <upperBound xmi:type="uml:LiteralInteger" xmi:id="_rCBkgf1LEeqUbLjJgbrZnQ" value="1"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_rB96JP1LEeqUbLjJgbrZnQ" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_rB96Jf1LEeqUbLjJgbrZnQ" value="1"/>
+        </result>
+        <operation xmi:type="uml:Operation" href="../skills/usecase1.skills.uml#_ZGeP0P1JEeqCsOUHjQSKyA"/>
+      </node>
+      <node xmi:type="uml:CallOperationAction" xmi:id="_3U2BAP1LEeqUbLjJgbrZnQ" name="" incoming="_N8Z2oBd0EeqTH7Mef4_p-A">
+        <operation xmi:type="uml:Operation" href="../skills/usecase1.skills.uml#_v0OFAP1HEeqCsOUHjQSKyA"/>
+      </node>
+      <node xmi:type="uml:CallOperationAction" xmi:id="_RJrRAP1MEeqUbLjJgbrZnQ" name="" incoming="_Obj30Bd0EeqTH7Mef4_p-A">
+        <argument xmi:type="uml:InputPin" xmi:id="_R9FD4P1MEeqUbLjJgbrZnQ" name="loc_p" incoming="_23Z_EBd1EeqTH7Mef4_p-A">
+          <type xmi:type="uml:DataType" href="pathmap://ROS2_LIB_BASE/services/geometry_msgs.servicedef.uml#ID_msg_Pose"/>
+          <upperBound xmi:type="uml:LiteralInteger" xmi:id="_R9HgIP1MEeqUbLjJgbrZnQ" value="1"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_R9FD4f1MEeqUbLjJgbrZnQ" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_R9FD4v1MEeqUbLjJgbrZnQ" value="1"/>
+        </argument>
+        <operation xmi:type="uml:Operation" href="../skills/usecase1.skills.uml#_PKxRIP1IEeqCsOUHjQSKyA"/>
+      </node>
+      <node xmi:type="uml:CallOperationAction" xmi:id="_ZCOhoP1MEeqUbLjJgbrZnQ" name="" incoming="_O6Ow0Bd0EeqTH7Mef4_p-A">
+        <operation xmi:type="uml:Operation" href="../skills/usecase1.skills.uml#_w2pLUP1HEeqCsOUHjQSKyA"/>
+      </node>
     </packagedElement>
     <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_peiA0hdyEeqwBcDywFJmAw">
       <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_peiA0xdyEeqwBcDywFJmAw" source="http://www.eclipse.org/uml2/2.0.0/UML">
@@ -171,17 +165,6 @@
   <bt:Fallback xmi:id="_-phicBdzEeqTH7Mef4_p-A" base_Action="_-op_wBdzEeqTH7Mef4_p-A"/>
   <bt:Sequence xmi:id="_BBuv8Bd0EeqTH7Mef4_p-A" base_Action="_BBp3cBd0EeqTH7Mef4_p-A"/>
   <bt:Sequence xmi:id="_Bi8moBd0EeqTH7Mef4_p-A" base_Action="_Bi48QBd0EeqTH7Mef4_p-A"/>
-  <bt:Action xmi:id="_C08aABd0EeqTH7Mef4_p-A" base_Action="_CGNEsBd0EeqTH7Mef4_p-A"/>
-  <bt:InFlowPort xmi:id="_C1EV0Bd0EeqTH7Mef4_p-A" base_InputPin="_C1ArcBd0EeqTH7Mef4_p-A"/>
-  <bt:Action xmi:id="_EF_yMBd0EeqTH7Mef4_p-A" base_Action="_Dd53cBd0EeqTH7Mef4_p-A"/>
-  <bt:InFlowPort xmi:id="_EGIVEBd0EeqTH7Mef4_p-A" base_InputPin="_EGCOcBd0EeqTH7Mef4_p-A"/>
-  <bt:Action xmi:id="_FxeckBd0EeqTH7Mef4_p-A" base_Action="_FHd2QBd0EeqTH7Mef4_p-A"/>
-  <bt:InFlowPort xmi:id="_FxoNkBd0EeqTH7Mef4_p-A" base_InputPin="_Fxhf4Bd0EeqTH7Mef4_p-A"/>
-  <bt:OutFlowPort xmi:id="_FxsfABd0EeqTH7Mef4_p-A" base_OutputPin="_Fxj8IBd0EeqTH7Mef4_p-A"/>
-  <bt:Action xmi:id="_HxnIUBd0EeqTH7Mef4_p-A" base_Action="_Gei98Bd0EeqTH7Mef4_p-A"/>
-  <bt:Action xmi:id="_JOBb8Bd0EeqTH7Mef4_p-A" base_Action="_IYMnMBd0EeqTH7Mef4_p-A"/>
-  <bt:InFlowPort xmi:id="_JOD4MBd0EeqTH7Mef4_p-A" base_InputPin="_JOCDABd0EeqTH7Mef4_p-A"/>
-  <bt:Action xmi:id="_KTTpABd0EeqTH7Mef4_p-A" base_Action="_JwIDcBd0EeqTH7Mef4_p-A"/>
   <bt:ControlFlowEdge xmi:id="_LUZ5oBd0EeqTH7Mef4_p-A" base_ControlFlow="_LUPhkBd0EeqTH7Mef4_p-A"/>
   <bt:ControlFlowEdge xmi:id="_L6ebIBd0EeqTH7Mef4_p-A" base_ControlFlow="_L6cl8Bd0EeqTH7Mef4_p-A"/>
   <bt:ControlFlowEdge xmi:id="_Mav2oBd0EeqTH7Mef4_p-A" base_ControlFlow="_MataYBd0EeqTH7Mef4_p-A"/>
@@ -200,9 +183,20 @@
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   <bt:DataFlowEdge xmi:id="_AncyQBd1EeqTH7Mef4_p-A" base_ObjectFlow="_AnbkIBd1EeqTH7Mef4_p-A"/>
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   <bt:ControlFlowEdge xmi:id="_7YasIBd1EeqTH7Mef4_p-A" base_ControlFlow="_7YWasBd1EeqTH7Mef4_p-A"/>
+  <bt:Action xmi:id="_Hxcy0P1LEeqUbLjJgbrZnQ" base_Action="_HKSsMP1LEeqUbLjJgbrZnQ"/>
+  <bt:InFlowPort xmi:id="_Hxi5cP1LEeqUbLjJgbrZnQ" base_InputPin="_Hxf2IP1LEeqUbLjJgbrZnQ"/>
+  <bt:Action xmi:id="_TvwX4P1LEeqUbLjJgbrZnQ" base_Action="_S63-UP1LEeqUbLjJgbrZnQ"/>
+  <bt:InFlowPort xmi:id="_TvzbMP1LEeqUbLjJgbrZnQ" base_InputPin="_TvxmAP1LEeqUbLjJgbrZnQ"/>
+  <bt:Action xmi:id="_hQmGsP1LEeqUbLjJgbrZnQ" base_Action="_f_GCkP1LEeqUbLjJgbrZnQ"/>
+  <bt:InFlowPort xmi:id="_hQqYIP1LEeqUbLjJgbrZnQ" base_InputPin="_hQn74P1LEeqUbLjJgbrZnQ"/>
+  <bt:OutFlowPort xmi:id="_hQs0YP1LEeqUbLjJgbrZnQ" base_OutputPin="_hQoi8P1LEeqUbLjJgbrZnQ"/>
+  <bt:Action xmi:id="_rB8sAP1LEeqUbLjJgbrZnQ" base_Action="_qOeAoP1LEeqUbLjJgbrZnQ"/>
+  <bt:InFlowPort xmi:id="_rB_vUP1LEeqUbLjJgbrZnQ" base_InputPin="_rB96IP1LEeqUbLjJgbrZnQ"/>
+  <bt:OutFlowPort xmi:id="_rCA9cP1LEeqUbLjJgbrZnQ" base_OutputPin="_rB96I_1LEeqUbLjJgbrZnQ"/>
+  <bt:Action xmi:id="_4FR_cP1LEeqUbLjJgbrZnQ" base_Action="_3U2BAP1LEeqUbLjJgbrZnQ"/>
+  <bt:Action xmi:id="_R9D1wP1MEeqUbLjJgbrZnQ" base_Action="_RJrRAP1MEeqUbLjJgbrZnQ"/>
+  <bt:InFlowPort xmi:id="_R9G5EP1MEeqUbLjJgbrZnQ" base_InputPin="_R9FD4P1MEeqUbLjJgbrZnQ"/>
+  <bt:Action xmi:id="_ZxVqYP1MEeqUbLjJgbrZnQ" base_Action="_ZCOhoP1MEeqUbLjJgbrZnQ"/>
 </xmi:XMI>
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/files/CMakeLists.txt b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/files/CMakeLists.txt
new file mode 100644
index 0000000..c1f43f2
--- /dev/null
+++ b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/files/CMakeLists.txt
@@ -0,0 +1,61 @@
+cmake_minimum_required(VERSION 3.5.0)
+project(ceapilot)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(picknplacecoordservicedef REQUIRED)
+find_package(ceapilot_skillrealizations REQUIRED)
+
+include_directories(
+	# assure that generated .h files are found
+	${PROJECT_SOURCE_DIR}/src
+	${PROJECT_SOURCE_DIR}/src-gen
+)
+
+add_executable(IsybotCtrl
+	src-gen/IsybotCtrlCompdef/IsybotCtrl.cpp
+	src-gen/IsybotCtrlCompdef/IsybotCtrl_main.cpp
+	src/IsybotCtrlCompdef/IsybotCtrl_impl.cpp
+)
+ament_target_dependencies(IsybotCtrl
+	rclcpp
+	rclcpp_lifecycle
+	rclcpp_action
+	picknplacecoordservicedef
+	ceapilot_skillrealizations
+)
+
+
+# Start of user code dependencies
+ament_python_install_module(scripts/isybotAPI.py)
+add_library(isybotcppapi SHARED IMPORTED)
+set_target_properties(isybotcppapi PROPERTIES IMPORTED_LOCATION ${PROJECT_SOURCE_DIR}/libs/libisybotcppapi.so)
+target_link_libraries(IsybotCtrl isybotcppapi)
+install(FILES
+    libs/libisybotcppapi.so
+    DESTINATION lib/${PROJECT_NAME}
+)
+# End of user code
+
+install(TARGETS
+	IsybotCtrl
+	DESTINATION lib/${PROJECT_NAME}
+)
+
+# Install launch files.
+install(DIRECTORY
+	launch
+	DESTINATION share/${PROJECT_NAME}/
+)
+ament_package()
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/files/IsybotCtrl_impl.cpp b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/files/IsybotCtrl_impl.cpp
new file mode 100644
index 0000000..4562df6
--- /dev/null
+++ b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/files/IsybotCtrl_impl.cpp
@@ -0,0 +1,252 @@
+// --------------------------------------------------------
+// Code generated by Papyrus C++
+// --------------------------------------------------------
+
+#define IsybotCtrlCompdef_IsybotCtrl_impl_BODY
+
+/************************************************************
+ IsybotCtrl_impl class body
+ ************************************************************/
+#include <vector>
+
+// include associated header file
+#include "IsybotCtrlCompdef/IsybotCtrl_impl.h"
+
+// Derived includes directives
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_action/rclcpp_action.hpp"
+
+extern int
+initialize_controller(
+    void
+);
+
+extern int
+shutdown_controller(
+    void
+);
+
+extern int
+moveToCartePos_algorithm(
+    double, double, double,
+    double, double, double, double
+);
+
+extern int
+moveToJointPos_algorithm(
+    std::vector<double>&
+);
+
+extern int
+openGripper_algorithm(
+    void
+);
+
+extern int
+closeGripper_algorithm(
+    void
+);
+
+namespace IsybotCtrlCompdef {
+
+// static attributes (if any)
+
+/**
+ * 
+ * @param options 
+ */
+IsybotCtrl_impl::IsybotCtrl_impl(rclcpp::NodeOptions /*in*/options) :
+		IsybotCtrl(options) {
+    initialize_controller();
+    RCLCPP_INFO(this->get_logger(), "Controller initialized");
+}
+
+/**
+ * 
+ * @param uuid 
+ * @param goal 
+ * @return return 
+ */
+rclcpp_action::GoalResponse IsybotCtrl_impl::moveToCartePos_goal(
+		const rclcpp_action::GoalUUID & /*in*/uuid,
+		std::shared_ptr<
+				const picknplacecoordservicedef::action::MoveToPoseCS::Goal> /*in*/goal) {
+    (void)uuid;
+    if (goal == nullptr)
+        return rclcpp_action::GoalResponse::REJECT;
+    return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
+    
+}
+
+/**
+ * 
+ * @param goal_handle 
+ * @return return 
+ */
+rclcpp_action::CancelResponse IsybotCtrl_impl::moveToCartePos_cancel(
+		const std::shared_ptr<
+				rclcpp_action::ServerGoalHandle<
+						picknplacecoordservicedef::action::MoveToPoseCS>> /*in*/goal_handle) {
+    (void)goal_handle;
+    return rclcpp_action::CancelResponse::ACCEPT;
+}
+
+/**
+ * 
+ * @param goal_handle 
+ */
+void IsybotCtrl_impl::moveToCartePos_accepted(
+		const std::shared_ptr<
+				rclcpp_action::ServerGoalHandle<
+						picknplacecoordservicedef::action::MoveToPoseCS>> /*in*/goal_handle) {
+    const auto goal = goal_handle->get_goal();
+    auto p = goal->position;
+    auto o = goal->orientation;
+    moveToCartePos_algorithm(p.x, p.y, p.z, o.x, o.y, o.z, o.w);
+    RCLCPP_INFO(this->get_logger(), "Cartesian Pose reached successfully");
+    auto result = std::make_shared<picknplacecoordservicedef::action::MoveToPoseCS::Result>();
+    goal_handle->succeed(result);
+}
+
+/**
+ * 
+ * @param uuid 
+ * @param goal 
+ * @return return 
+ */
+rclcpp_action::GoalResponse IsybotCtrl_impl::moveToJointPos_goal(
+		const rclcpp_action::GoalUUID & /*in*/uuid,
+		std::shared_ptr<
+				const picknplacecoordservicedef::action::MoveToJointStateCS::Goal> /*in*/goal) {
+    (void)uuid;
+    if (goal == nullptr)
+        return rclcpp_action::GoalResponse::REJECT;
+    return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
+}
+
+/**
+ * 
+ * @param goal_handle 
+ * @return return 
+ */
+rclcpp_action::CancelResponse IsybotCtrl_impl::moveToJointPos_cancel(
+		const std::shared_ptr<
+				rclcpp_action::ServerGoalHandle<
+						picknplacecoordservicedef::action::MoveToJointStateCS>> /*in*/goal_handle) {
+    (void)goal_handle;
+    return rclcpp_action::CancelResponse::ACCEPT;
+}
+
+/**
+ * 
+ * @param goal_handle 
+ */
+void IsybotCtrl_impl::moveToJointPos_accepted(
+		const std::shared_ptr<
+				rclcpp_action::ServerGoalHandle<
+						picknplacecoordservicedef::action::MoveToJointStateCS>> /*in*/goal_handle) {
+    const auto goal = goal_handle->get_goal();
+    auto q = goal->position;
+    moveToJointPos_algorithm(q);
+    RCLCPP_INFO(this->get_logger(), "Joint Pose reached successfully");
+    auto result = std::make_shared<picknplacecoordservicedef::action::MoveToJointStateCS::Result>();
+    goal_handle->succeed(result);
+}
+
+/**
+ * 
+ * @param uuid 
+ * @param goal 
+ * @return return 
+ */
+rclcpp_action::GoalResponse IsybotCtrl_impl::openGripper_goal(
+		const rclcpp_action::GoalUUID & /*in*/uuid,
+		std::shared_ptr<
+				const picknplacecoordservicedef::action::OpenGripperCS::Goal> /*in*/goal) {
+    (void)uuid;
+    if (goal == nullptr)
+        return rclcpp_action::GoalResponse::REJECT;
+    return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
+}
+
+/**
+ * 
+ * @param goal_handle 
+ * @return return 
+ */
+rclcpp_action::CancelResponse IsybotCtrl_impl::openGripper_cancel(
+		const std::shared_ptr<
+				rclcpp_action::ServerGoalHandle<
+						picknplacecoordservicedef::action::OpenGripperCS>> /*in*/goal_handle) {
+    (void)goal_handle;
+    return rclcpp_action::CancelResponse::ACCEPT;
+}
+
+/**
+ * 
+ * @param goal_handle 
+ */
+void IsybotCtrl_impl::openGripper_accepted(
+		const std::shared_ptr<
+				rclcpp_action::ServerGoalHandle<
+						picknplacecoordservicedef::action::OpenGripperCS>> /*in*/goal_handle) {
+    openGripper_algorithm();
+    auto result = std::make_shared<picknplacecoordservicedef::action::OpenGripperCS::Result>();
+    goal_handle->succeed(result);
+}
+
+/**
+ * 
+ * @param uuid 
+ * @param goal 
+ * @return return 
+ */
+rclcpp_action::GoalResponse IsybotCtrl_impl::closeGripper_goal(
+		const rclcpp_action::GoalUUID & /*in*/uuid,
+		std::shared_ptr<
+				const picknplacecoordservicedef::action::CloseGripperCS::Goal> /*in*/goal) {
+    (void)uuid;
+    if (goal == nullptr)
+        return rclcpp_action::GoalResponse::REJECT;
+    return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
+}
+
+/**
+ * 
+ * @param goal_handle 
+ * @return return 
+ */
+rclcpp_action::CancelResponse IsybotCtrl_impl::closeGripper_cancel(
+		const std::shared_ptr<
+				rclcpp_action::ServerGoalHandle<
+						picknplacecoordservicedef::action::CloseGripperCS>> /*in*/goal_handle) {
+    (void)goal_handle;
+    return rclcpp_action::CancelResponse::ACCEPT;
+}
+
+/**
+ * 
+ * @param goal_handle 
+ */
+void IsybotCtrl_impl::closeGripper_accepted(
+		const std::shared_ptr<
+				rclcpp_action::ServerGoalHandle<
+						picknplacecoordservicedef::action::CloseGripperCS>> /*in*/goal_handle) {
+    closeGripper_algorithm();
+    auto result = std::make_shared<picknplacecoordservicedef::action::CloseGripperCS::Result>();
+    goal_handle->succeed(result);
+}
+
+/**
+ * 
+ */
+void IsybotCtrl_impl::on_cleanup() {
+    shutdown_controller();
+    RCLCPP_INFO(this->get_logger(), "Controller Shut Down");
+}
+
+} // of namespace IsybotCtrlCompdef
+
+/************************************************************
+ End of IsybotCtrl_impl class body
+ ************************************************************/
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/files/compute_goals_action.cpp b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/files/compute_goals_action.cpp
new file mode 100644
index 0000000..083ed65
--- /dev/null
+++ b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/files/compute_goals_action.cpp
@@ -0,0 +1,86 @@
+// Generated by Papyrus4Robotics
+// ...
