<?xml version="1.0" encoding="UTF-8"?>
<xmi:XMI xmi:version="20110701" xmlns:xmi="http://www.omg.org/spec/XMI/20110701" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:commObj="http://www.xtext.org/smartsoft/commObj/CommObj" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:profile="http://smartsoft/profile/component/1.0" xmlns:uml="http://www.eclipse.org/uml2/4.0.0/UML" xsi:schemaLocation="http://smartsoft/profile/component/1.0 pathmap://SMARTMARSPROFILE/SmartMars.profile.uml#_aAgIYF6hEeS8WYUlWdOgVg">
  <uml:Model xmi:id="_6-V9sN9FEeO9POCZ2k1Wig" name="SmartURTestClient">
    <elementImport xmi:id="_Ow7XYN9GEeO9POCZ2k1Wig">
      <importedElement xmi:type="commObj:CommunicationObject" href="pathmap://PLATFORM_RESOURCE/CommManipulatorObjects/model/commObject/CommManipulatorObjects.comm#//@elements.0/CommManipulatorTrajectory"/>
    </elementImport>
    <elementImport xmi:id="_cydYcN9GEeO9POCZ2k1Wig">
      <importedElement xmi:type="commObj:CommunicationObject" href="pathmap://PLATFORM_RESOURCE/CommManipulatorObjects/model/commObject/CommManipulatorObjects.comm#//@elements.0/CommMobileManipulatorState"/>
    </elementImport>
    <elementImport xmi:id="_uKxvIN9GEeO9POCZ2k1Wig">
      <importedElement xmi:type="commObj:CommunicationObject" href="pathmap://PLATFORM_RESOURCE/CommManipulatorObjects/model/commObject/CommManipulatorObjects.comm#//@elements.0/CommManipulatorEventParameter"/>
    </elementImport>
    <elementImport xmi:id="_uKyWMN9GEeO9POCZ2k1Wig">
      <importedElement xmi:type="commObj:CommunicationObject" href="pathmap://PLATFORM_RESOURCE/CommManipulatorObjects/model/commObject/CommManipulatorObjects.comm#//@elements.0/CommManipulatorEventResult"/>
    </elementImport>
    <elementImport xmi:id="_YEILoN9HEeO9POCZ2k1Wig">
      <importedElement xmi:type="commObj:CommunicationObject" href="pathmap://PLATFORM_RESOURCE/CommBasicObjects/model/commObject/CommBasicObjects.comm#//@elements.0/CommVoid"/>
    </elementImport>
    <elementImport xmi:id="_b55jUN9HEeO9POCZ2k1Wig">
      <importedElement xmi:type="commObj:CommunicationObject" href="pathmap://PLATFORM_RESOURCE/CommVisionObjects/model/commObject/CommVisionObjects.comm#//@elements.0/CommVideoImage"/>
    </elementImport>
    <packagedElement xmi:type="uml:Component" xmi:id="_6_t2sN9FEeO9POCZ2k1Wig" name="SmartURTestClient">
      <ownedComment xmi:id="_8cI78N9GEeO9POCZ2k1Wig">
        <body></body>
      </ownedComment>
      <ownedAttribute xmi:type="uml:Port" xmi:id="_DLlr8N9GEeO9POCZ2k1Wig" name="manipulatorTrajectorySendClient" visibility="public" aggregation="composite">
        <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_ENIogN9GEeO9POCZ2k1Wig" value="1"/>
        <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_ENJPkN9GEeO9POCZ2k1Wig" value="1"/>
        <defaultValue xmi:type="uml:LiteralString" xmi:id="_ENJ2oN9GEeO9POCZ2k1Wig">
          <value xsi:nil="true"/>
        </defaultValue>
      </ownedAttribute>
      <ownedAttribute xmi:type="uml:Port" xmi:id="_TMrJ8N9GEeO9POCZ2k1Wig" name="manipulatorPosePushTimedClient" visibility="public" aggregation="composite">
