Shadow Robot Manipulation

Merge lp:~guihome/sr-manipulation/manip-electric_corr2_cleaned into lp:sr-manipulation

  1. manip-electric_corr2_cleaned
  2. Merge into trunk
Proposed by Guillaume W.
Status: Merged
Merged at revision: 312
Proposed branch: lp:~guihome/sr-manipulation/manip-electric_corr2_cleaned
Merge into: lp:sr-manipulation
Diff against target: 31372 lines (+29785/-787)
81 files modified
.bzrignore (+7/-0)
database/Copy_wine_grasp_to_coke.sql (+9/-2)
database/full_db_backup (+0/-12)
database/household_objects_electric_reworked.dia (+6010/-0)
database/useful_queries.sql (+9/-0)
doc/where_are_things (+2/-0)
rviz_config/full_rviz_config.vcg (+307/-148)
rviz_config/rename_display_config (+567/-0)
shadow_arm_navigation/CMakeLists.txt (+30/-0)
shadow_arm_navigation/Makefile (+1/-0)
shadow_arm_navigation/config/joint_limits.yaml (+43/-0)
shadow_arm_navigation/config/ompl_planning.yaml (+51/-0)
shadow_arm_navigation/config/planning_components_visualizer.vcg (+55/-0)
shadow_arm_navigation/config/planning_scene_warehouse_viewer.vcg (+62/-0)
shadow_arm_navigation/config/shadow_planning_description.yaml (+1456/-0)
shadow_arm_navigation/launch/constraint_aware_kinematics.launch (+10/-0)
shadow_arm_navigation/launch/move_groups.launch (+3/-0)
shadow_arm_navigation/launch/move_right_arm.launch (+8/-0)
shadow_arm_navigation/launch/ompl_planning.launch (+8/-0)
shadow_arm_navigation/launch/planning_components_visualizer.launch (+14/-0)
shadow_arm_navigation/launch/planning_scene_warehouse_viewer_shadow.launch (+77/-0)
shadow_arm_navigation/launch/shadow_arm_navigation.launch (+11/-0)
shadow_arm_navigation/launch/shadow_planning_environment.launch (+10/-0)
shadow_arm_navigation/launch/trajectory_filter_server.launch (+10/-0)
shadow_arm_navigation/mainpage.dox (+26/-0)
shadow_arm_navigation/manifest.xml (+20/-0)
shadow_arm_navigation/pcl_one_point_fake_data.txt (+38/-0)
sr_gui_manipulation/CMakeLists.txt (+30/-0)
sr_gui_manipulation/Makefile (+1/-0)
sr_gui_manipulation/config/positions.yaml (+16/-0)
sr_gui_manipulation/lib/SrGuiManipulation.py (+657/-0)
sr_gui_manipulation/mainpage.dox (+26/-0)
sr_gui_manipulation/manifest.xml (+32/-0)
sr_gui_manipulation/sr_gui_manipulation.xml (+13/-0)
sr_gui_manipulation/ui/SrGuiManipulation.ui (+124/-0)
sr_object_manipulation_launch/config/arms_chomp_config.yaml (+0/-2)
sr_object_manipulation_launch/config/collision_map_sources.yaml (+2/-2)
sr_object_manipulation_launch/config/environment_server_padding.yaml (+3/-3)
sr_object_manipulation_launch/config/gazebo_tactile_thresholds.yaml (+19/-0)
sr_object_manipulation_launch/config/hand_description.yaml (+4/-3)
sr_object_manipulation_launch/config/household_object_server.yaml (+2/-2)
sr_object_manipulation_launch/config/joint_limits.yaml (+0/-37)
sr_object_manipulation_launch/config/kdl_sr_arm_kinematics.yaml (+0/-5)
sr_object_manipulation_launch/config/multi_dof_joints.yaml (+0/-5)
sr_object_manipulation_launch/config/planning_groups.yaml (+0/-69)
sr_object_manipulation_launch/config/right_arm_ik_start_angles.yaml (+2/-2)
sr_object_manipulation_launch/config/robot_padding.yaml (+2/-2)
sr_object_manipulation_launch/config/self_filter.yaml (+33/-35)
sr_object_manipulation_launch/config/tactile_thresholds.yaml (+19/-0)
sr_object_manipulation_launch/launch/arm_and_hand_motor.launch (+79/-0)
sr_object_manipulation_launch/launch/collision_map.launch (+23/-44)
sr_object_manipulation_launch/launch/filters.launch (+1/-0)
sr_object_manipulation_launch/launch/household_object.launch (+1/-1)
sr_object_manipulation_launch/launch/kinect_setup.launch (+8/-0)
sr_object_manipulation_launch/launch/kinect_static_transform.launch (+12/-0)
sr_object_manipulation_launch/launch/manipulator.launch (+21/-100)
sr_object_manipulation_launch/launch/point_cloud_filter.launch (+12/-12)
sr_object_manipulation_launch/launch/self_filter.launch (+10/-27)
sr_object_manipulation_launch/launch/sr_arm_motor_finger_ik.launch (+0/-244)
sr_object_manipulation_launch/launch/sr_object_manipulation.launch (+39/-12)
sr_object_manipulation_launch/launch/static_transform.launch (+6/-3)
sr_object_manipulation_launch/launch/tabletop_node.launch (+11/-10)
sr_object_manipulation_launch/machines/dataprocessing.machine (+3/-2)
sr_object_manipulation_launch/machines/household_database.machine (+1/-1)
sr_object_manipulation_launch/machines/threedsensor.machine (+2/-2)
sr_worlds/CMakeLists.txt (+30/-0)
sr_worlds/Makefile (+1/-0)
sr_worlds/launch/calib_pattern.launch (+7/-0)
sr_worlds/launch/can.launch (+11/-0)
sr_worlds/launch/cube.launch (+11/-0)
sr_worlds/mainpage.dox (+26/-0)
sr_worlds/manifest.xml (+17/-0)
sr_worlds/meshes/calib_pattern.dae (+205/-0)
sr_worlds/meshes/can.dae (+125/-0)
sr_worlds/meshes/can.material (+23/-0)
sr_worlds/meshes/can.mesh.xml (+18838/-0)
sr_worlds/meshes/cube.mesh.xml (+120/-0)
sr_worlds/objects/calib_pattern.urdf (+35/-0)
sr_worlds/objects/can.urdf (+40/-0)
sr_worlds/objects/cube.urdf (+35/-0)
sr_worlds/objects/table.urdf.xacro (+203/-0)
To merge this branch: bzr merge lp:~guihome/sr-manipulation/manip-electric_corr2_cleaned
Reviewer Review Type Date Requested Status
Ugo Approve
Review via email: mp+121557@code.launchpad.net