+
+#include <string>
+#include "rclcpp/rclcpp.hpp"
+#include "geometry_msgs/msg/pose.hpp"
+#include "sensor_msgs/msg/joint_state.hpp"
+#include "behaviortree_cpp_v3/action_node.h"
+
+class ComputeGoalsAction : public BT::SyncActionNode
+{
+
+public:
+  // Any TreeNode with ports must have a constructor with this signature
+  ComputeGoalsAction(
+    const std::string& name,
+    const BT::NodeConfiguration& config)
+  : SyncActionNode(name, config)
+  {
+  }
+
+  // ComputeGoals has in/out parameters => must provide a providedPorts method
+  static BT::PortsList providedPorts()
+  {
+    return{
+      BT::OutputPort<geometry_msgs::msg::Pose>("home"),
+      BT::OutputPort<sensor_msgs::msg::JointState>("obj_appr"),
+      BT::OutputPort<geometry_msgs::msg::Pose>("dep_appr")
+    };
+  }
+
+  BT::NodeStatus tick() override
+  {
+
+
+	// Share through the blackboard
+	//
+	geometry_msgs::msg::Pose home;
+	/* -----------------------------------------
+	 * USER CODE HERE TO INITIALIZE THE VARIABLE
+	 * -----------------------------------------
+	 */
+	home.position.x    = 0.7998;
+    home.position.y    = -0.07;
+    home.position.z    = 0.648;
+    home.orientation.x = 0.5;
+    home.orientation.y = -0.49;
+    home.orientation.z = 0.49;
+    home.orientation.w = 0.50;
+	setOutput("home", home);
+
+	sensor_msgs::msg::JointState obj_appr;
+	/* -----------------------------------------
+	 * USER CODE HERE TO INITIALIZE THE VARIABLE
+	 * -----------------------------------------
+	 */
+	obj_appr.position = {-0.3,0.6,-1.5,1.0,0.8,0.8};
+	setOutput("obj_appr", obj_appr);
+
+	geometry_msgs::msg::Pose dep_appr;
+	/* -----------------------------------------
+	 * USER CODE HERE TO INITIALIZE THE VARIABLE
+	 * -----------------------------------------
+	 */
+	dep_appr.position.x    = 1.0232925449655361;
+    dep_appr.position.y    = 0.3176419508864178;
+    dep_appr.position.z    = -0.3897326230388757;
+    dep_appr.orientation.x = 0.680309338689832;
+    dep_appr.orientation.y = 0.17502526594518417;
+    dep_appr.orientation.z = 0.7001948729091994;
+    dep_appr.orientation.w = -0.1275637092745863;
+	setOutput("dep_appr", dep_appr);
+
+  	return BT::NodeStatus::SUCCESS;
+  }
+
+};
+
+#include "behaviortree_cpp_v3/bt_factory.h"
+
+// This function must be implemented in the .cpp file to create
+// a plugin that can be loaded at run-time
+BT_REGISTER_NODES(factory)
+{
+    factory.registerNodeType<ComputeGoalsAction>("ComputeGoals");
+}
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/libs/libisybotcppapi.so b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/libs/libisybotcppapi.so
new file mode 100644
index 0000000..e75a408
--- /dev/null
+++ b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/libs/libisybotcppapi.so
Binary files differ
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/CEAPilot/models/tasks/graspungrasp.bt.di b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/components/IsybotCtrl.compdef.di
similarity index 100%
copy from plugins/examples/org.eclipse.papyrus.robotics.examples/models/CEAPilot/models/tasks/graspungrasp.bt.di
copy to plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/components/IsybotCtrl.compdef.di
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/components/IsybotCtrl.compdef.notation b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/components/IsybotCtrl.compdef.notation
new file mode 100644
index 0000000..71ad48c
--- /dev/null
+++ b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/components/IsybotCtrl.compdef.notation
@@ -0,0 +1,1289 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<notation:Diagram xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:notation="http://www.eclipse.org/gmf/runtime/1.0.2/notation" xmlns:style="http://www.eclipse.org/papyrus/infra/gmfdiag/style" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xmi:id="_0mIusHKIEeqBULpQTAGd5A" type="CompositeStructure" name="IsybotCtrl diagram" measurementUnit="Pixel">
+  <children xmi:type="notation:Shape" xmi:id="_0mIusXKIEeqBULpQTAGd5A" type="Class_Shape">
+    <children xmi:type="notation:DecorationNode" xmi:id="_0mIusnKIEeqBULpQTAGd5A" type="Class_NameLabel"/>
+    <children xmi:type="notation:DecorationNode" xmi:id="_0mIus3KIEeqBULpQTAGd5A" type="Class_FloatingNameLabel">
+      <layoutConstraint xmi:type="notation:Location" xmi:id="_0mIutHKIEeqBULpQTAGd5A" y="15"/>
+    </children>
+    <children xmi:type="notation:BasicCompartment" xmi:id="_0mIutXKIEeqBULpQTAGd5A" type="Class_StructureCompartment">
+      <children xmi:type="notation:Shape" xmi:id="_0mIutnKIEeqBULpQTAGd5A" type="Class_Shape_CN">
+        <children xmi:type="notation:DecorationNode" xmi:id="_0mIut3KIEeqBULpQTAGd5A" type="Class_NameLabel_CN"/>
+        <children xmi:type="notation:DecorationNode" xmi:id="_0mIuuHKIEeqBULpQTAGd5A" type="Class_FloatingNameLabel_CN">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_0mIuuXKIEeqBULpQTAGd5A" y="15"/>
+        </children>
+        <children xmi:type="notation:BasicCompartment" xmi:id="_0mIuunKIEeqBULpQTAGd5A" type="Class_StructureCompartment_CN">
+          <styles xmi:type="notation:TitleStyle" xmi:id="_0mIuu3KIEeqBULpQTAGd5A"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_0mIuvHKIEeqBULpQTAGd5A"/>
+        </children>
+        <element xmi:type="uml:Class" href="IsybotCtrl.compdef.uml#_0mD2NHKIEeqBULpQTAGd5A"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_0mIuvXKIEeqBULpQTAGd5A" x="234" y="105" width="101" height="81"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_7z5V4HKIEeqBULpQTAGd5A" type="StereotypeComment">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_7z5V4XKIEeqBULpQTAGd5A"/>
+        <styles xmi:type="notation:EObjectValueStyle" xmi:id="_7z5V43KIEeqBULpQTAGd5A" name="BASE_ELEMENT">
+          <eObjectValue xmi:type="uml:Class" href="IsybotCtrl.compdef.uml#_0mD2NHKIEeqBULpQTAGd5A"/>
+        </styles>
+        <element xsi:nil="true"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_7z5V4nKIEeqBULpQTAGd5A" x="394" y="80"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_B30AIHKJEeqBULpQTAGd5A" type="Class_Shape_CN">
+        <children xmi:type="notation:DecorationNode" xmi:id="_B30AInKJEeqBULpQTAGd5A" type="Class_NameLabel_CN"/>
+        <children xmi:type="notation:DecorationNode" xmi:id="_B30AI3KJEeqBULpQTAGd5A" type="Class_FloatingNameLabel_CN">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_B30AJHKJEeqBULpQTAGd5A" y="15"/>
+        </children>
+        <children xmi:type="notation:BasicCompartment" xmi:id="_B30AJXKJEeqBULpQTAGd5A" visible="false" type="Class_StructureCompartment_CN">
+          <styles xmi:type="notation:TitleStyle" xmi:id="_B30AJnKJEeqBULpQTAGd5A"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_B30AJ3KJEeqBULpQTAGd5A"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_6AXRAJ6hEeqtiMjFsWML7w" type="StereotypeLabel">
+          <styles xmi:type="notation:StringValueStyle" xmi:id="_6AXRAZ6hEeqtiMjFsWML7w" name="stereotype" stringValue="robotics::components::Activity"/>
+          <element xmi:type="uml:Stereotype" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_VoeJwJZ2Eeeq1f8hGgKVzA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_6AXRAp6hEeqtiMjFsWML7w"/>
+        </children>
+        <children xmi:type="notation:BasicCompartment" xmi:id="_6AXRA56hEeqtiMjFsWML7w" type="StereotypeBrace">
+          <styles xmi:type="notation:TitleStyle" xmi:id="_6AXRBJ6hEeqtiMjFsWML7w"/>
+          <styles xmi:type="notation:StringValueStyle" xmi:id="_6AXRBZ6hEeqtiMjFsWML7w" name="stereotype" stringValue="robotics::components::Activity"/>
+          <element xmi:type="uml:Stereotype" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_VoeJwJZ2Eeeq1f8hGgKVzA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_6AXRBp6hEeqtiMjFsWML7w"/>
+        </children>
+        <children xmi:type="notation:BasicCompartment" xmi:id="_6AYfJp6hEeqtiMjFsWML7w" type="compartment_shape_display">
+          <styles xmi:type="notation:TitleStyle" xmi:id="_6AYfJ56hEeqtiMjFsWML7w"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_6AYfKJ6hEeqtiMjFsWML7w"/>
+        </children>
+        <children xmi:type="notation:BasicCompartment" xmi:id="_6AZtWp6hEeqtiMjFsWML7w" type="StereotypeCompartment">
+          <styles xmi:type="notation:TitleStyle" xmi:id="_6AZtW56hEeqtiMjFsWML7w"/>
+          <styles xmi:type="notation:StringValueStyle" xmi:id="_6AZtXJ6hEeqtiMjFsWML7w" name="stereotype" stringValue="robotics::components::Activity"/>
+          <element xmi:type="uml:Stereotype" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_VoeJwJZ2Eeeq1f8hGgKVzA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_6AZtXZ6hEeqtiMjFsWML7w"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_9xhOcJ6hEeqtiMjFsWML7w" type="Port_Shape">
+          <children xmi:type="notation:DecorationNode" xmi:id="_9xh1gJ6hEeqtiMjFsWML7w" type="Port_NameLabel">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_9xh1gZ6hEeqtiMjFsWML7w" x="25" y="3"/>
+          </children>
+          <children xmi:type="notation:DecorationNode" xmi:id="_9xh1gp6hEeqtiMjFsWML7w" type="Port_StereotypeLabel">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_9xh1g56hEeqtiMjFsWML7w" x="25" y="-10"/>
+          </children>
+          <element xmi:type="uml:Port" href="IsybotCtrl.compdef.uml#_9wodoJ6hEeqtiMjFsWML7w"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_9xhOcZ6hEeqtiMjFsWML7w" x="10" y="-10"/>
+        </children>
+        <element xmi:type="uml:Class" href="IsybotCtrl.compdef.uml#_B3czwHKJEeqBULpQTAGd5A"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_B30AIXKJEeqBULpQTAGd5A" x="14" y="20" width="61" height="81"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_T4E24HKlEeqBULpQTAGd5A" type="StereotypeComment">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_T4E24XKlEeqBULpQTAGd5A"/>
+        <styles xmi:type="notation:EObjectValueStyle" xmi:id="_T4E243KlEeqBULpQTAGd5A" name="BASE_ELEMENT">
+          <eObjectValue xmi:type="uml:Class" href="IsybotCtrl.compdef.uml#_0mD2NHKIEeqBULpQTAGd5A"/>
+        </styles>
+        <element xsi:nil="true"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_T4E24nKlEeqBULpQTAGd5A" x="454" y="40"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_HCDdIJ6LEeqnVfSoHsFDtQ" type="StereotypeComment">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_HCDdIZ6LEeqnVfSoHsFDtQ"/>
+        <styles xmi:type="notation:EObjectValueStyle" xmi:id="_HCDdI56LEeqnVfSoHsFDtQ" name="BASE_ELEMENT">
+          <eObjectValue xmi:type="uml:Class" href="IsybotCtrl.compdef.uml#_0mD2NHKIEeqBULpQTAGd5A"/>
+        </styles>
+        <element xsi:nil="true"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_HCDdIp6LEeqnVfSoHsFDtQ" x="434" y="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_6AU0wJ6hEeqtiMjFsWML7w" type="StereotypeComment">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_6AU0wZ6hEeqtiMjFsWML7w"/>
+        <styles xmi:type="notation:EObjectValueStyle" xmi:id="_6AU0w56hEeqtiMjFsWML7w" name="BASE_ELEMENT">
+          <eObjectValue xmi:type="uml:Class" href="IsybotCtrl.compdef.uml#_0mD2NHKIEeqBULpQTAGd5A"/>
+        </styles>
+        <element xsi:nil="true"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_6AU0wp6hEeqtiMjFsWML7w" x="434" y="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_64mzgKEFEeqRNulirOy-lQ" type="StereotypeComment">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_64mzgaEFEeqRNulirOy-lQ"/>
+        <styles xmi:type="notation:EObjectValueStyle" xmi:id="_64mzg6EFEeqRNulirOy-lQ" name="BASE_ELEMENT">
+          <eObjectValue xmi:type="uml:Class" href="IsybotCtrl.compdef.uml#_0mD2NHKIEeqBULpQTAGd5A"/>
+        </styles>
+        <element xsi:nil="true"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_64mzgqEFEeqRNulirOy-lQ" x="434" y="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_-v7DUKEFEeqRNulirOy-lQ" type="Class_Shape_CN">
+        <children xmi:type="notation:DecorationNode" xmi:id="_-v7qYKEFEeqRNulirOy-lQ" type="Class_NameLabel_CN"/>
+        <children xmi:type="notation:DecorationNode" xmi:id="_-v7qYaEFEeqRNulirOy-lQ" type="Class_FloatingNameLabel_CN">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_-v7qYqEFEeqRNulirOy-lQ" y="15"/>
+        </children>
+        <children xmi:type="notation:BasicCompartment" xmi:id="_-v8RcKEFEeqRNulirOy-lQ" visible="false" type="Class_StructureCompartment_CN">
+          <styles xmi:type="notation:TitleStyle" xmi:id="_-v8RcaEFEeqRNulirOy-lQ"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_-v8RcqEFEeqRNulirOy-lQ"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_-wH3oKEFEeqRNulirOy-lQ" type="StereotypeLabel">
+          <styles xmi:type="notation:StringValueStyle" xmi:id="_-wH3oaEFEeqRNulirOy-lQ" name="stereotype" stringValue="robotics::components::Activity"/>
+          <element xmi:type="uml:Stereotype" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_VoeJwJZ2Eeeq1f8hGgKVzA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_-wH3oqEFEeqRNulirOy-lQ"/>
+        </children>
+        <children xmi:type="notation:BasicCompartment" xmi:id="_-wH3o6EFEeqRNulirOy-lQ" type="StereotypeBrace">
+          <styles xmi:type="notation:TitleStyle" xmi:id="_-wH3pKEFEeqRNulirOy-lQ"/>
+          <styles xmi:type="notation:StringValueStyle" xmi:id="_-wH3paEFEeqRNulirOy-lQ" name="stereotype" stringValue="robotics::components::Activity"/>
+          <element xmi:type="uml:Stereotype" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_VoeJwJZ2Eeeq1f8hGgKVzA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_-wH3pqEFEeqRNulirOy-lQ"/>
+        </children>
+        <children xmi:type="notation:BasicCompartment" xmi:id="_-wJs1KEFEeqRNulirOy-lQ" type="compartment_shape_display">
+          <styles xmi:type="notation:TitleStyle" xmi:id="_-wJs1aEFEeqRNulirOy-lQ"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_-wJs1qEFEeqRNulirOy-lQ"/>
+        </children>
+        <children xmi:type="notation:BasicCompartment" xmi:id="_-wMJFqEFEeqRNulirOy-lQ" type="StereotypeCompartment">
+          <styles xmi:type="notation:TitleStyle" xmi:id="_-wMJF6EFEeqRNulirOy-lQ"/>
+          <styles xmi:type="notation:StringValueStyle" xmi:id="_-wMJGKEFEeqRNulirOy-lQ" name="stereotype" stringValue="robotics::components::Activity"/>
+          <element xmi:type="uml:Stereotype" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_VoeJwJZ2Eeeq1f8hGgKVzA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_-wMJGaEFEeqRNulirOy-lQ"/>
+        </children>
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+    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_j2uBJ_1bEeqYVY68BYoXgg"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_j2uBKP1bEeqYVY68BYoXgg"/>
+  </edges>
+  <edges xmi:type="notation:Connector" xmi:id="_j20u0f1bEeqYVY68BYoXgg" type="StereotypeCommentLink" source="_kZezsHKlEeqBULpQTAGd5A" target="_j20HwP1bEeqYVY68BYoXgg">
+    <styles xmi:type="notation:FontStyle" xmi:id="_j20u0v1bEeqYVY68BYoXgg"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_j20u1v1bEeqYVY68BYoXgg" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Port" href="IsybotCtrl.compdef.uml#_jd-NsHKlEeqBULpQTAGd5A"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_j20u0_1bEeqYVY68BYoXgg" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_j20u1P1bEeqYVY68BYoXgg"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_j20u1f1bEeqYVY68BYoXgg"/>
+  </edges>
+  <edges xmi:type="notation:Connector" xmi:id="_j261dP1bEeqYVY68BYoXgg" type="StereotypeCommentLink" source="_SRKtkNmqEeqE0su6XGfQ6g" target="_j261cP1bEeqYVY68BYoXgg">
+    <styles xmi:type="notation:FontStyle" xmi:id="_j261df1bEeqYVY68BYoXgg"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_j261ef1bEeqYVY68BYoXgg" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Port" href="IsybotCtrl.compdef.uml#_P67O8NmqEeqE0su6XGfQ6g"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_j261dv1bEeqYVY68BYoXgg" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_j261d_1bEeqYVY68BYoXgg"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_j261eP1bEeqYVY68BYoXgg"/>
+  </edges>
+  <edges xmi:type="notation:Connector" xmi:id="_j3CKMf1bEeqYVY68BYoXgg" type="StereotypeCommentLink" source="_Y9SAQNmqEeqE0su6XGfQ6g" target="_j3BjIP1bEeqYVY68BYoXgg">
+    <styles xmi:type="notation:FontStyle" xmi:id="_j3CKMv1bEeqYVY68BYoXgg"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_j3CKNv1bEeqYVY68BYoXgg" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:Connector" href="IsybotCtrl.compdef.uml#_Y8G7kNmqEeqE0su6XGfQ6g"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_j3CKM_1bEeqYVY68BYoXgg" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_j3CKNP1bEeqYVY68BYoXgg"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_j3CKNf1bEeqYVY68BYoXgg"/>
+  </edges>
+</notation:Diagram>
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/components/IsybotCtrl.compdef.uml b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/components/IsybotCtrl.compdef.uml