        <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_TXGRQN9GEeO9POCZ2k1Wig" value="1"/>
        <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_TXG4UN9GEeO9POCZ2k1Wig" value="1"/>
        <defaultValue xmi:type="uml:LiteralString" xmi:id="_TXHfYN9GEeO9POCZ2k1Wig">
          <value xsi:nil="true"/>
        </defaultValue>
      </ownedAttribute>
      <ownedAttribute xmi:type="uml:Port" xmi:id="_ge0VcN9GEeO9POCZ2k1Wig" name="manipulatorStateSlave" visibility="public" aggregation="composite">
        <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_gpLLUN9GEeO9POCZ2k1Wig" value="1"/>
        <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_gpLyYN9GEeO9POCZ2k1Wig" value="1"/>
        <defaultValue xmi:type="uml:LiteralString" xmi:id="_gpMZcN9GEeO9POCZ2k1Wig">
          <value xsi:nil="true"/>
        </defaultValue>
      </ownedAttribute>
      <ownedAttribute xmi:type="uml:Port" xmi:id="_lfQJcN9GEeO9POCZ2k1Wig" name="manipulatorEventClient" visibility="public" aggregation="composite">
        <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_lnDakN9GEeO9POCZ2k1Wig" value="1"/>
        <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_lnEBoN9GEeO9POCZ2k1Wig" value="1"/>
        <defaultValue xmi:type="uml:LiteralString" xmi:id="_lnEosN9GEeO9POCZ2k1Wig">
          <value xsi:nil="true"/>
        </defaultValue>
      </ownedAttribute>
      <ownedAttribute xmi:type="uml:Port" xmi:id="_1cN8cN9GEeO9POCZ2k1Wig" name="manipulatorParamSlave" visibility="public" aggregation="composite">
        <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_25cvcN9GEeO9POCZ2k1Wig" value="1"/>
        <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_25dWgN9GEeO9POCZ2k1Wig" value="1"/>
        <defaultValue xmi:type="uml:LiteralString" xmi:id="_25d9kN9GEeO9POCZ2k1Wig">
          <value xsi:nil="true"/>
        </defaultValue>
      </ownedAttribute>
      <ownedAttribute xmi:type="uml:Port" xmi:id="_DfH2gN9HEeO9POCZ2k1Wig" name="imageQueryClient" visibility="public" aggregation="composite">
        <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_DvKdoN9HEeO9POCZ2k1Wig" value="1"/>
        <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_DvKdod9HEeO9POCZ2k1Wig" value="1"/>
        <defaultValue xmi:type="uml:LiteralString" xmi:id="_DvLEsN9HEeO9POCZ2k1Wig">
          <value xsi:nil="true"/>
        </defaultValue>
      </ownedAttribute>
      <nestedClassifier xmi:type="uml:Class" xmi:id="_9BKKAN9FEeO9POCZ2k1Wig" name="TestTask"/>
      <nestedClassifier xmi:type="uml:InformationItem" xmi:id="_tTWicN9HEeO9POCZ2k1Wig" name="SmartComponentMetadata1" isAbstract="true"/>
    </packagedElement>
    <profileApplication xmi:id="_6_plQN9FEeO9POCZ2k1Wig">
      <eAnnotations xmi:id="_6_sBgN9FEeO9POCZ2k1Wig" source="http://www.eclipse.org/uml2/2.0.0/UML">
        <references xmi:type="ecore:EPackage" href="pathmap://SMARTMARSPROFILE/SmartMars.profile.uml#_aAgIYF6hEeS8WYUlWdOgVg"/>
      </eAnnotations>