new file mode 100644
index 0000000..f5a74c0
--- /dev/null
+++ b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/components/IsybotCtrl.compdef.uml
@@ -0,0 +1,274 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<xmi:XMI xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:robotics.components="http://www.eclipse.org/papyrus/robotics/components/1" xmlns:robotics.functions="http://www.eclipse.org/papyrus/robotics/functions/1" xmlns:robotics.generics="http://www.eclipse.org/papyrus/robotics/generics/1" xmlns:robotics.parameters="http://www.eclipse.org/papyrus/robotics/parameters/1" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xsi:schemaLocation="http://www.eclipse.org/papyrus/robotics/components/1 http://www.eclipse.org/papyrus/robotics/1#//components http://www.eclipse.org/papyrus/robotics/functions/1 http://www.eclipse.org/papyrus/robotics/1#//functions http://www.eclipse.org/papyrus/robotics/generics/1 http://www.eclipse.org/papyrus/robotics/1#//generics http://www.eclipse.org/papyrus/robotics/parameters/1 http://www.eclipse.org/papyrus/robotics/1#//parameters">
+  <uml:Model xmi:id="_0mD2MHKIEeqBULpQTAGd5A" name="IsybotCtrlCompdef">
+    <packageImport xmi:type="uml:PackageImport" xmi:id="_0mD2MXKIEeqBULpQTAGd5A">
+      <importedPackage xmi:type="uml:Model" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#_0"/>
+    </packageImport>
+    <packageImport xmi:type="uml:PackageImport" xmi:id="_Z1BWcHKlEeqBULpQTAGd5A">
+      <importedPackage xmi:type="uml:Model" href="../services/picknplacecoord.servicedef.uml#_co4KsHKQEeqBULpQTAGd5A"/>
+    </packageImport>
+    <packagedElement xmi:type="uml:Class" xmi:id="_0mD2M3KIEeqBULpQTAGd5A" name="IsybotCtrl">
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_B3fQAXKJEeqBULpQTAGd5A" name="activity1" type="_B3czwHKJEeqBULpQTAGd5A"/>
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_-uhVIKEFEeqRNulirOy-lQ" name="activity1" type="_-uSroKEFEeqRNulirOy-lQ"/>
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_AbkFwKEGEeqRNulirOy-lQ" name="activity2" type="_AbgbYKEGEeqRNulirOy-lQ"/>
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_BSS5cKEGEeqRNulirOy-lQ" name="activity3" type="_BSKWkKEGEeqRNulirOy-lQ"/>
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_wr43YPOEEeqe0ubqxAsKAg" name="activity5" type="_wrhrAPOEEeqe0ubqxAsKAg"/>
+      <ownedAttribute xmi:type="uml:Port" xmi:id="_ZG2B0HKlEeqBULpQTAGd5A" name="moveToCartePos" type="_Z1DysHKlEeqBULpQTAGd5A" aggregation="composite"/>
+      <ownedAttribute xmi:type="uml:Port" xmi:id="_f12QcHKlEeqBULpQTAGd5A" name="moveToJointPos" type="_geDf8HKlEeqBULpQTAGd5A" aggregation="composite"/>
+      <ownedAttribute xmi:type="uml:Port" xmi:id="_jd-NsHKlEeqBULpQTAGd5A" name="openGripper" type="_kZCHwHKlEeqBULpQTAGd5A" aggregation="composite"/>
+      <ownedAttribute xmi:type="uml:Port" xmi:id="_P67O8NmqEeqE0su6XGfQ6g" name="closeGripper" type="_SQD6UNmqEeqE0su6XGfQ6g" aggregation="composite"/>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_MNqH4J6iEeqtiMjFsWML7w" name="Connects12">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_MNzR0J6iEeqtiMjFsWML7w" partWithPort="_B3fQAXKJEeqBULpQTAGd5A" role="_9wodoJ6hEeqtiMjFsWML7w"/>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_MNz44J6iEeqtiMjFsWML7w" role="_ZG2B0HKlEeqBULpQTAGd5A"/>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_yEe2AKEGEeqRNulirOy-lQ" name="Connects19">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_yEn_8KEGEeqRNulirOy-lQ" partWithPort="_-uhVIKEFEeqRNulirOy-lQ" role="_NRuM8J6iEeqtiMjFsWML7w"/>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_yEn_8aEGEeqRNulirOy-lQ" role="_f12QcHKlEeqBULpQTAGd5A"/>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_zh4BEKEGEeqRNulirOy-lQ" name="Connects20">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_zh5PMKEGEeqRNulirOy-lQ" partWithPort="_AbkFwKEGEeqRNulirOy-lQ" role="_On2SYJ6iEeqtiMjFsWML7w"/>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_zh5PMaEGEeqRNulirOy-lQ" role="_jd-NsHKlEeqBULpQTAGd5A"/>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_Y8G7kNmqEeqE0su6XGfQ6g" name="Connects21">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_Y8LNANmqEeqE0su6XGfQ6g" role="_P67O8NmqEeqE0su6XGfQ6g"/>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_Y8LNAdmqEeqE0su6XGfQ6g" partWithPort="_BSS5cKEGEeqRNulirOy-lQ" role="_Ps7rIJ6iEeqtiMjFsWML7w"/>
+      </ownedConnector>
+      <nestedClassifier xmi:type="uml:Class" xmi:id="_0mD2NHKIEeqBULpQTAGd5A"/>
+      <nestedClassifier xmi:type="uml:Class" xmi:id="_B3czwHKJEeqBULpQTAGd5A" name="Activity1">
+        <generalization xmi:type="uml:Generalization" xmi:id="_B3eB4HKJEeqBULpQTAGd5A">
+          <general xmi:type="uml:Class" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_dFzyYPn9Eee8c8wpObBu7w"/>
+        </generalization>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_9wodoJ6hEeqtiMjFsWML7w" name="Port1" aggregation="composite"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_9EfVoLoGEeqOANtuqx3bFg" name="" type="_9D8jELoGEeqOANtuqx3bFg"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_92UbMLoGEeqOANtuqx3bFg" name="" type="_92KqMLoGEeqOANtuqx3bFg"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_-fkMgLoGEeqOANtuqx3bFg" name="" type="_-fX_QLoGEeqOANtuqx3bFg"/>
+      </nestedClassifier>
+      <nestedClassifier xmi:type="uml:Class" xmi:id="_Z1DysHKlEeqBULpQTAGd5A" name="ComponentService5">
+        <interfaceRealization xmi:type="uml:InterfaceRealization" xmi:id="__D9cQNZQEeqddq2ZoVo6aw" client="_Z1DysHKlEeqBULpQTAGd5A">
+          <supplier xmi:type="uml:Interface" href="../services/picknplacecoord.servicedef.uml#_-rJJENZPEeqddq2ZoVo6aw"/>
+          <contract xmi:type="uml:Interface" href="../services/picknplacecoord.servicedef.uml#_-rJJENZPEeqddq2ZoVo6aw"/>
+        </interfaceRealization>
+      </nestedClassifier>
+      <nestedClassifier xmi:type="uml:Class" xmi:id="_geDf8HKlEeqBULpQTAGd5A" name="ComponentService7">
+        <interfaceRealization xmi:type="uml:InterfaceRealization" xmi:id="_AAmDoNZREeqddq2ZoVo6aw" client="_geDf8HKlEeqBULpQTAGd5A">
+          <supplier xmi:type="uml:Interface" href="../services/picknplacecoord.servicedef.uml#_J4ub0NZQEeqddq2ZoVo6aw"/>
+          <contract xmi:type="uml:Interface" href="../services/picknplacecoord.servicedef.uml#_J4ub0NZQEeqddq2ZoVo6aw"/>
+        </interfaceRealization>
+      </nestedClassifier>
+      <nestedClassifier xmi:type="uml:Class" xmi:id="_kZCHwHKlEeqBULpQTAGd5A" name="ComponentService9">
+        <interfaceRealization xmi:type="uml:InterfaceRealization" xmi:id="_BNpFkNZREeqddq2ZoVo6aw" client="_kZCHwHKlEeqBULpQTAGd5A">
+          <supplier xmi:type="uml:Interface" href="../services/picknplacecoord.servicedef.uml#_X5uRYNZQEeqddq2ZoVo6aw"/>
+          <contract xmi:type="uml:Interface" href="../services/picknplacecoord.servicedef.uml#_X5uRYNZQEeqddq2ZoVo6aw"/>
+        </interfaceRealization>
+      </nestedClassifier>
+      <nestedClassifier xmi:type="uml:Class" xmi:id="_-uSroKEFEeqRNulirOy-lQ" name="Activity2">
+        <generalization xmi:type="uml:Generalization" xmi:id="_-uccoKEFEeqRNulirOy-lQ">
+          <general xmi:type="uml:Class" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_dFzyYPn9Eee8c8wpObBu7w"/>
+        </generalization>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_NRuM8J6iEeqtiMjFsWML7w" name="Port2" aggregation="composite"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_Yhh5kLoHEeqOANtuqx3bFg" name="" type="_YhcaALoHEeqOANtuqx3bFg"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_YsSYELoHEeqOANtuqx3bFg" name="" type="_YsHY8LoHEeqOANtuqx3bFg"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_Y46e0LoHEeqOANtuqx3bFg" name="" type="_Y4zxILoHEeqOANtuqx3bFg"/>
+      </nestedClassifier>
+      <nestedClassifier xmi:type="uml:Class" xmi:id="_AbgbYKEGEeqRNulirOy-lQ" name="Activity3">
+        <generalization xmi:type="uml:Generalization" xmi:id="_AbhCcKEGEeqRNulirOy-lQ">
+          <general xmi:type="uml:Class" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_dFzyYPn9Eee8c8wpObBu7w"/>
+        </generalization>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_On2SYJ6iEeqtiMjFsWML7w" name="Port3" aggregation="composite"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_mRUDULoHEeqOANtuqx3bFg" name="" type="_mRHPALoHEeqOANtuqx3bFg"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_mZ-3ILoHEeqOANtuqx3bFg" name="" type="_mZwNoLoHEeqOANtuqx3bFg"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_miRQcLoHEeqOANtuqx3bFg" name="" type="_miDOALoHEeqOANtuqx3bFg"/>
+      </nestedClassifier>
+      <nestedClassifier xmi:type="uml:Class" xmi:id="_BSKWkKEGEeqRNulirOy-lQ" name="Activity4">
+        <generalization xmi:type="uml:Generalization" xmi:id="_BSMLwKEGEeqRNulirOy-lQ">
+          <general xmi:type="uml:Class" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_dFzyYPn9Eee8c8wpObBu7w"/>
+        </generalization>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_Ps7rIJ6iEeqtiMjFsWML7w" name="Port4" aggregation="composite"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_0P43ALoHEeqOANtuqx3bFg" name=""/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_0bMIELoHEeqOANtuqx3bFg" name=""/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_0jmdMLoHEeqOANtuqx3bFg" name=""/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_Y8QskdmqEeqE0su6XGfQ6g" name="" type="_Y8NpQNmqEeqE0su6XGfQ6g"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_Y8TI0NmqEeqE0su6XGfQ6g" name="" type="_Y8QsktmqEeqE0su6XGfQ6g"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_Y8VlEdmqEeqE0su6XGfQ6g" name="" type="_Y8TI0dmqEeqE0su6XGfQ6g"/>
+      </nestedClassifier>
+      <nestedClassifier xmi:type="uml:Class" xmi:id="_SQD6UNmqEeqE0su6XGfQ6g">
+        <interfaceRealization xmi:type="uml:InterfaceRealization" xmi:id="_SQLPENmqEeqE0su6XGfQ6g" client="_SQD6UNmqEeqE0su6XGfQ6g">
+          <supplier xmi:type="uml:Interface" href="../services/picknplacecoord.servicedef.uml#_fBUmMNZQEeqddq2ZoVo6aw"/>
+          <contract xmi:type="uml:Interface" href="../services/picknplacecoord.servicedef.uml#_fBUmMNZQEeqddq2ZoVo6aw"/>
+        </interfaceRealization>
+      </nestedClassifier>
+      <nestedClassifier xmi:type="uml:Class" xmi:id="_wrhrAPOEEeqe0ubqxAsKAg" name="Activity5">
+        <generalization xmi:type="uml:Generalization" xmi:id="_wryJsPOEEeqe0ubqxAsKAg">
+          <general xmi:type="uml:Class" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_dFzyYPn9Eee8c8wpObBu7w"/>
+        </generalization>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_2vWOoPOEEeqe0ubqxAsKAg" name="" type="_2vKocPOEEeqe0ubqxAsKAg"/>
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+    </packagedElement>
+    <packagedElement xmi:type="uml:OpaqueBehavior" xmi:id="_9D8jELoGEeqOANtuqx3bFg" name="moveToCartePos_goal">
+      <language>C++</language>
+      <body></body>
+    </packagedElement>
+    <packagedElement xmi:type="uml:OpaqueBehavior" xmi:id="_92KqMLoGEeqOANtuqx3bFg" name="moveToCartePos_cancel">
+      <language>C++</language>
+      <body></body>
+    </packagedElement>
+    <packagedElement xmi:type="uml:OpaqueBehavior" xmi:id="_-fX_QLoGEeqOANtuqx3bFg" name="moveToCartePos_accepted">
+      <language>C++</language>
+      <body></body>
+    </packagedElement>
+    <packagedElement xmi:type="uml:OpaqueBehavior" xmi:id="_YhcaALoHEeqOANtuqx3bFg" name="moveToJointPos_goal">
+      <language>C++</language>
+      <body></body>
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+    <packagedElement xmi:type="uml:OpaqueBehavior" xmi:id="_YsHY8LoHEeqOANtuqx3bFg" name="moveToJointPos_cancel">
+      <language>C++</language>
+      <body></body>
+    </packagedElement>
+    <packagedElement xmi:type="uml:OpaqueBehavior" xmi:id="_Y4zxILoHEeqOANtuqx3bFg" name="moveToJointPos_accepted">
+      <language>C++</language>
+      <body></body>
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+    <packagedElement xmi:type="uml:OpaqueBehavior" xmi:id="_mRHPALoHEeqOANtuqx3bFg" name="openGripper_goal">
+      <language>C++</language>
+      <body></body>
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+    <packagedElement xmi:type="uml:OpaqueBehavior" xmi:id="_mZwNoLoHEeqOANtuqx3bFg" name="openGripper_cancel">
+      <language>C++</language>
+      <body></body>
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+    <packagedElement xmi:type="uml:OpaqueBehavior" xmi:id="_miDOALoHEeqOANtuqx3bFg" name="openGripper_accepted">
+      <language>C++</language>
+      <body></body>
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+    <packagedElement xmi:type="uml:OpaqueBehavior" xmi:id="_Y8NpQNmqEeqE0su6XGfQ6g" name="closeGripper_goal">
+      <language>C++</language>
+      <body></body>
+    </packagedElement>
+    <packagedElement xmi:type="uml:OpaqueBehavior" xmi:id="_Y8QsktmqEeqE0su6XGfQ6g" name="closeGripper_cancel">
+      <language>C++</language>
+      <body></body>
+    </packagedElement>
+    <packagedElement xmi:type="uml:OpaqueBehavior" xmi:id="_Y8TI0dmqEeqE0su6XGfQ6g" name="closeGripper_accepted">
+      <language>C++</language>
+      <body></body>
+    </packagedElement>
+    <packagedElement xmi:type="uml:OpaqueBehavior" xmi:id="_2vKocPOEEeqe0ubqxAsKAg" name="on_cleanup">
+      <language>C++</language>
+      <body></body>
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+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_0mD2NXKIEeqBULpQTAGd5A">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_0mD2NnKIEeqBULpQTAGd5A" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/bpc/1#/"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_BPC_PROFILES/bpc.profile.uml#__9qqMJZ1Eeeq1f8hGgKVzA"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_0mD2N3KIEeqBULpQTAGd5A">
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+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#/"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#__9qqMJZ1Eeeq1f8hGgKVzA"/>
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+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//components"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_EZ1TgJZ2Eeeq1f8hGgKVzA"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_0mD2O3KIEeqBULpQTAGd5A">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_0mD2PHKIEeqBULpQTAGd5A" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//commpattern"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_8Z6x8Je6EeeiCOWsEr9OuA"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_0mD2PXKIEeqBULpQTAGd5A">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_0mD2PnKIEeqBULpQTAGd5A" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//deployment"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_tu6OsJe9EeeiCOWsEr9OuA"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_0mD2P3KIEeqBULpQTAGd5A">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_0mD2QHKIEeqBULpQTAGd5A" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//services"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_SlbOAJe_EeeiCOWsEr9OuA"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_0mD2QXKIEeqBULpQTAGd5A">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_0mD2QnKIEeqBULpQTAGd5A" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//commobject"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_bz5AcPCaEeee6ab5J_C5Dg"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_0mD2Q3KIEeqBULpQTAGd5A">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_0mD2RHKIEeqBULpQTAGd5A" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//functions"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_SV7GwC6LEei0V9-WLHIyvg"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_0mD2RXKIEeqBULpQTAGd5A">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_0mD2RnKIEeqBULpQTAGd5A" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//parameters"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_-pU5oDmpEei--ZsfKWaFtw"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_0mD2R3KIEeqBULpQTAGd5A">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_0mD2SHKIEeqBULpQTAGd5A" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//generics"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_eFhjMEnvEeien6eLHpkAxA"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_0mD2SXKIEeqBULpQTAGd5A">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_0mD2SnKIEeqBULpQTAGd5A" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/MARTE/1#//MARTE_Foundations/NFPs"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_U_GAoAPMEdyuUt-4qHuVvQ"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_0mD2S3KIEeqBULpQTAGd5A">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_0mD2THKIEeqBULpQTAGd5A" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/MARTE/1#//MARTE_Annexes/VSL/DataTypes"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_9FdqwA-MEdyLh7muGbCqMw"/>
+    </profileApplication>
+  </uml:Model>
+  <robotics.components:ComponentDefinitionModel xmi:id="_0mD2TXKIEeqBULpQTAGd5A" base_Package="_0mD2MHKIEeqBULpQTAGd5A"/>
+  <robotics.components:ComponentDefinition xmi:id="_0mD2TnKIEeqBULpQTAGd5A" base_Class="_0mD2M3KIEeqBULpQTAGd5A"/>
+  <robotics.parameters:Parameter xmi:id="_0mD2T3KIEeqBULpQTAGd5A" base_Class="_0mD2NHKIEeqBULpQTAGd5A"/>
+  <robotics.components:Activity xmi:id="_B3fQAHKJEeqBULpQTAGd5A" base_Class="_B3czwHKJEeqBULpQTAGd5A"/>
+  <robotics.components:ActivityInstance xmi:id="_B3nL0HKJEeqBULpQTAGd5A" base_Property="_B3fQAXKJEeqBULpQTAGd5A"/>
+  <robotics.components:ComponentService xmi:id="_Z1Fn4HKlEeqBULpQTAGd5A" base_Class="_Z1DysHKlEeqBULpQTAGd5A"/>
+  <robotics.components:ComponentPort xmi:id="_Z1IrMXKlEeqBULpQTAGd5A" base_Port="_ZG2B0HKlEeqBULpQTAGd5A"/>
+  <robotics.components:ComponentService xmi:id="_geFVIHKlEeqBULpQTAGd5A" base_Class="_geDf8HKlEeqBULpQTAGd5A"/>
+  <robotics.components:ComponentPort xmi:id="_geIYcXKlEeqBULpQTAGd5A" base_Port="_f12QcHKlEeqBULpQTAGd5A"/>
+  <robotics.components:ComponentService xmi:id="_kZD88HKlEeqBULpQTAGd5A" base_Class="_kZCHwHKlEeqBULpQTAGd5A"/>
+  <robotics.components:ComponentPort xmi:id="_kZHAQHKlEeqBULpQTAGd5A" base_Port="_jd-NsHKlEeqBULpQTAGd5A"/>
+  <robotics.components:ActivityPort xmi:id="_9wyOoJ6hEeqtiMjFsWML7w" base_Port="_9wodoJ6hEeqtiMjFsWML7w"/>
+  <robotics.generics:Connects xmi:id="_MN0f8J6iEeqtiMjFsWML7w" base_Connector="_MNqH4J6iEeqtiMjFsWML7w"/>
+  <robotics.components:ActivityPort xmi:id="_NRyeYJ6iEeqtiMjFsWML7w" base_Port="_NRuM8J6iEeqtiMjFsWML7w"/>
+  <robotics.components:ActivityPort xmi:id="_On9nIJ6iEeqtiMjFsWML7w" base_Port="_On2SYJ6iEeqtiMjFsWML7w"/>
+  <robotics.components:ActivityPort xmi:id="_Ps_VgJ6iEeqtiMjFsWML7w" base_Port="_Ps7rIJ6iEeqtiMjFsWML7w"/>
+  <robotics.components:Activity xmi:id="_-ugHAKEFEeqRNulirOy-lQ" base_Class="_-uSroKEFEeqRNulirOy-lQ"/>
+  <robotics.components:ActivityInstance xmi:id="_-uk_gKEFEeqRNulirOy-lQ" base_Property="_-uhVIKEFEeqRNulirOy-lQ"/>
+  <robotics.components:Activity xmi:id="_Abi3oKEGEeqRNulirOy-lQ" base_Class="_AbgbYKEGEeqRNulirOy-lQ"/>
+  <robotics.components:ActivityInstance xmi:id="_AbnwIKEGEeqRNulirOy-lQ" base_Property="_AbkFwKEGEeqRNulirOy-lQ"/>
+  <robotics.components:Activity xmi:id="_BSREQKEGEeqRNulirOy-lQ" base_Class="_BSKWkKEGEeqRNulirOy-lQ"/>
+  <robotics.components:ActivityInstance xmi:id="_BSZAEKEGEeqRNulirOy-lQ" base_Property="_BSS5cKEGEeqRNulirOy-lQ"/>
+  <robotics.generics:Connects xmi:id="_yEonAKEGEeqRNulirOy-lQ" base_Connector="_yEe2AKEGEeqRNulirOy-lQ"/>
+  <robotics.generics:Connects xmi:id="_zh52QKEGEeqRNulirOy-lQ" base_Connector="_zh4BEKEGEeqRNulirOy-lQ"/>
+  <robotics.functions:Function xmi:id="_9EMasLoGEeqOANtuqx3bFg" base_Class="_9D8jELoGEeqOANtuqx3bFg" activityPort="_9wyOoJ6hEeqtiMjFsWML7w"/>
+  <robotics.functions:Function xmi:id="_92Qw0LoGEeqOANtuqx3bFg" base_Class="_92KqMLoGEeqOANtuqx3bFg" activityPort="_9wyOoJ6hEeqtiMjFsWML7w"/>
+  <robotics.functions:Function xmi:id="_-fgiILoGEeqOANtuqx3bFg" base_Class="_-fX_QLoGEeqOANtuqx3bFg" activityPort="_9wyOoJ6hEeqtiMjFsWML7w"/>
+  <robotics.functions:Function xmi:id="_Yhe2QLoHEeqOANtuqx3bFg" base_Class="_YhcaALoHEeqOANtuqx3bFg" activityPort="_NRyeYJ6iEeqtiMjFsWML7w"/>
+  <robotics.functions:Function xmi:id="_YsPUwLoHEeqOANtuqx3bFg" base_Class="_YsHY8LoHEeqOANtuqx3bFg" activityPort="_NRyeYJ6iEeqtiMjFsWML7w"/>
+  <robotics.functions:Function xmi:id="_Y43bgLoHEeqOANtuqx3bFg" base_Class="_Y4zxILoHEeqOANtuqx3bFg" activityPort="_NRyeYJ6iEeqtiMjFsWML7w"/>
+  <robotics.functions:Function xmi:id="_mROjwLoHEeqOANtuqx3bFg" base_Class="_mRHPALoHEeqOANtuqx3bFg" activityPort="_On9nIJ6iEeqtiMjFsWML7w"/>
+  <robotics.functions:Function xmi:id="_mZ3iYLoHEeqOANtuqx3bFg" base_Class="_mZwNoLoHEeqOANtuqx3bFg" activityPort="_On9nIJ6iEeqtiMjFsWML7w"/>
+  <robotics.functions:Function xmi:id="_miJ7sLoHEeqOANtuqx3bFg" base_Class="_miDOALoHEeqOANtuqx3bFg" activityPort="_On9nIJ6iEeqtiMjFsWML7w"/>
+  <robotics.components:ComponentService xmi:id="_SQG9oNmqEeqE0su6XGfQ6g" base_Class="_SQD6UNmqEeqE0su6XGfQ6g"/>
+  <robotics.components:ComponentPort xmi:id="_SQNEQNmqEeqE0su6XGfQ6g" base_Port="_P67O8NmqEeqE0su6XGfQ6g"/>
+  <robotics.generics:Connects xmi:id="_Y8L0ENmqEeqE0su6XGfQ6g" base_Connector="_Y8G7kNmqEeqE0su6XGfQ6g"/>
+  <robotics.functions:Function xmi:id="_Y8QskNmqEeqE0su6XGfQ6g" base_Class="_Y8NpQNmqEeqE0su6XGfQ6g" activityPort="_Ps_VgJ6iEeqtiMjFsWML7w"/>
+  <robotics.functions:Function xmi:id="_Y8ShwNmqEeqE0su6XGfQ6g" base_Class="_Y8QsktmqEeqE0su6XGfQ6g" activityPort="_Ps_VgJ6iEeqtiMjFsWML7w"/>
+  <robotics.functions:Function xmi:id="_Y8VlENmqEeqE0su6XGfQ6g" base_Class="_Y8TI0dmqEeqE0su6XGfQ6g" activityPort="_Ps_VgJ6iEeqtiMjFsWML7w"/>
+  <robotics.components:Activity xmi:id="_wr3CMPOEEeqe0ubqxAsKAg" base_Class="_wrhrAPOEEeqe0ubqxAsKAg"/>
+  <robotics.components:ActivityInstance xmi:id="_wr9v4POEEeqe0ubqxAsKAg" base_Property="_wr43YPOEEeqe0ubqxAsKAg"/>
+  <robotics.functions:Function xmi:id="_2vRWIPOEEeqe0ubqxAsKAg" base_Class="_2vKocPOEEeqe0ubqxAsKAg" kind="ON_CLEANUP"/>
+</xmi:XMI>
diff --git a/plugins/customization/org.eclipse.papyrus.robotics.library/models/servicedefs/basic.servicedef.di b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/services/picknplacecoord.servicedef.di
similarity index 100%
copy from plugins/customization/org.eclipse.papyrus.robotics.library/models/servicedefs/basic.servicedef.di
copy to plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/services/picknplacecoord.servicedef.di
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/services/picknplacecoord.servicedef.notation b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/services/picknplacecoord.servicedef.notation
new file mode 100644
index 0000000..7490e22
--- /dev/null
+++ b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/services/picknplacecoord.servicedef.notation
@@ -0,0 +1,256 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<notation:Diagram xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:notation="http://www.eclipse.org/gmf/runtime/1.0.2/notation" xmlns:style="http://www.eclipse.org/papyrus/infra/gmfdiag/style" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xmi:id="_co8cIHKQEeqBULpQTAGd5A" type="PapyrusUMLClassDiagram" name="PickNPlaceCoordServicedef diagram" measurementUnit="Pixel">
+  <children xmi:type="notation:Shape" xmi:id="_ZmN4MHi1EeqmCqs-y0ruJA" type="NamedElement_DefaultShape">
+    <children xmi:type="notation:DecorationNode" xmi:id="_ZmPGUHi1EeqmCqs-y0ruJA" type="NamedElement_NameLabel"/>
+    <element xmi:type="uml:Collaboration" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_tHLhEDBhEeqxv6YJjwaRyw"/>
+    <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ZmN4MXi1EeqmCqs-y0ruJA" x="660" y="60" width="201" height="381"/>
+  </children>
+  <children xmi:type="notation:Shape" xmi:id="_Fqs8MNZQEeqddq2ZoVo6aw" type="Interface_Shape">
+    <children xmi:type="notation:DecorationNode" xmi:id="_FquKUNZQEeqddq2ZoVo6aw" type="Interface_NameLabel"/>
+    <children xmi:type="notation:DecorationNode" xmi:id="_FquKUdZQEeqddq2ZoVo6aw" type="Interface_FloatingNameLabel">
+      <layoutConstraint xmi:type="notation:Location" xmi:id="_FquKUtZQEeqddq2ZoVo6aw" y="15"/>
+    </children>
+    <children xmi:type="notation:BasicCompartment" xmi:id="_FquxYNZQEeqddq2ZoVo6aw" visible="false" type="Interface_AttributeCompartment">
+      <styles xmi:type="notation:TitleStyle" xmi:id="_FquxYdZQEeqddq2ZoVo6aw"/>
+      <styles xmi:type="notation:SortingStyle" xmi:id="_FquxYtZQEeqddq2ZoVo6aw"/>
+      <styles xmi:type="notation:FilteringStyle" xmi:id="_FquxY9ZQEeqddq2ZoVo6aw"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_FquxZNZQEeqddq2ZoVo6aw"/>
+    </children>
+    <children xmi:type="notation:BasicCompartment" xmi:id="_FquxZdZQEeqddq2ZoVo6aw" type="Interface_OperationCompartment">
+      <styles xmi:type="notation:TitleStyle" xmi:id="_FquxZtZQEeqddq2ZoVo6aw"/>
+      <styles xmi:type="notation:SortingStyle" xmi:id="_FquxZ9ZQEeqddq2ZoVo6aw"/>
+      <styles xmi:type="notation:FilteringStyle" xmi:id="_FquxaNZQEeqddq2ZoVo6aw"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_FquxadZQEeqddq2ZoVo6aw"/>
+    </children>
+    <children xmi:type="notation:BasicCompartment" xmi:id="_FquxatZQEeqddq2ZoVo6aw" type="Interface_NestedClassifierCompartment">
+      <styles xmi:type="notation:TitleStyle" xmi:id="_Fquxa9ZQEeqddq2ZoVo6aw"/>
+      <styles xmi:type="notation:SortingStyle" xmi:id="_FquxbNZQEeqddq2ZoVo6aw"/>
+      <styles xmi:type="notation:FilteringStyle" xmi:id="_FquxbdZQEeqddq2ZoVo6aw"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_FquxbtZQEeqddq2ZoVo6aw"/>
+    </children>
+    <element xmi:type="uml:Interface" href="picknplacecoord.servicedef.uml#_-rJJENZPEeqddq2ZoVo6aw"/>
+    <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Fqs8MdZQEeqddq2ZoVo6aw" x="20" y="60" width="221" height="81"/>
+  </children>
+  <children xmi:type="notation:Shape" xmi:id="_TIdh0NZQEeqddq2ZoVo6aw" type="Interface_Shape">
+    <children xmi:type="notation:DecorationNode" xmi:id="_TIdh0tZQEeqddq2ZoVo6aw" type="Interface_NameLabel"/>
+    <children xmi:type="notation:DecorationNode" xmi:id="_TIdh09ZQEeqddq2ZoVo6aw" type="Interface_FloatingNameLabel">
+      <layoutConstraint xmi:type="notation:Location" xmi:id="_TIdh1NZQEeqddq2ZoVo6aw" y="15"/>
+    </children>
+    <children xmi:type="notation:BasicCompartment" xmi:id="_TIdh1dZQEeqddq2ZoVo6aw" visible="false" type="Interface_AttributeCompartment">
+      <styles xmi:type="notation:TitleStyle" xmi:id="_TIdh1tZQEeqddq2ZoVo6aw"/>
+      <styles xmi:type="notation:SortingStyle" xmi:id="_TIdh19ZQEeqddq2ZoVo6aw"/>
+      <styles xmi:type="notation:FilteringStyle" xmi:id="_TIdh2NZQEeqddq2ZoVo6aw"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_TIdh2dZQEeqddq2ZoVo6aw"/>
+    </children>
+    <children xmi:type="notation:BasicCompartment" xmi:id="_TIdh2tZQEeqddq2ZoVo6aw" type="Interface_OperationCompartment">
+      <styles xmi:type="notation:TitleStyle" xmi:id="_TIdh29ZQEeqddq2ZoVo6aw"/>
+      <styles xmi:type="notation:SortingStyle" xmi:id="_TIdh3NZQEeqddq2ZoVo6aw"/>
+      <styles xmi:type="notation:FilteringStyle" xmi:id="_TIdh3dZQEeqddq2ZoVo6aw"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_TIdh3tZQEeqddq2ZoVo6aw"/>
+    </children>
+    <children xmi:type="notation:BasicCompartment" xmi:id="_TIdh39ZQEeqddq2ZoVo6aw" type="Interface_NestedClassifierCompartment">
+      <styles xmi:type="notation:TitleStyle" xmi:id="_TIdh4NZQEeqddq2ZoVo6aw"/>
+      <styles xmi:type="notation:SortingStyle" xmi:id="_TIdh4dZQEeqddq2ZoVo6aw"/>
+      <styles xmi:type="notation:FilteringStyle" xmi:id="_TIdh4tZQEeqddq2ZoVo6aw"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_TIdh49ZQEeqddq2ZoVo6aw"/>
+    </children>
+    <element xmi:type="uml:Interface" href="picknplacecoord.servicedef.uml#_J4ub0NZQEeqddq2ZoVo6aw"/>
+    <layoutConstraint xmi:type="notation:Bounds" xmi:id="_TIdh0dZQEeqddq2ZoVo6aw" x="20" y="160" width="221" height="81"/>
+  </children>
+  <children xmi:type="notation:Shape" xmi:id="_bPlZ8NZQEeqddq2ZoVo6aw" type="Interface_Shape">
+    <children xmi:type="notation:DecorationNode" xmi:id="_bPlZ8tZQEeqddq2ZoVo6aw" type="Interface_NameLabel"/>
+    <children xmi:type="notation:DecorationNode" xmi:id="_bPmBANZQEeqddq2ZoVo6aw" type="Interface_FloatingNameLabel">
+      <layoutConstraint xmi:type="notation:Location" xmi:id="_bPmBAdZQEeqddq2ZoVo6aw" y="15"/>
+    </children>
+    <children xmi:type="notation:BasicCompartment" xmi:id="_bPmBAtZQEeqddq2ZoVo6aw" visible="false" type="Interface_AttributeCompartment">
+      <styles xmi:type="notation:TitleStyle" xmi:id="_bPmBA9ZQEeqddq2ZoVo6aw"/>
+      <styles xmi:type="notation:SortingStyle" xmi:id="_bPmBBNZQEeqddq2ZoVo6aw"/>
+      <styles xmi:type="notation:FilteringStyle" xmi:id="_bPmBBdZQEeqddq2ZoVo6aw"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_bPmBBtZQEeqddq2ZoVo6aw"/>
+    </children>
+    <children xmi:type="notation:BasicCompartment" xmi:id="_bPmBB9ZQEeqddq2ZoVo6aw" type="Interface_OperationCompartment">
+      <styles xmi:type="notation:TitleStyle" xmi:id="_bPmBCNZQEeqddq2ZoVo6aw"/>
+      <styles xmi:type="notation:SortingStyle" xmi:id="_bPmBCdZQEeqddq2ZoVo6aw"/>
+      <styles xmi:type="notation:FilteringStyle" xmi:id="_bPmBCtZQEeqddq2ZoVo6aw"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_bPmBC9ZQEeqddq2ZoVo6aw"/>
+    </children>
+    <children xmi:type="notation:BasicCompartment" xmi:id="_bPmBDNZQEeqddq2ZoVo6aw" type="Interface_NestedClassifierCompartment">
+      <styles xmi:type="notation:TitleStyle" xmi:id="_bPmBDdZQEeqddq2ZoVo6aw"/>
+      <styles xmi:type="notation:SortingStyle" xmi:id="_bPmBDtZQEeqddq2ZoVo6aw"/>
+      <styles xmi:type="notation:FilteringStyle" xmi:id="_bPmBD9ZQEeqddq2ZoVo6aw"/>
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diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/services/picknplacecoord.servicedef.uml b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/services/picknplacecoord.servicedef.uml
new file mode 100644
index 0000000..12771ec
--- /dev/null
+++ b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/services/picknplacecoord.servicedef.uml
@@ -0,0 +1,168 @@
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+    <packagedElement xmi:type="uml:Interface" xmi:id="_J4ub0NZQEeqddq2ZoVo6aw" name="MoveToJointStateCS">
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+        <parameterSubstitution xmi:type="uml:TemplateParameterSubstitution" xmi:id="_bPhvktZQEeqddq2ZoVo6aw">
+          <actual xmi:type="uml:DataType" href="pathmap://ROS2_LIB_BASE/services/std_msgs.servicedef.uml#ID_msg_Empty"/>
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+        </parameterSubstitution>
+        <signature xmi:type="uml:RedefinableTemplateSignature" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_3PvFcDBhEeqxv6YJjwaRyw"/>
+      </templateBinding>
+    </packagedElement>
+    <packagedElement xmi:type="uml:Interface" xmi:id="_fBUmMNZQEeqddq2ZoVo6aw" name="CloseGripperCS">
+      <templateBinding xmi:type="uml:TemplateBinding" xmi:id="_ilxkYNZQEeqddq2ZoVo6aw">
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+          <formal xmi:type="uml:ClassifierTemplateParameter" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_g8ug8DBiEeqxv6YJjwaRyw"/>
+        </parameterSubstitution>
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+          <actual xmi:type="uml:DataType" href="pathmap://ROS2_LIB_BASE/services/std_msgs.servicedef.uml#ID_msg_Empty"/>
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+        </parameterSubstitution>
+        <parameterSubstitution xmi:type="uml:TemplateParameterSubstitution" xmi:id="_ilyLcNZQEeqddq2ZoVo6aw">
+          <actual xmi:type="uml:DataType" href="pathmap://ROS2_LIB_BASE/services/std_msgs.servicedef.uml#ID_msg_Empty"/>
+          <formal xmi:type="uml:ClassifierTemplateParameter" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_VrxO0Ek0Eeqojt4A_a-YAw"/>
+        </parameterSubstitution>
+        <signature xmi:type="uml:RedefinableTemplateSignature" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_3PvFcDBhEeqxv6YJjwaRyw"/>
+      </templateBinding>
+    </packagedElement>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_co4Ks3KQEeqBULpQTAGd5A">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_co4KtHKQEeqBULpQTAGd5A" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/bpc/1#/"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_BPC_PROFILES/bpc.profile.uml#__9qqMJZ1Eeeq1f8hGgKVzA"/>
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+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_co4KtnKQEeqBULpQTAGd5A" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#/"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#__9qqMJZ1Eeeq1f8hGgKVzA"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_co4Kt3KQEeqBULpQTAGd5A">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_co4KuHKQEeqBULpQTAGd5A" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//components"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_EZ1TgJZ2Eeeq1f8hGgKVzA"/>
+    </profileApplication>
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+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//commpattern"/>
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+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_8Z6x8Je6EeeiCOWsEr9OuA"/>
+    </profileApplication>
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+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_co4KvHKQEeqBULpQTAGd5A" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//deployment"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_tu6OsJe9EeeiCOWsEr9OuA"/>
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+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_co4KvnKQEeqBULpQTAGd5A" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//services"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_SlbOAJe_EeeiCOWsEr9OuA"/>