      <appliedProfile href="pathmap://SMARTMARSPROFILE/SmartMars.profile.uml#_NEWX8L4LEeKqqbDuwbBkFg"/>
    </profileApplication>
  </uml:Model>
  <profile:SmartTask xmi:id="_9L_hAN9FEeO9POCZ2k1Wig" base_Class="_9BKKAN9FEeO9POCZ2k1Wig"/>
  <profile:SmartSendClient xmi:id="_DL4m4N9GEeO9POCZ2k1Wig" base_Port="_DLlr8N9GEeO9POCZ2k1Wig" serverName="SmartURServer" serviceName="performTrajectory">
    <commObject xmi:type="commObj:CommunicationObject" href="pathmap://PLATFORM_RESOURCE/CommManipulatorObjects/model/commObject/CommManipulatorObjects.comm#//@elements.0/CommManipulatorTrajectory"/>
  </profile:SmartSendClient>
  <profile:SmartPushTimedClient xmi:id="_TM0T4N9GEeO9POCZ2k1Wig" base_Port="_TMrJ8N9GEeO9POCZ2k1Wig" serverName="SmartURServer" serviceName="manipulatorState">
    <commObject xmi:type="commObj:CommunicationObject" href="pathmap://PLATFORM_RESOURCE/CommManipulatorObjects/model/commObject/CommManipulatorObjects.comm#//@elements.0/CommMobileManipulatorState"/>
  </profile:SmartPushTimedClient>
  <profile:SmartStateSlave xmi:id="_ge9fYN9GEeO9POCZ2k1Wig" base_Port="_ge0VcN9GEeO9POCZ2k1Wig"/>
  <profile:SmartEventClient xmi:id="_lfZTYN9GEeO9POCZ2k1Wig" base_Port="_lfQJcN9GEeO9POCZ2k1Wig" serverName="SmartURServer" serviceName="eventServer">
    <eventParameter xmi:type="commObj:CommunicationObject" href="pathmap://PLATFORM_RESOURCE/CommManipulatorObjects/model/commObject/CommManipulatorObjects.comm#//@elements.0/CommManipulatorEventParameter"/>
    <eventResult xmi:type="commObj:CommunicationObject" href="pathmap://PLATFORM_RESOURCE/CommManipulatorObjects/model/commObject/CommManipulatorObjects.comm#//@elements.0/CommManipulatorEventResult"/>
  </profile:SmartEventClient>
  <profile:SmartParameterSlave xmi:id="_1cXGYN9GEeO9POCZ2k1Wig" base_Port="_1cN8cN9GEeO9POCZ2k1Wig"/>
  <profile:SmartComponentParameter xmi:id="_8coEIN9GEeO9POCZ2k1Wig" base_Comment="_8cI78N9GEeO9POCZ2k1Wig" parameterDefinition="// use ImportUri to import parameter definitions from CommObj repository&#xA;ImportUri &quot;platform:/resource/CommManipulatorObjects/model/parameter/CommManipulatorObjects.pardef&quot;&#xA;&#xA;Component SmartURTestClient {&#xA;&#x9;InternalParam general{&#xA;&#x9;&#x9;show_arm_chain: Boolean = false&#xA;&#x9;&#x9;show_kinect_chain: Boolean = false&#xA;&#x9;&#x9;show_arm_image_pose: Boolean = false&#xA;&#x9;}&#xA;}&#xA;"/>
  <profile:SmartQueryClient xmi:id="_DfRngN9HEeO9POCZ2k1Wig" base_Port="_DfH2gN9HEeO9POCZ2k1Wig" serverName="SmartIDSuEyeImageServer" wireable="false" serviceName="imageQuery">
    <commRequestObject xmi:type="commObj:CommunicationObject" href="pathmap://PLATFORM_RESOURCE/CommBasicObjects/model/commObject/CommBasicObjects.comm#//@elements.0/CommVoid"/>
    <commAnswerObject xmi:type="commObj:CommunicationObject" href="pathmap://PLATFORM_RESOURCE/CommVisionObjects/model/commObject/CommVisionObjects.comm#//@elements.0/CommVideoImage"/>
  </profile:SmartQueryClient>
  <profile:SmartComponentMetadata xmi:id="_tTfFUN9HEeO9POCZ2k1Wig" base_InformationItem="_tTWicN9HEeO9POCZ2k1Wig"/>
</xmi:XMI>