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+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_co4KwHKQEeqBULpQTAGd5A" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//commobject"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_bz5AcPCaEeee6ab5J_C5Dg"/>
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+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//functions"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_SV7GwC6LEei0V9-WLHIyvg"/>
+    </profileApplication>
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+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//parameters"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_-pU5oDmpEei--ZsfKWaFtw"/>
+    </profileApplication>
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+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_co4KxnKQEeqBULpQTAGd5A" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//generics"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_eFhjMEnvEeien6eLHpkAxA"/>
+    </profileApplication>
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+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/MARTE/1#//MARTE_Foundations/NFPs"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_U_GAoAPMEdyuUt-4qHuVvQ"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_co4KyXKQEeqBULpQTAGd5A">
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+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/MARTE/1#//MARTE_Annexes/VSL/DataTypes"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_9FdqwA-MEdyLh7muGbCqMw"/>
+    </profileApplication>
+  </uml:Model>
+  <robotics.services:ServiceDefinitionModel xmi:id="_co4Ky3KQEeqBULpQTAGd5A" base_Package="_co4KsHKQEeqBULpQTAGd5A"/>
+  <robotics.services:CoordinationService xmi:id="_m94NENZQEeqddq2ZoVo6aw" base_Interface="_-rJJENZPEeqddq2ZoVo6aw"/>
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+</xmi:XMI>
diff --git a/plugins/customization/org.eclipse.papyrus.robotics.library/models/skills/motion.skills.di b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/skills/picknplace.skills.di
similarity index 100%
rename from plugins/customization/org.eclipse.papyrus.robotics.library/models/skills/motion.skills.di
rename to plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/skills/picknplace.skills.di
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/skills/picknplace.skills.notation b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/skills/picknplace.skills.notation
new file mode 100644
index 0000000..1ae0159
--- /dev/null
+++ b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/skills/picknplace.skills.notation
@@ -0,0 +1,73 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<notation:Diagram xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:notation="http://www.eclipse.org/gmf/runtime/1.0.2/notation" xmlns:style="http://www.eclipse.org/papyrus/infra/gmfdiag/style" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xmi:id="_gWuiAHJ7EeqBULpQTAGd5A" type="PapyrusUMLClassDiagram" name="CEAPickNPlace Skills diagram" measurementUnit="Pixel">
+  <children xmi:type="notation:Shape" xmi:id="_jyxLEHJ7EeqBULpQTAGd5A" type="Interface_Shape">
+    <children xmi:type="notation:DecorationNode" xmi:id="_jy0OYHJ7EeqBULpQTAGd5A" type="Interface_NameLabel"/>
+    <children xmi:type="notation:DecorationNode" xmi:id="_jy0OYXJ7EeqBULpQTAGd5A" type="Interface_FloatingNameLabel">
+      <layoutConstraint xmi:type="notation:Location" xmi:id="_jy0OYnJ7EeqBULpQTAGd5A" y="15"/>
+    </children>
+    <children xmi:type="notation:BasicCompartment" xmi:id="_jy01cHJ7EeqBULpQTAGd5A" type="Interface_AttributeCompartment">
+      <styles xmi:type="notation:TitleStyle" xmi:id="_jy01cXJ7EeqBULpQTAGd5A"/>
+      <styles xmi:type="notation:SortingStyle" xmi:id="_jy01cnJ7EeqBULpQTAGd5A"/>
+      <styles xmi:type="notation:FilteringStyle" xmi:id="_jy01c3J7EeqBULpQTAGd5A"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_jy01dHJ7EeqBULpQTAGd5A"/>
+    </children>
+    <children xmi:type="notation:BasicCompartment" xmi:id="_jy01dXJ7EeqBULpQTAGd5A" type="Interface_OperationCompartment">
+      <children xmi:type="notation:Shape" xmi:id="_Ifa5MHJ8EeqBULpQTAGd5A" type="Operation_InterfaceOperationLabel">
+        <element xmi:type="uml:Operation" href="picknplace.skills.uml#_IfOE4HJ8EeqBULpQTAGd5A"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_Ifa5MXJ8EeqBULpQTAGd5A"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_RgEaUHJ8EeqBULpQTAGd5A" type="Operation_InterfaceOperationLabel">
+        <element xmi:type="uml:Operation" href="picknplace.skills.uml#_RfrYwHJ8EeqBULpQTAGd5A"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_RgEaUXJ8EeqBULpQTAGd5A"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_StdagHJ8EeqBULpQTAGd5A" type="Operation_InterfaceOperationLabel">
+        <element xmi:type="uml:Operation" href="picknplace.skills.uml#_StM70HJ8EeqBULpQTAGd5A"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_StdagXJ8EeqBULpQTAGd5A"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_T4558HJ8EeqBULpQTAGd5A" type="Operation_InterfaceOperationLabel">
+        <element xmi:type="uml:Operation" href="picknplace.skills.uml#_T4hfcHJ8EeqBULpQTAGd5A"/>
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+      </children>
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+        <element xmi:type="uml:Operation" href="picknplace.skills.uml#_U-sdUHJ8EeqBULpQTAGd5A"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_U_NasXJ8EeqBULpQTAGd5A"/>
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+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_jy01eXJ7EeqBULpQTAGd5A"/>
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+    <children xmi:type="notation:BasicCompartment" xmi:id="_jy01enJ7EeqBULpQTAGd5A" type="Interface_NestedClassifierCompartment">
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+  <children xmi:type="notation:Shape" xmi:id="_pirsK9ZQEeqddq2ZoVo6aw" type="StereotypeComment">
+    <styles xmi:type="notation:TitleStyle" xmi:id="_pirsLNZQEeqddq2ZoVo6aw"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_pirsLtZQEeqddq2ZoVo6aw" name="BASE_ELEMENT">
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+  </children>
+  <styles xmi:type="notation:StringValueStyle" xmi:id="_gWuiAXJ7EeqBULpQTAGd5A" name="diagram_compatibility_version" stringValue="1.4.0"/>
+  <styles xmi:type="notation:DiagramStyle" xmi:id="_gWuiAnJ7EeqBULpQTAGd5A"/>
+  <styles xmi:type="style:PapyrusDiagramStyle" xmi:id="_gWuiA3J7EeqBULpQTAGd5A" diagramKindId="org.eclipse.papyrus.robotics.diagram.skill">
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+  <edges xmi:type="notation:Connector" xmi:id="_pisTMNZQEeqddq2ZoVo6aw" type="StereotypeCommentLink" source="_jyxLEHJ7EeqBULpQTAGd5A" target="_pirsK9ZQEeqddq2ZoVo6aw">
+    <styles xmi:type="notation:FontStyle" xmi:id="_pisTMdZQEeqddq2ZoVo6aw"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_pisTNdZQEeqddq2ZoVo6aw" name="BASE_ELEMENT">
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diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/skills/picknplace.skills.uml b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/skills/picknplace.skills.uml
new file mode 100644
index 0000000..bc37d92
--- /dev/null
+++ b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/skills/picknplace.skills.uml
@@ -0,0 +1,249 @@
+<?xml version="1.0" encoding="UTF-8"?>
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+    <compInterface xmi:type="robotics.services:CoordinationService" href="../services/picknplacecoord.servicedef.uml#_nn7PoNZQEeqddq2ZoVo6aw"/>
+  </robotics.skills:SkillOperationalState>
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+  </robotics.skills:SkillOperationalState>
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diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/CEAPilot/models/tasks/graspungrasp.bt.di b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/system/picknplace.system.di
similarity index 100%
copy from plugins/examples/org.eclipse.papyrus.robotics.examples/models/CEAPilot/models/tasks/graspungrasp.bt.di
copy to plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/system/picknplace.system.di
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/system/picknplace.system.notation b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/system/picknplace.system.notation
new file mode 100644
index 0000000..630726d
--- /dev/null
+++ b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/system/picknplace.system.notation
@@ -0,0 +1,711 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<notation:Diagram xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:notation="http://www.eclipse.org/gmf/runtime/1.0.2/notation" xmlns:style="http://www.eclipse.org/papyrus/infra/gmfdiag/style" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xmi:id="_i3yskHKnEeqBULpQTAGd5A" type="CompositeStructure" name="PickNPlace System diagram" measurementUnit="Pixel">
+  <children xmi:type="notation:Shape" xmi:id="_i3yskXKnEeqBULpQTAGd5A" type="Class_Shape">
+    <children xmi:type="notation:DecorationNode" xmi:id="_i3ysknKnEeqBULpQTAGd5A" type="Class_NameLabel"/>
+    <children xmi:type="notation:DecorationNode" xmi:id="_i3ysk3KnEeqBULpQTAGd5A" type="Class_FloatingNameLabel">
+      <layoutConstraint xmi:type="notation:Location" xmi:id="_i3yslHKnEeqBULpQTAGd5A" y="15"/>
+    </children>
+    <children xmi:type="notation:BasicCompartment" xmi:id="_i3yslXKnEeqBULpQTAGd5A" type="Class_StructureCompartment">
+      <children xmi:type="notation:Shape" xmi:id="_remxYHKnEeqBULpQTAGd5A" type="Property_Shape">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_szyboHKnEeqBULpQTAGd5A" source="PapyrusCSSForceValue">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_szzCsHKnEeqBULpQTAGd5A" key="mutable" value="true"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_remxYnKnEeqBULpQTAGd5A" type="Property_NameLabel"/>
+        <children xmi:type="notation:DecorationNode" xmi:id="_remxY3KnEeqBULpQTAGd5A" type="Property_FloatingNameLabel">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_remxZHKnEeqBULpQTAGd5A" y="15"/>
+        </children>
+        <children xmi:type="notation:BasicCompartment" xmi:id="_remxZXKnEeqBULpQTAGd5A" type="Property_StructureCompartment">
+          <styles xmi:type="notation:TitleStyle" xmi:id="_remxZnKnEeqBULpQTAGd5A"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_remxZ3KnEeqBULpQTAGd5A"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_rt5xoHKnEeqBULpQTAGd5A" type="StereotypeLabel">
+          <styles xmi:type="notation:StringValueStyle" xmi:id="_rt5xoXKnEeqBULpQTAGd5A" name="stereotype" stringValue="robotics::components::ComponentInstance"/>
+          <element xmi:type="uml:Stereotype" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_f-vFQBNBEei-CMVLY1Smdg"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_rt5xonKnEeqBULpQTAGd5A"/>
+        </children>
+        <children xmi:type="notation:BasicCompartment" xmi:id="_rt5xo3KnEeqBULpQTAGd5A" type="StereotypeBrace">
+          <styles xmi:type="notation:TitleStyle" xmi:id="_rt5xpHKnEeqBULpQTAGd5A"/>
+          <styles xmi:type="notation:StringValueStyle" xmi:id="_rt5xpXKnEeqBULpQTAGd5A" name="stereotype" stringValue="robotics::components::ComponentInstance"/>
+          <element xmi:type="uml:Stereotype" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_f-vFQBNBEei-CMVLY1Smdg"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_rt5xpnKnEeqBULpQTAGd5A"/>
+        </children>
+        <children xmi:type="notation:BasicCompartment" xmi:id="_rt6YwHKnEeqBULpQTAGd5A" type="compartment_shape_display">
+          <styles xmi:type="notation:TitleStyle" xmi:id="_rt6YwXKnEeqBULpQTAGd5A"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_rt6YwnKnEeqBULpQTAGd5A"/>
+        </children>
+        <children xmi:type="notation:BasicCompartment" xmi:id="_rt6_1nKnEeqBULpQTAGd5A" type="StereotypeCompartment">
+          <styles xmi:type="notation:TitleStyle" xmi:id="_rt6_13KnEeqBULpQTAGd5A"/>
+          <styles xmi:type="notation:StringValueStyle" xmi:id="_rt6_2HKnEeqBULpQTAGd5A" name="stereotype" stringValue="robotics::components::ComponentInstance"/>
+          <element xmi:type="uml:Stereotype" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_f-vFQBNBEei-CMVLY1Smdg"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_rt6_2XKnEeqBULpQTAGd5A"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_r2qFAHKnEeqBULpQTAGd5A" type="Port_Shape">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_szzCsXKnEeqBULpQTAGd5A" source="PapyrusCSSForceValue">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_szzCsnKnEeqBULpQTAGd5A" key="mutable" value="true"/>
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+          <children xmi:type="notation:DecorationNode" xmi:id="_r2qFAnKnEeqBULpQTAGd5A" type="Port_NameLabel">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_r2qFA3KnEeqBULpQTAGd5A" x="-110" y="-30"/>
+          </children>
+          <children xmi:type="notation:DecorationNode" xmi:id="_r2qFBHKnEeqBULpQTAGd5A" type="Port_StereotypeLabel">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_r2qFBXKnEeqBULpQTAGd5A" x="25" y="-10"/>
+          </children>
+          <element xmi:type="uml:Port" href="../components/IsybotCtrl.compdef.uml#_ZG2B0HKlEeqBULpQTAGd5A"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_r2qFAXKnEeqBULpQTAGd5A" x="10" y="-10"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_r2qFBnKnEeqBULpQTAGd5A" type="Port_Shape">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_szzCs3KnEeqBULpQTAGd5A" source="PapyrusCSSForceValue">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_szzCtHKnEeqBULpQTAGd5A" key="mutable" value="true"/>
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+          <children xmi:type="notation:DecorationNode" xmi:id="_r2qFCHKnEeqBULpQTAGd5A" type="Port_NameLabel">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_r2qFCXKnEeqBULpQTAGd5A" x="-76" y="-30"/>
+          </children>
+          <children xmi:type="notation:DecorationNode" xmi:id="_r2qFCnKnEeqBULpQTAGd5A" type="Port_StereotypeLabel">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_r2qFC3KnEeqBULpQTAGd5A" x="25" y="-10"/>
+          </children>
+          <element xmi:type="uml:Port" href="../components/IsybotCtrl.compdef.uml#_f12QcHKlEeqBULpQTAGd5A"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_r2qFB3KnEeqBULpQTAGd5A" x="136" y="-10"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_r2qsEHKnEeqBULpQTAGd5A" type="Port_Shape">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_szzCtXKnEeqBULpQTAGd5A" source="PapyrusCSSForceValue">
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+          <children xmi:type="notation:DecorationNode" xmi:id="_r2qsEnKnEeqBULpQTAGd5A" type="Port_NameLabel">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_r2qsE3KnEeqBULpQTAGd5A" x="-23" y="-30"/>
+          </children>
+          <children xmi:type="notation:DecorationNode" xmi:id="_r2qsFHKnEeqBULpQTAGd5A" type="Port_StereotypeLabel">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_r2qsFXKnEeqBULpQTAGd5A" x="25" y="-10"/>
+          </children>
+          <element xmi:type="uml:Port" href="../components/IsybotCtrl.compdef.uml#_jd-NsHKlEeqBULpQTAGd5A"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_r2qsEXKnEeqBULpQTAGd5A" x="263" y="-10"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_dkbKgNmqEeqE0su6XGfQ6g" type="Port_Shape">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_domf4NmqEeqE0su6XGfQ6g" source="PapyrusCSSForceValue">
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+          <children xmi:type="notation:DecorationNode" xmi:id="_dkbKgtmqEeqE0su6XGfQ6g" type="Port_NameLabel">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_dkbKg9mqEeqE0su6XGfQ6g" x="10" y="-30"/>
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diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/system/picknplace.system.uml b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/system/picknplace.system.uml
new file mode 100644
index 0000000..e641b5d
--- /dev/null
+++ b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/system/picknplace.system.uml
@@ -0,0 +1,99 @@
+<?xml version="1.0" encoding="UTF-8"?>
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+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_i3vCQHKnEeqBULpQTAGd5A">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_i3vCQXKnEeqBULpQTAGd5A" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//commobject"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_bz5AcPCaEeee6ab5J_C5Dg"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_i3vCQnKnEeqBULpQTAGd5A">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_i3vCQ3KnEeqBULpQTAGd5A" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//functions"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_SV7GwC6LEei0V9-WLHIyvg"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_i3vCRHKnEeqBULpQTAGd5A">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_i3vCRXKnEeqBULpQTAGd5A" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//parameters"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_-pU5oDmpEei--ZsfKWaFtw"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_i3vCRnKnEeqBULpQTAGd5A">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_i3vCR3KnEeqBULpQTAGd5A" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//generics"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_eFhjMEnvEeien6eLHpkAxA"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_i3vCSHKnEeqBULpQTAGd5A">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_i3vCSXKnEeqBULpQTAGd5A" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/MARTE/1#//MARTE_Foundations/NFPs"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_U_GAoAPMEdyuUt-4qHuVvQ"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_i3vCSnKnEeqBULpQTAGd5A">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_i3vCS3KnEeqBULpQTAGd5A" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/MARTE/1#//MARTE_Annexes/VSL/DataTypes"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://Papyrus_PROFILES/MARTE.profile.uml#_9FdqwA-MEdyLh7muGbCqMw"/>
+    </profileApplication>
+  </uml:Model>
+  <robotics.components:SystemComponentArchitectureModel xmi:id="_i3vCTHKnEeqBULpQTAGd5A" base_Package="_i3vCMHKnEeqBULpQTAGd5A"/>
+  <robotics.components:System xmi:id="_i3vCTXKnEeqBULpQTAGd5A" base_Class="_i3vCM3KnEeqBULpQTAGd5A">
+    <task xmi:type="robotics.behavior:Task" href="../tasks/picknplace.bt.uml#_fpjj7HKEEeqBULpQTAGd5A"/>
+  </robotics.components:System>
+  <robotics.components:ComponentInstance xmi:id="_reHCIHKnEeqBULpQTAGd5A" base_Property="_pb-yUHKnEeqBULpQTAGd5A"/>
+</xmi:XMI>
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/CEAPilot/models/tasks/graspungrasp.bt.di b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/tasks/picknplace.bt.di
similarity index 100%
rename from plugins/examples/org.eclipse.papyrus.robotics.examples/models/CEAPilot/models/tasks/graspungrasp.bt.di
rename to plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/tasks/picknplace.bt.di
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/tasks/picknplace.bt.notation b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/tasks/picknplace.bt.notation
new file mode 100644
index 0000000..577edb9
--- /dev/null
+++ b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/tasks/picknplace.bt.notation
@@ -0,0 +1,680 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<notation:Diagram xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:notation="http://www.eclipse.org/gmf/runtime/1.0.2/notation" xmlns:style="http://www.eclipse.org/papyrus/infra/gmfdiag/style" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xmi:id="_fpq4oHKEEeqBULpQTAGd5A" type="PapyrusUMLActivityDiagram" name="CEAPickNPlace BT diagram" measurementUnit="Pixel">
+  <children xmi:type="notation:Shape" xmi:id="_fpq4oXKEEeqBULpQTAGd5A" type="Activity_Shape">
+    <children xmi:type="notation:DecorationNode" xmi:id="_fpq4onKEEeqBULpQTAGd5A" type="Activity_NameLabel"/>
+    <children xmi:type="notation:DecorationNode" xmi:id="_fpq4o3KEEeqBULpQTAGd5A" type="Activity_KeywordLabel"/>
+    <children xmi:type="notation:BasicCompartment" xmi:id="_fpq4pHKEEeqBULpQTAGd5A" type="Activity_ParameterCompartment">
+      <styles xmi:type="notation:SortingStyle" xmi:id="_fpq4pXKEEeqBULpQTAGd5A"/>
+      <styles xmi:type="notation:FilteringStyle" xmi:id="_fpq4pnKEEeqBULpQTAGd5A"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_fpq4p3KEEeqBULpQTAGd5A"/>
+    </children>
+    <children xmi:type="notation:BasicCompartment" xmi:id="_fpq4qHKEEeqBULpQTAGd5A" type="Activity_PreconditionCompartment">
+      <styles xmi:type="notation:SortingStyle" xmi:id="_fpq4qXKEEeqBULpQTAGd5A"/>
+      <styles xmi:type="notation:FilteringStyle" xmi:id="_fpq4qnKEEeqBULpQTAGd5A"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_fpq4q3KEEeqBULpQTAGd5A"/>
+    </children>
+    <children xmi:type="notation:BasicCompartment" xmi:id="_fpq4rHKEEeqBULpQTAGd5A" type="Activity_PostconditionCompartment">
+      <styles xmi:type="notation:SortingStyle" xmi:id="_fpq4rXKEEeqBULpQTAGd5A"/>
+      <styles xmi:type="notation:FilteringStyle" xmi:id="_fpq4rnKEEeqBULpQTAGd5A"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_fpq4r3KEEeqBULpQTAGd5A"/>
+    </children>
+    <children xmi:type="notation:BasicCompartment" xmi:id="_fpq4sHKEEeqBULpQTAGd5A" type="Activity_ActivityNodeCompartment">
+      <children xmi:type="notation:Shape" xmi:id="_vwUMEHKEEeqBULpQTAGd5A" type="CallBehaviorAction_Shape">
+        <children xmi:type="notation:DecorationNode" xmi:id="_vwUMEnKEEeqBULpQTAGd5A" type="CallBehaviorAction_NameLabel"/>
+        <children xmi:type="notation:DecorationNode" xmi:id="_vwUME3KEEeqBULpQTAGd5A" type="CallBehaviorAction_FloatingNameLabel">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_vwUMFHKEEeqBULpQTAGd5A" y="15"/>
+        </children>
+        <element xmi:type="uml:CallBehaviorAction" href="picknplace.bt.uml#_vukfoHKEEeqBULpQTAGd5A"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_vwUMFXKEEeqBULpQTAGd5A" x="375" y="18" width="121" height="61"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_2cyrIHKEEeqBULpQTAGd5A" type="CallOperationAction_Shape">
+        <children xmi:type="notation:Shape" xmi:id="_2czSNHKEEeqBULpQTAGd5A" type="OutputPin_CallOperationActionResultShape">
+          <children xmi:type="notation:DecorationNode" xmi:id="_2czSNnKEEeqBULpQTAGd5A" type="OutputPin_CallOperationActionResultNameLabel">
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+          <children xmi:type="notation:DecorationNode" xmi:id="_2czSOHKEEeqBULpQTAGd5A" type="OutputPin_CallOperationActionResultStereotypeLabel">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_2czSOXKEEeqBULpQTAGd5A" y="15"/>
+          </children>
+          <element xmi:type="uml:OutputPin" href="picknplace.bt.uml#_2bse9nKEEeqBULpQTAGd5A"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_2czSNXKEEeqBULpQTAGd5A" x="58" y="120"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_2cyrLHKEEeqBULpQTAGd5A" type="OutputPin_CallOperationActionResultShape">
+          <children xmi:type="notation:DecorationNode" xmi:id="_2czSMHKEEeqBULpQTAGd5A" type="OutputPin_CallOperationActionResultNameLabel">
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+          <children xmi:type="notation:DecorationNode" xmi:id="_2czSMnKEEeqBULpQTAGd5A" type="OutputPin_CallOperationActionResultStereotypeLabel">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_2czSM3KEEeqBULpQTAGd5A" y="15"/>
+          </children>
+          <element xmi:type="uml:OutputPin" href="picknplace.bt.uml#_2bse83KEEeqBULpQTAGd5A"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_2cyrLXKEEeqBULpQTAGd5A" x="100" y="120"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_2cyrJnKEEeqBULpQTAGd5A" type="OutputPin_CallOperationActionResultShape">
+          <children xmi:type="notation:DecorationNode" xmi:id="_2cyrKHKEEeqBULpQTAGd5A" type="OutputPin_CallOperationActionResultNameLabel">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_2cyrKXKEEeqBULpQTAGd5A" x="-40"/>
+          </children>
+          <children xmi:type="notation:DecorationNode" xmi:id="_2cyrKnKEEeqBULpQTAGd5A" type="OutputPin_CallOperationActionResultStereotypeLabel">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_2cyrK3KEEeqBULpQTAGd5A" y="15"/>
+          </children>
+          <element xmi:type="uml:OutputPin" href="picknplace.bt.uml#_2bse8HKEEeqBULpQTAGd5A"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_2cyrJ3KEEeqBULpQTAGd5A" x="16" y="120"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_2cyrInKEEeqBULpQTAGd5A" type="CallOperationAction_NameLabel"/>
+        <children xmi:type="notation:DecorationNode" xmi:id="_2cyrI3KEEeqBULpQTAGd5A" type="CallOperationAction_FloatingNameLabel">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_2cyrJHKEEeqBULpQTAGd5A" y="15"/>
+        </children>
+        <element xmi:type="uml:CallOperationAction" href="picknplace.bt.uml#_yRNbgHKEEeqBULpQTAGd5A"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_2cyrJXKEEeqBULpQTAGd5A" x="35" y="158" width="141" height="121"/>
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+      <children xmi:type="notation:Shape" xmi:id="_OoA5AHKFEeqBULpQTAGd5A" type="CallOperationAction_Shape">
+        <children xmi:type="notation:Shape" xmi:id="_OoBgFHKFEeqBULpQTAGd5A" type="InputPin_CallOperationActionArgumentShape">
+          <children xmi:type="notation:DecorationNode" xmi:id="_OoBgFnKFEeqBULpQTAGd5A" type="InputPin_CallOperationActionArgumentNameLabel">
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+          </children>
+          <children xmi:type="notation:DecorationNode" xmi:id="_OoBgGHKFEeqBULpQTAGd5A" type="InputPin_CallOperationActionArgumentStereotypeLabel">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_OoBgGXKFEeqBULpQTAGd5A" y="15"/>
+          </children>
+          <element xmi:type="uml:InputPin" href="picknplace.bt.uml#_On3IAHKFEeqBULpQTAGd5A"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_OoBgFXKFEeqBULpQTAGd5A" x="40" y="60"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_OoBgEHKFEeqBULpQTAGd5A" type="CallOperationAction_NameLabel"/>
+        <children xmi:type="notation:DecorationNode" xmi:id="_OoBgEXKFEeqBULpQTAGd5A" type="CallOperationAction_FloatingNameLabel">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_OoBgEnKFEeqBULpQTAGd5A" y="15"/>
+        </children>
+        <element xmi:type="uml:CallOperationAction" href="picknplace.bt.uml#_N0S9EHKFEeqBULpQTAGd5A"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_OoBgE3KFEeqBULpQTAGd5A" x="191" y="198" width="121" height="61"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_U6Q6MHKFEeqBULpQTAGd5A" type="CallOperationAction_Shape">
+        <children xmi:type="notation:DecorationNode" xmi:id="_U6RhQXKFEeqBULpQTAGd5A" type="CallOperationAction_NameLabel"/>
+        <children xmi:type="notation:DecorationNode" xmi:id="_U6RhQnKFEeqBULpQTAGd5A" type="CallOperationAction_FloatingNameLabel">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_U6RhQ3KFEeqBULpQTAGd5A" y="15"/>
+        </children>
+        <element xmi:type="uml:CallOperationAction" href="picknplace.bt.uml#_UHgnkHKFEeqBULpQTAGd5A"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_U6RhRHKFEeqBULpQTAGd5A" x="327" y="198" width="121" height="61"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_WIK3wHKFEeqBULpQTAGd5A" type="CallOperationAction_Shape">
+        <children xmi:type="notation:Shape" xmi:id="_WIK3xnKFEeqBULpQTAGd5A" type="InputPin_CallOperationActionArgumentShape">
+          <children xmi:type="notation:DecorationNode" xmi:id="_WILe0HKFEeqBULpQTAGd5A" type="InputPin_CallOperationActionArgumentNameLabel">
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+          <children xmi:type="notation:DecorationNode" xmi:id="_WILe0nKFEeqBULpQTAGd5A" type="InputPin_CallOperationActionArgumentStereotypeLabel">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_WILe03KFEeqBULpQTAGd5A" y="15"/>
+          </children>
+          <element xmi:type="uml:InputPin" href="picknplace.bt.uml#_WIBt0HKFEeqBULpQTAGd5A"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_WIK3x3KFEeqBULpQTAGd5A" x="40" y="60"/>
+        </children>
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+        <children xmi:type="notation:DecorationNode" xmi:id="_WIK3w3KFEeqBULpQTAGd5A" type="CallOperationAction_FloatingNameLabel">
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+        </children>
+        <element xmi:type="uml:CallOperationAction" href="picknplace.bt.uml#_VlrOsHKFEeqBULpQTAGd5A"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_WIK3xXKFEeqBULpQTAGd5A" x="463" y="198" width="121" height="61"/>
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+        <children xmi:type="notation:DecorationNode" xmi:id="_YzRMEXKFEeqBULpQTAGd5A" type="CallOperationAction_FloatingNameLabel">
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+        <element xmi:type="uml:CallOperationAction" href="picknplace.bt.uml#_XwhVoHKFEeqBULpQTAGd5A"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_YzRME3KFEeqBULpQTAGd5A" x="599" y="198" width="121" height="61"/>
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+  </edges>
+  <edges xmi:type="notation:Connector" xmi:id="_uyj2NIk0EequHoglrhTNog" type="StereotypeCommentLink" source="_C_zqUHKGEeqBULpQTAGd5A" target="_uyj2MIk0EequHoglrhTNog">
+    <styles xmi:type="notation:FontStyle" xmi:id="_uyj2NYk0EequHoglrhTNog"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_uyj2OYk0EequHoglrhTNog" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:ObjectFlow" href="picknplace.bt.uml#_C_jysHKGEeqBULpQTAGd5A"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_uyj2Nok0EequHoglrhTNog" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_uyj2N4k0EequHoglrhTNog"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_uyj2OIk0EequHoglrhTNog"/>
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+  <edges xmi:type="notation:Connector" xmi:id="_uyuOQIk0EequHoglrhTNog" type="StereotypeCommentLink" source="_OoA5AHKFEeqBULpQTAGd5A" target="_uytnM4k0EequHoglrhTNog">
+    <styles xmi:type="notation:FontStyle" xmi:id="_uyuOQYk0EequHoglrhTNog"/>
+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_uyuORYk0EequHoglrhTNog" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:CallOperationAction" href="picknplace.bt.uml#_N0S9EHKFEeqBULpQTAGd5A"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_uyuOQok0EequHoglrhTNog" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_uyuOQ4k0EequHoglrhTNog"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_uyuORIk0EequHoglrhTNog"/>
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+      <eObjectValue xmi:type="uml:CallOperationAction" href="picknplace.bt.uml#_UHgnkHKFEeqBULpQTAGd5A"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_uy4mVok0EequHoglrhTNog" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_uy4mV4k0EequHoglrhTNog"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_uy4mWIk0EequHoglrhTNog"/>
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+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_uzCXVok0EequHoglrhTNog" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:CallOperationAction" href="picknplace.bt.uml#_VlrOsHKFEeqBULpQTAGd5A"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_uzCXU4k0EequHoglrhTNog" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
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+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_uzCXVYk0EequHoglrhTNog"/>
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+      <eObjectValue xmi:type="uml:CallOperationAction" href="picknplace.bt.uml#_XwhVoHKFEeqBULpQTAGd5A"/>
+    </styles>
+    <element xsi:nil="true"/>
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+    <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_uzMvZ4k0EequHoglrhTNog"/>
+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_uzMvaIk0EequHoglrhTNog"/>
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+    <styles xmi:type="notation:EObjectValueStyle" xmi:id="_uzUrOYk0EequHoglrhTNog" name="BASE_ELEMENT">
+      <eObjectValue xmi:type="uml:CallOperationAction" href="picknplace.bt.uml#_ZXBZYHKFEeqBULpQTAGd5A"/>
+    </styles>
+    <element xsi:nil="true"/>
+    <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_uzUrNok0EequHoglrhTNog" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
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+    <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_uzUrOIk0EequHoglrhTNog"/>
+  </edges>
+</notation:Diagram>
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/tasks/picknplace.bt.uml b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/tasks/picknplace.bt.uml
new file mode 100644
index 0000000..8ab14de
--- /dev/null
+++ b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/models/tasks/picknplace.bt.uml
@@ -0,0 +1,137 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<xmi:XMI xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:bt="http://www.eclipse.org/papyrus/robotics/bt/1" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:robotics.behavior="http://www.eclipse.org/papyrus/robotics/behavior/1" xmlns:robotics.generics="http://www.eclipse.org/papyrus/robotics/generics/1" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xsi:schemaLocation="http://www.eclipse.org/papyrus/robotics/behavior/1 http://www.eclipse.org/papyrus/robotics/1#//behavior http://www.eclipse.org/papyrus/robotics/generics/1 http://www.eclipse.org/papyrus/robotics/1#//generics">
+  <uml:Model xmi:id="_fpjj4HKEEeqBULpQTAGd5A" name="CEAPickNPlaceBt">
+    <packageImport xmi:type="uml:PackageImport" xmi:id="_2bpboHKEEeqBULpQTAGd5A">
+      <importedPackage xmi:type="uml:Model" href="../skills/picknplace.skills.uml#_gWppgHJ7EeqBULpQTAGd5A"/>
+    </packageImport>
+    <packagedElement xmi:type="uml:Activity" xmi:id="_fpjj4XKEEeqBULpQTAGd5A" name="CEAPickNPlace" node="_vukfoHKEEeqBULpQTAGd5A _yRNbgHKEEeqBULpQTAGd5A _N0S9EHKFEeqBULpQTAGd5A _UHgnkHKFEeqBULpQTAGd5A _VlrOsHKFEeqBULpQTAGd5A _XwhVoHKFEeqBULpQTAGd5A _ZXBZYHKFEeqBULpQTAGd5A">
+      <edge xmi:type="uml:ObjectFlow" xmi:id="_5WtpIHKFEeqBULpQTAGd5A" name="ObjectApproachState" target="_On3IAHKFEeqBULpQTAGd5A" source="_2bse83KEEeqBULpQTAGd5A">
+        <guard xmi:type="uml:LiteralBoolean" xmi:id="_5XnoEHKFEeqBULpQTAGd5A" value="true"/>
+        <weight xmi:type="uml:LiteralInteger" xmi:id="_5XnoEXKFEeqBULpQTAGd5A" value="1"/>
+      </edge>
+      <edge xmi:type="uml:ObjectFlow" xmi:id="__hfJUHKFEeqBULpQTAGd5A" name="DepositApproachPose" target="_WIBt0HKFEeqBULpQTAGd5A" source="_2bse9nKEEeqBULpQTAGd5A">
+        <guard xmi:type="uml:LiteralBoolean" xmi:id="__hrWkHKFEeqBULpQTAGd5A" value="true"/>
+        <weight xmi:type="uml:LiteralInteger" xmi:id="__hrWkXKFEeqBULpQTAGd5A" value="1"/>
+      </edge>
+      <edge xmi:type="uml:ObjectFlow" xmi:id="_C_jysHKGEeqBULpQTAGd5A" name="HomePose" target="_Z3KSAHKFEeqBULpQTAGd5A" source="_2bse8HKEEeqBULpQTAGd5A">
+        <guard xmi:type="uml:LiteralBoolean" xmi:id="_C_ycMHKGEeqBULpQTAGd5A" value="true"/>
+        <weight xmi:type="uml:LiteralInteger" xmi:id="_C_zDQHKGEeqBULpQTAGd5A" value="1"/>
+      </edge>
+      <edge xmi:type="uml:ControlFlow" xmi:id="_3NPlwHKGEeqBULpQTAGd5A" name="ControlFlowEdge11" target="_yRNbgHKEEeqBULpQTAGd5A" source="_vukfoHKEEeqBULpQTAGd5A"/>
+      <edge xmi:type="uml:ControlFlow" xmi:id="_31w-UHKGEeqBULpQTAGd5A" name="ControlFlowEdge12" target="_N0S9EHKFEeqBULpQTAGd5A" source="_vukfoHKEEeqBULpQTAGd5A"/>
+      <edge xmi:type="uml:ControlFlow" xmi:id="_5h9aYHKGEeqBULpQTAGd5A" name="ControlFlowEdge13" target="_UHgnkHKFEeqBULpQTAGd5A" source="_vukfoHKEEeqBULpQTAGd5A"/>
+      <edge xmi:type="uml:ControlFlow" xmi:id="_6YqY4HKGEeqBULpQTAGd5A" name="ControlFlowEdge14" target="_VlrOsHKFEeqBULpQTAGd5A" source="_vukfoHKEEeqBULpQTAGd5A"/>
+      <edge xmi:type="uml:ControlFlow" xmi:id="_7lJaIHKGEeqBULpQTAGd5A" name="ControlFlowEdge15" target="_XwhVoHKFEeqBULpQTAGd5A" source="_vukfoHKEEeqBULpQTAGd5A"/>
+      <edge xmi:type="uml:ControlFlow" xmi:id="_8q9ysHKGEeqBULpQTAGd5A" name="ControlFlowEdge16" target="_ZXBZYHKFEeqBULpQTAGd5A" source="_vukfoHKEEeqBULpQTAGd5A"/>
+      <node xmi:type="uml:CallBehaviorAction" xmi:id="_vukfoHKEEeqBULpQTAGd5A" name="sequence" outgoing="_3NPlwHKGEeqBULpQTAGd5A _31w-UHKGEeqBULpQTAGd5A _5h9aYHKGEeqBULpQTAGd5A _6YqY4HKGEeqBULpQTAGd5A _7lJaIHKGEeqBULpQTAGd5A _8q9ysHKGEeqBULpQTAGd5A">
+        <behavior xmi:type="uml:FunctionBehavior" href="pathmap://Robotics_LIBRARIES_BT/btsemantics.uml#_BIq1QAboEeqCcYqBkTNorg"/>
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+      <node xmi:type="uml:CallOperationAction" xmi:id="_yRNbgHKEEeqBULpQTAGd5A" name="planning" incoming="_3NPlwHKGEeqBULpQTAGd5A">
+        <result xmi:type="uml:OutputPin" xmi:id="_2bse8HKEEeqBULpQTAGd5A" name="home" outgoing="_C_jysHKGEeqBULpQTAGd5A">
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+        <result xmi:type="uml:OutputPin" xmi:id="_2bse83KEEeqBULpQTAGd5A" name="obj_appr" outgoing="_5WtpIHKFEeqBULpQTAGd5A">
+          <type xmi:type="uml:DataType" href="pathmap://ROS2_LIB_BASE/services/sensor_msgs.servicedef.uml#ID_msg_JointState"/>
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+        <operation xmi:type="uml:Operation" href="../skills/picknplace.skills.uml#_IfOE4HJ8EeqBULpQTAGd5A"/>
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+          <type xmi:type="uml:DataType" href="pathmap://ROS2_LIB_BASE/services/sensor_msgs.servicedef.uml#ID_msg_JointState"/>
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+        </argument>
+        <operation xmi:type="uml:Operation" href="../skills/picknplace.skills.uml#_StM70HJ8EeqBULpQTAGd5A"/>
+      </node>
+      <node xmi:type="uml:CallOperationAction" xmi:id="_UHgnkHKFEeqBULpQTAGd5A" name="grasp_it" incoming="_5h9aYHKGEeqBULpQTAGd5A">
+        <operation xmi:type="uml:Operation" href="../skills/picknplace.skills.uml#_U-sdUHJ8EeqBULpQTAGd5A"/>
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+        <operation xmi:type="uml:Operation" href="../skills/picknplace.skills.uml#_RfrYwHJ8EeqBULpQTAGd5A"/>
+      </node>
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+        <operation xmi:type="uml:Operation" href="../skills/picknplace.skills.uml#_T4hfcHJ8EeqBULpQTAGd5A"/>
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+        <operation xmi:type="uml:Operation" href="../skills/picknplace.skills.uml#_RfrYwHJ8EeqBULpQTAGd5A"/>
+      </node>
+    </packagedElement>
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+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_fpjj43KEEeqBULpQTAGd5A" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//skills"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_gi8QcEu_EemIANEC5Ku3WA"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_fpjj5HKEEeqBULpQTAGd5A">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_fpjj5XKEEeqBULpQTAGd5A" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//behavior"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_q3mpAEyBEemO4axG7yzSjw"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_fpjj5nKEEeqBULpQTAGd5A">
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+        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/bt/1#/"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://Robotics_PROFILES_BT/bt.profile.uml#_ReuxwEu8Eem2LtvnSS1y6A"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_fpjj6HKEEeqBULpQTAGd5A">
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+  <bt:Action xmi:id="_YzE-0HKFEeqBULpQTAGd5A" base_Action="_XwhVoHKFEeqBULpQTAGd5A"/>
+  <bt:Action xmi:id="_Z3JD4HKFEeqBULpQTAGd5A" base_Action="_ZXBZYHKFEeqBULpQTAGd5A"/>
+  <bt:InFlowPort xmi:id="_Z3LgIHKFEeqBULpQTAGd5A" base_InputPin="_Z3KSAHKFEeqBULpQTAGd5A"/>
+  <bt:DataFlowEdge xmi:id="_5XdQAHKFEeqBULpQTAGd5A" base_ObjectFlow="_5WtpIHKFEeqBULpQTAGd5A"/>
+  <bt:DataFlowEdge xmi:id="__hg-gHKFEeqBULpQTAGd5A" base_ObjectFlow="__hfJUHKFEeqBULpQTAGd5A"/>
+  <bt:DataFlowEdge xmi:id="_C_m2AHKGEeqBULpQTAGd5A" base_ObjectFlow="_C_jysHKGEeqBULpQTAGd5A"/>
+  <bt:ControlFlowEdge xmi:id="_3NRa8HKGEeqBULpQTAGd5A" base_ControlFlow="_3NPlwHKGEeqBULpQTAGd5A"/>
+  <bt:ControlFlowEdge xmi:id="_31yzgHKGEeqBULpQTAGd5A" base_ControlFlow="_31w-UHKGEeqBULpQTAGd5A"/>
+  <bt:ControlFlowEdge xmi:id="_5iBEwHKGEeqBULpQTAGd5A" base_ControlFlow="_5h9aYHKGEeqBULpQTAGd5A"/>
+  <bt:ControlFlowEdge xmi:id="_6YsOEHKGEeqBULpQTAGd5A" base_ControlFlow="_6YqY4HKGEeqBULpQTAGd5A"/>
+  <bt:ControlFlowEdge xmi:id="_7lKoQHKGEeqBULpQTAGd5A" base_ControlFlow="_7lJaIHKGEeqBULpQTAGd5A"/>
+  <bt:ControlFlowEdge xmi:id="_8q_A0HKGEeqBULpQTAGd5A" base_ControlFlow="_8q9ysHKGEeqBULpQTAGd5A"/>
+</xmi:XMI>
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/scripts/isybotAPI.py b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/scripts/isybotAPI.py
new file mode 100644
index 0000000..0e94a2f
--- /dev/null
+++ b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/ceapilot/scripts/isybotAPI.py
@@ -0,0 +1,349 @@
+#
+# Copyright (c) CEA LIST 2019-2020 All Rights Reserved.
+#
+#  The content is the property of CEA LIST. Any distribution
+#  to third parties is expressly prohibited without the prior
+#  written consent of CEA LIST.
+#
+#  Contributors:
+#   CEA LIST / DIASI / LRI
+#
+
+import msgpackrpc
+import socket
+# import numpy as np
+# from copy import *
+from time import sleep
+
+
+# from math import sin, cos, pi
+
+class isybotAPI:
+    """Sybot API"""
+
+    # ===Connection=====================================================================
+    def connectTo(self, HOST="localhost", PORT=9123, timeout=None):
+        """Connect to rpc server named HOST at port PORT
+        Timeout is expressed in second and is by default desactivated
+        Return a client msgpackrpc if ok, return None if an error occured
+        """
+        try:
+            self._addr = msgpackrpc.Address(HOST, PORT, socket.AF_INET)
+            self._client = msgpackrpc.Client(self._addr, timeout, unpack_encoding='utf-8')
+            print("Connected to " + HOST + " at " + str(PORT) + ".")
+            self._HOST = HOST
+            self._PORT = PORT
+            self._defaultEvtTimeout = 5
+            done = True
+        except:
+            print("An error occurred while connecting via msgpackrpc.")
+            self._client = None
+            done = False
+        return done
+
+    def whose(self):
+        """Return IP connection detail"""
+        if self._client != None:
+            print("This API is connected to " + self._HOST + " at " + str(self._PORT) + ".")
+        return [self._HOST, self._PORT]
+
+    def disconnect(self):
+        """Close the current connection"""
+        if self._client != None:
+            self._client.close()
+        print("Disconnected from " + self._HOST + " at " + str(self._PORT) + ".")
+        self._client = None
+        self._addr = None
+        self._HOST = None
+        self._PORT = None
+        return True
+
+    # ===Status functions=================================================================
+
+    def enable(self):
+        """Set robot enable to true, turning robot power on"""
+        return self._callAPI('enable')
+
+    def disable(self):
+        """Set robot enable to false, turning robot power off"""
+        return self._callAPI('disable')
+
+    def resetController(self):
+        self.disable()
+#        print("disable")
+        sleep(0.3)
+        self.enable()
+#        print("enable") 
+        self._client.call(self.POW+'.rise.wait', 0) #wait for robot to be ON
+#        print("enabled")
+
+    def getPowered(self):
+        """Get robot power status"""
+        return self._callAPI('getPowered')
+
+    def getRobotMode(self):
+        """Get robot current mode index"""
+        return self._callAPI('getRobotMode')
+
+    def setRobotMode(self, index):
+        """Set robot current mode index"""
+        return self._callAPI('setRobotMode', index)
+
+    # ===Movement functions=================================================================
+
+    def getJointPose(self):
+        """Get robot articular pose express as [[q1],[q2],[q3],[q4],[q5],[q6]]
+        unused axis values are equal to 0.0"""
+        return self._callAPI('getJointPose');
+
+    def getJointPoseVisual(self):
+        """Get robot articular pose tweak in order to be used for visualization"""
+        return self._callAPI('getJointPoseVisu');
+
+    def getCartePose(self):
+        """Get robot carte pose express as [[x,y,z],[e1,e2,e3,e4]]
+        where [x,y,z] is the position and [e1,e2,e3,e4] is the orientation via quaternions"""
+        return self._callAPI('getCartePose');
+
+    def getJointSpeed(self):
+        """Get robot articular velocity express as [[dq1],[dq2],[dq3],[dq4],[dq5],[dq6]]"""
+        return self._callAPI('getJointSpeed');
+
+    def getCarteSpeed(self):
+        """Get robot carte pose express as a kinematic screw"""
+        return self._callAPI('getCarteSpeed');
+
+    def moveCarte(self, posCarte):
+        """Set robot target carte pose express as [[x,y,z],[e1,e2,e3,e4]]"""
+        return self._callAPI('moveCarte', posCarte)
+
+    def moveJoint(self, jointPose):
+        """Set robot target articular pose express as [[q1],[q2],[q3],[q4],[q5],[q6]]"""
+        return self._callAPI('moveJoint', jointPose)
+
+    def openGripper(self):
+        sleep(0.5) # pretended gripper opening time
+        print("Gripper Open")
+
+    def closeGripper(self):
+        sleep(0.5) # pretended gripper closing time
+        print("Gripper Closed")
+
+    # TODO
+    def setInhibDrives(self, inhibs):
+        self._setRcrVar(self.ROBOT + '.io.inhibDrive', inhibs)
+
+    def getInhibDrives(self):
+        return self._getRcrVar(self.ROBOT + '.io.inhibDrive')
+
+    def setGTArtiSpeedRatio(self, dqRatio):
+        self._setRcrVar(self.GTARTI + '.dqRatio', dqRatio)
+
+    def getGTArtiSpeedRatio(self):
+        return self._getRcrVar(self.GTARTI + '.dqRatio')
+
+    def setGTArtiSpeedMax(self, dqMax):
+        self._setRcrVar(self.GTARTI + '.dqMax', dqMax)
+
+    def getGTArtiSpeedMax(self):
+        return self._getRcrVar(self.GTARTI + '.dqMax')
+
+    # === Cartesian Spline mode functions==========================================================
+    def setGTCarteMode(self, idx):
+        return self._callAPI('setGTCarteMode', idx)
+
+    def getGTCarteMode(self):
+        return self._callAPI('getGTCarteMode')
+
+    def splineRecorderOFF(self):
+        """Turn off spline recording of the current trajectory"""
+        return self._callAPI('splineRecorderOFF')
+
+    def splineRecorderON(self):
+        """Turn on spline recording of the current trajectory"""
+        return self._callAPI('splineRecorderON')
+
+    def splineResetPosition(self, sReset):
+        """TODO """
+        return self._callAPI('splineResetPosition', sReset)
+
+    def splineGetLength(self):
+        """Return spline length"""
+        return self._callAPI('splineGetSmax')
+
+    def splineDataSize(self):
+        return self._callAPI('splineDataSize')
+
+    def splineGenTraj(self):
+        return self._callAPI('splineGenTraj')
+
+    def splineGetEndPts(self):
+        return self._callAPI('splineGetEndPts')
+
+    def setSplineSpeed(self, dqRatio):
+        return self._callAPI('setSplineSpeed', dqRatio)
+
+    def moveSpline(self, sTarget):
+        """TODO """
+        return self._callAPI('moveSpline', sTarget)
+
+    # === Restrictive workspace Functions===!!! WIP !!!============================================
+
+    def repelWorkspacePAUSE(self):
+        """Turn off repel forces as long as the robot is not back inside the restrictive workspace.
+        Use it when you have to enable the robot when a workspace is set to avoid sudden mouvement"""
+        return self._callAPI('repelWorkspacePAUSE')
+
+    def repelWorkspaceON(self):
+        return self._callAPI('repelWorkspaceON')
+
+    def repelWorkspaceOFF(self):
+        return self._callAPI('repelWorkspaceOFF')
+
+    def setRepelWorkspaceLim(self, limits):
+        return self._callAPI('setRepelWorkspaceLim', limits)
+
+    def resetRepelWorkspaceLim(self):
+        return self._callAPI('resetRepelWorkspaceLim')
+
+    # ===Virtual Guide Functions===!!! WIP !!!============================================
+
+    def updateVG(self, xList):
+        """Update the spline used for the virtual guide by giving a vector of control points
+        Points are written as  [[x,y,z],[e1,e2,e3,e4]]"""
+        return self._callAPI('setTrajVG', xList)
+
+    def getVGlength(self):
+        """Return the length of the virtual guide"""
+        return self._callAPI('getVGlength')
+
+    # ===LEDs management functions=========================================================
+
+    def forceLEDstateTo(self, LEDidx, state):
+        return self._callAPI('forceLEDstateTo', LEDidx, state)
+
+    def inhibLEDdefaultState(self, LEDidx, state):
+        return self._callAPI('inhibLEDdefaultState', LEDidx, state)
+
+    # ===Parameters set/get================================================================
+    def setParam(self, type, idx, value):
+        self._setRcrVar(self.API + '.PARAM_' + type + '_' + str(idx), value)
+
+    def getParam(self, type, idx):
+        return self._getRcrVar(self.API + '.PARAM_' + type + '_' + str(idx))
+
+    # ===Event handling Functions==========================================================
+    """Example of event function use :
+    
+    go to initial arti pose
+    robot.setRobotMode(robot.POSARTI_MODE) #switch mode
+    print("in POSARTI_MODE")
+    evt = robot.watch(robot.GTARTI+'.achievedEvt', 60)
+    robot.goToPosArti([[0.0],[0.0],[-1.57],[1.57],[0.0],[0.0]])
+    robot.wait(evt) #wait for robot to reach target
+    print("Initial pose reach")
+    """
+
+    def watch(self, evtName, *timeout):
+        """Start watching for the trigger of a given event. Return an handle on that surveillance
+        timeout is used to avoid waiting indefinitely. If no given timeout, default one is used"""
+        if not timeout:
+            evt = self._client.call_async(evtName + '.wait', self._defaultEvtTimeout)
+        else:
+            evt = self._client.call_async(evtName + '.wait', *timeout)
+        return evt
+
+    def wait(self, evt):
+        """Wait for the given event to be trigger or for the timeout to be elapsed after
+        the given timeout in the watch function.
+        Return true when event is triggered, or false if timeout elapses"""
+        return evt.get()
+
+    def moveCarteSynchWait(self):
+        self._client.call(self.GTCARTE+'.achievedEvt.wait', 0)
+
+    def moveJointSynchWait(self):
+        self._client.call(self.GTARTI+'.achievedEvt.wait', 0)
+
+    # ===Private===========================================================================
+    def _setRcrVar(self, rcrName, value):
+        # """Set recor variable to a given value
+        # rcrName is recor name of the variable written according to the following exemple
+        # isb16_cont_robot_X_mes ==> cont.robot.X_mes"""
+        self._client.call(rcrName + '.set', value);
+
+    def _getRcrVar(self, rcrName):
+        # """Get recor variable value
+        # rcrName is recor name of the variable written according to the following exemple
+        # isb16_cont_robot_X_mes ==> cont.robot.X_mes"""
+        return self._client.call(rcrName + '.get');
+
+    def _callAPI(self, funcName, *args):
+        # """Private function embedding the msgpackrpc services call
+        # Return the output value of the called service
+        # Display any existing message return by the service"""
+        try:
+            assert (self._client != None)
+            if not args:
+                apiOutput = self._client.call(self.API + '.api_' + funcName)
+            else:
+                apiOutput = self._client.call(self.API + '.api_' + funcName, *args)
+            isDeny = apiOutput[2]
+            if not isDeny:
+                val = apiOutput[0]
+            else:
+                val = None
+            errMsg = apiOutput[1]
+            if (errMsg != ""):
+                print(errMsg)
+        except msgpackrpc.error.RPCError:
+            val = None
+            print('Error: invalid argument')
+        except AssertionError:
+            val = None
+            print('Error: Not connected to any controller')
+        return val
+
+    # list of accessible access path
+    PROXY = 'evtProxy'
+    CONT = 'cont'
+
+    POW = CONT + '.pow'
+    FAILURE = POW + '.failState'
+    BPMBT = CONT + '.bpm'
+    TOOLBT = CONT + '.bpTool'
+    BPABT = CONT + '.bpa'
+    POSARTI = CONT + '.posArti'
+    POSCARTE = CONT + '.posCarte'
+    API = CONT + '.api'
+    GTARTI = POSARTI + '.gt'
+    GTARTITARGET = GTARTI + '.qTargetSet'
+    GTCARTE = POSCARTE + '.gt'
+    GTCARTETARGET = GTCARTE + '.XTargetSet'
+    GTSPLINE = POSCARTE + '.curvilignAbscissaGT'
+    GTSPLINETARGET = GTSPLINE + '.qTargetSet'
+    ROBOTENABLE = CONT + '.enable'
+
+    MODESWITCH = CONT + '.mode'
+    JOINT_MODE = 0
+    CARTE_MODE = 1
+    FREE_MODE = 2
+    VG_MODE = 3
+
+    CARTE_GT = 0
+    SPLINE_GT = 1
+
+    ROBOT = CONT + '.robot'
+    QROBOT = ROBOT + '.mes_q'
+    XROBOT = ROBOT + '.mes_X'
+    TOOL = CONT + '.tool'
+    XTOOL = TOOL + '.mes_Xt'
+    API = CONT + '.api'
+
+    def __init__(self):
+        self._client = None
+        self._addr = None
+        self._HOST = None
+        self._defaultEvtTimeout = 5  # for safety
+        self._PORT = None
+
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/simplenavigation/models/tasks/simplenavigation.bt.di b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/simplenavigation/models/tasks/simplenavigation.bt.di
deleted file mode 100644
index ab2ca42..0000000
--- a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/simplenavigation/models/tasks/simplenavigation.bt.di
+++ /dev/null
@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<architecture:ArchitectureDescription xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:architecture="http://www.eclipse.org/papyrus/infra/core/architecture" contextId="org.eclipse.papyrus.robotics.architecture"/>
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/simplenavigation/models/tasks/simplenavigation.bt.notation b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/simplenavigation/models/tasks/simplenavigation.bt.notation
deleted file mode 100644
index 1f4199b..0000000
--- a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/simplenavigation/models/tasks/simplenavigation.bt.notation
+++ /dev/null
@@ -1,790 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
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-  <children xmi:type="notation:Shape" xmi:id="_ah_Qkd9tEemoRPca1LslIg" type="Activity_Shape">
-    <children xmi:type="notation:DecorationNode" xmi:id="_ah_Qkt9tEemoRPca1LslIg" type="Activity_NameLabel"/>
-    <children xmi:type="notation:DecorationNode" xmi:id="_ah_Qk99tEemoRPca1LslIg" type="Activity_KeywordLabel"/>
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-      <styles xmi:type="notation:SortingStyle" xmi:id="_ah_Qld9tEemoRPca1LslIg"/>
-      <styles xmi:type="notation:FilteringStyle" xmi:id="_ah_Qlt9tEemoRPca1LslIg"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ah_Ql99tEemoRPca1LslIg"/>
-    </children>
-    <children xmi:type="notation:BasicCompartment" xmi:id="_ah_QmN9tEemoRPca1LslIg" type="Activity_PreconditionCompartment">
-      <styles xmi:type="notation:SortingStyle" xmi:id="_ah_Qmd9tEemoRPca1LslIg"/>
-      <styles xmi:type="notation:FilteringStyle" xmi:id="_ah_Qmt9tEemoRPca1LslIg"/>
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-    </children>
-    <children xmi:type="notation:BasicCompartment" xmi:id="_ah_QnN9tEemoRPca1LslIg" type="Activity_PostconditionCompartment">
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-      <styles xmi:type="notation:FilteringStyle" xmi:id="_ah_Qnt9tEemoRPca1LslIg"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ah_Qn99tEemoRPca1LslIg"/>
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-    <children xmi:type="notation:BasicCompartment" xmi:id="_ah_QoN9tEemoRPca1LslIg" type="Activity_ActivityNodeCompartment">
-      <children xmi:type="notation:Shape" xmi:id="_N7CZgN-hEemoRPca1LslIg" type="CallOperationAction_Shape">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_PhXeIN-hEemoRPca1LslIg" source="PapyrusCSSForceValue">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_PhXeId-hEemoRPca1LslIg" key="mutable" value="true"/>
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-        <children xmi:type="notation:DecorationNode" xmi:id="_N7DAkd-hEemoRPca1LslIg" type="CallOperationAction_NameLabel"/>
-        <children xmi:type="notation:DecorationNode" xmi:id="_N7DAkt-hEemoRPca1LslIg" type="CallOperationAction_FloatingNameLabel">
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-        <children xmi:type="notation:DecorationNode" xmi:id="_N7H5EN-hEemoRPca1LslIg" type="StereotypeLabel">
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-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_N7H5Et-hEemoRPca1LslIg"/>
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-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_N7H5Ft-hEemoRPca1LslIg"/>
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-        <children xmi:type="notation:BasicCompartment" xmi:id="_N7IgON-hEemoRPca1LslIg" type="compartment_shape_display">
-          <styles xmi:type="notation:TitleStyle" xmi:id="_N7IgOd-hEemoRPca1LslIg"/>
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-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_N7JuVN-hEemoRPca1LslIg"/>
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-        <children xmi:type="notation:Shape" xmi:id="_Pfpm4N-hEemoRPca1LslIg" type="OutputPin_CallOperationActionResultShape">
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diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/simplenavigation/models/tasks/simplenavigation.bt.uml b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/simplenavigation/models/tasks/simplenavigation.bt.uml
deleted file mode 100644
index 5a1a511..0000000
--- a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/simplenavigation/models/tasks/simplenavigation.bt.uml
+++ /dev/null
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-  </robotics.generics:Package>
-  <robotics.behavior:Task xmi:id="_ah6YEN9tEemoRPca1LslIg" base_Class="_ZfOzEN9tEemoRPca1LslIg" base_Behavior="_ZfOzEN9tEemoRPca1LslIg"/>
-  <bt:TreeRoot xmi:id="_ah80UN9tEemoRPca1LslIg" base_Activity="_ZfOzEN9tEemoRPca1LslIg"/>
-  <bt:Action xmi:id="_N6-IEN-hEemoRPca1LslIg" base_Action="_N67r0N-hEemoRPca1LslIg"/>
-  <bt:Action xmi:id="_OZny8N-hEemoRPca1LslIg" base_Action="_OZlWsN-hEemoRPca1LslIg"/>
-  <bt:OutFlowPort xmi:id="_PfeAsN-hEemoRPca1LslIg" base_OutputPin="_PfcLgN-hEemoRPca1LslIg"/>
-  <bt:InFlowPort xmi:id="_QmrgYN-hEemoRPca1LslIg" base_InputPin="_QmprMN-hEemoRPca1LslIg"/>
-  <bt:DataFlowEdge xmi:id="_daDFMN-hEemoRPca1LslIg" base_ObjectFlow="_daB3EN-hEemoRPca1LslIg"/>
-  <bt:ControlFlowEdge xmi:id="_eh_ksN-hEemoRPca1LslIg" base_ControlFlow="_eh76UN-hEemoRPca1LslIg"/>
-  <bt:ControlFlowEdge xmi:id="_fWKzoN-hEemoRPca1LslIg" base_ControlFlow="_fWI-cN-hEemoRPca1LslIg"/>
-  <bt:Parameter xmi:id="_EgQbEOCnEemsmMKoRmhVLg" base_ValueSpecificationAction="_EgMJoOCnEemsmMKoRmhVLg"/>
-  <bt:OutFlowPort xmi:id="_EgSQQOCnEemsmMKoRmhVLg" base_OutputPin="_EgRpMOCnEemsmMKoRmhVLg"/>
-  <bt:Action xmi:id="_lLKm4ONsEemFBIo82GlA3Q" base_Action="_lLEgQONsEemFBIo82GlA3Q"/>
-  <bt:InFlowPort xmi:id="_m10x4ONsEemFBIo82GlA3Q" base_InputPin="_m1vSUONsEemFBIo82GlA3Q"/>
-  <bt:ControlFlowEdge xmi:id="_sdx_QON0EemeSLp0-k2w0g" base_ControlFlow="_sdOloON0EemeSLp0-k2w0g"/>
-  <bt:DataFlowEdge xmi:id="_aRFSYOOBEemeSLp0-k2w0g" base_ObjectFlow="_aRCPEOOBEemeSLp0-k2w0g"/>
-  <bt:Action xmi:id="_iWViQOOBEemeSLp0-k2w0g" base_Action="_iWQCsOOBEemeSLp0-k2w0g"/>
-  <bt:InFlowPort xmi:id="_jePlgOOBEemeSLp0-k2w0g" base_InputPin="_jeI30OOBEemeSLp0-k2w0g"/>
-  <bt:ControlFlowEdge xmi:id="_rtQOUOOBEemeSLp0-k2w0g" base_ControlFlow="_rtNLAOOBEemeSLp0-k2w0g"/>
-  <bt:DataFlowEdge xmi:id="_tMiPwOOBEemeSLp0-k2w0g" base_ObjectFlow="_tMgakOOBEemeSLp0-k2w0g"/>
-  <bt:BlackBoardEntry xmi:id="_Yh6GIPQcEemzYNbbr7cxGw" base_CentralBufferNode="_Yh0mkPQcEemzYNbbr7cxGw"/>
-  <bt:DataFlowEdge xmi:id="_siffkPQcEemzYNbbr7cxGw" base_ObjectFlow="_siccQPQcEemzYNbbr7cxGw"/>
-  <bt:Sequence xmi:id="_ithkAAdAEeqdY-GSZoFLAA" base_Action="_itUvsAdAEeqdY-GSZoFLAA"/>
-</xmi:XMI>
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/simplenavigation/models/tasks/simplenavigation.bt_fr_FR.properties b/plugins/examples/org.eclipse.papyrus.robotics.examples/models/simplenavigation/models/tasks/simplenavigation.bt_fr_FR.properties
deleted file mode 100644
index 3f14e20..0000000
--- a/plugins/examples/org.eclipse.papyrus.robotics.examples/models/simplenavigation/models/tasks/simplenavigation.bt_fr_FR.properties
+++ /dev/null
@@ -1,2 +0,0 @@
-#Wed Nov 27 02:49:00 CET 2019
-_label_Sequence1=sequence
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.examples/plugin.xml b/plugins/examples/org.eclipse.papyrus.robotics.examples/plugin.xml
index 564e6ba..0c08cea 100644
--- a/plugins/examples/org.eclipse.papyrus.robotics.examples/plugin.xml
+++ b/plugins/examples/org.eclipse.papyrus.robotics.examples/plugin.xml
@@ -33,11 +33,11 @@
 			wizardID="org.eclipse.papyrus.robotics.examples.category.RobMoSysExamples.installer">
 			<projectDescriptor
 				contentURI="models/PRC2/"
-				name="PRC2 example"
+				name="PRC2"
 				description="PRC2 RobMoSys example (components and system definition)">
 			</projectDescriptor>
 			<fileToOpen
-				location="/PRC2 example/models/system/PRC2CartesianMode.system.di">
+				location="/PRC2/models/system/PRC2CartesianMode.system.di">
 			</fileToOpen>
 		</example>
 	</extension>
@@ -53,7 +53,7 @@
 				description="This example project shows how skills and behavior tree (BT) from CARVE use-case 1 can be modeled in Papyrus for Robotics. The original BT, as defined in CARVE's use-case 1, can be found at https://youtu.be/N0Utz-C2HwU. Right-click on the TreeRoot element to run the exporter that generates an XML model compatible with BehaviorTree.CPP (https://www.behaviortree.dev/).">
 			</projectDescriptor>
 			<fileToOpen
-				location="/carve_usecase1/models/tasks/usecase1.bt.di">
+				location="/carve_uc1/models/tasks/usecase1.bt.di">
 			</fileToOpen>
 		</example>
 	</extension>
@@ -64,12 +64,12 @@
 			pageImage="platform:/plugin/org.eclipse.papyrus.robotics.bt.profile/icons/tree-512.png"
 			wizardID="org.eclipse.papyrus.robotics.examples.category.RobMoSysExamples.installer">
 			<projectDescriptor
-				contentURI="models/CEAPilot/"
-				name="CEAPilotBehaviorTree"
-				description="This example project shows the behavior tree (BT) which describes the pick-and-place operations in the CEA Pilot (https://robmosys.eu/wiki/pilots:hr-collaboration). Right-click on the TreeRoot element to run the exporter that generates an XML model compatible with BehaviorTree.CPP (https://www.behaviortree.dev/). Additionally, use this model as a base to perform a task-based hazard analysis as described at https://wiki.eclipse.org/Papyrus/customizations/robotics/hara.">
+				contentURI="models/ceapilot/"
+				name="ceapilot"
+				description="This example project shows all models (services, components, behavior, etc.) which allow the realization of pick-and-place operations in the CEA Pilot (https://robmosys.eu/wiki/pilots:hr-collaboration).">
 			</projectDescriptor>
 			<fileToOpen
-				location="/CEAPilotBehaviorTree/models/tasks/graspungrasp.bt.di">
+				location="/ceapilot/models/system/picknplace.system.di">
 			</fileToOpen>
 		</example>
 	</extension>
diff --git a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_services/models/services/fromscratch_services.servicedef.notation b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_services/models/services/fromscratch_services.servicedef.notation
index 09c3755..9900dc3 100644
--- a/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_services/models/services/fromscratch_services.servicedef.notation
+++ b/plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/fromscratch_services/models/services/fromscratch_services.servicedef.notation
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<xmi:XMI xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:notation="http://www.eclipse.org/gmf/runtime/1.0.3/notation" xmlns:style="http://www.eclipse.org/papyrus/infra/gmfdiag/style" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML">
+<xmi:XMI xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:notation="http://www.eclipse.org/gmf/runtime/1.0.2/notation" xmlns:style="http://www.eclipse.org/papyrus/infra/gmfdiag/style" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML">
   <notation:Diagram xmi:id="_7UAUoLxlEeq0rbRR6KCyOg" type="PapyrusUMLClassDiagram" name="Fromscratch_services diagram" measurementUnit="Pixel">
     <children xmi:type="notation:Shape" xmi:id="_0gz3obxnEeq0rbRR6KCyOg" type="Interface_Shape">
       <children xmi:type="notation:DecorationNode" xmi:id="_0gz3o7xnEeq0rbRR6KCyOg" type="Interface_NameLabel"/>
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.tests/expectedResult/publishSubscribe/src-gen/PrimitiveTypes/Pkg_PrimitiveTypes.h b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.tests/expectedResult/publishSubscribe/src-gen/PrimitiveTypes/Pkg_PrimitiveTypes.h
index 8c8e87a..2076a8c 100644
--- a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.tests/expectedResult/publishSubscribe/src-gen/PrimitiveTypes/Pkg_PrimitiveTypes.h
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.tests/expectedResult/publishSubscribe/src-gen/PrimitiveTypes/Pkg_PrimitiveTypes.h
@@ -22,11 +22,6 @@
 // Types defined within the package
 
 /**
- * String is a sequence of characters in some suitable character set used to display information about the model. Character sets may include non-Roman alphabets and characters.
- */
-typedef const char *String;
-
-/**
  * Integer is a primitive type representing integer values.
  */
 typedef int Integer;
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.tests/expectedResult/publishSubscribe_extcode/src-gen/PrimitiveTypes/Pkg_PrimitiveTypes.h b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.tests/expectedResult/publishSubscribe_extcode/src-gen/PrimitiveTypes/Pkg_PrimitiveTypes.h
index 8c8e87a..2076a8c 100644
--- a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.tests/expectedResult/publishSubscribe_extcode/src-gen/PrimitiveTypes/Pkg_PrimitiveTypes.h
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.tests/expectedResult/publishSubscribe_extcode/src-gen/PrimitiveTypes/Pkg_PrimitiveTypes.h
@@ -22,11 +22,6 @@
 // Types defined within the package
 
 /**
- * String is a sequence of characters in some suitable character set used to display information about the model. Character sets may include non-Roman alphabets and characters.
- */
-typedef const char *String;
-
-/**
  * Integer is a primitive type representing integer values.
  */
 typedef int Integer;