Description of the change

Code is now adapted for electric and latest branch of sr-ros-interface (385)
Has been tested in real and simulation. Can perform pick (grasp) in real, fails a bit in simulation on slow machines. Cannot perform place. Only works on a coke can. Requires latest database with coke can grasp inside.

See logs for more detail on improvements.

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Revision history for this message
Ugo (ugocupcic) wrote :

* sr_object_manipulation_launch/config/household_object_server.yaml
   point defaults to public server? I have a database publicly available on my home server but it's small / not maintained and could get broken if people starts to do crazy things.

* shadow_arm_navigation/launch/shadow_planning_environment.launch
  should we create a loader for arm and hand in sr_description? would be used for gazebo as well, and for sr_object_manipulation_launch/launch/arm_and_hand_motor.launch

* sr_gui_manipulation/manifest.xml
   why did you add rosgui_roscpp dep?

Revision history for this message
Ugo (ugocupcic) :
review: Approve

Preview Diff

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1=== added file '.bzrignore'
2--- .bzrignore 1970-01-01 00:00:00 +0000
3+++ .bzrignore 2012-08-28 08:16:26 +0000
4@@ -0,0 +1,7 @@
5+*.swp
6+**/build
7+sr_object_manipulation_launch/bin
8+sr_object_manipulation_launch/build
9+sr_object_manipulation_smach/bin
10+sr_object_manipulation_smach/build
11+shadow_arm_navigation/bin
12
13=== modified file 'database/Copy_wine_grasp_to_coke.sql'
14--- database/Copy_wine_grasp_to_coke.sql 2011-02-07 16:13:12 +0000
15+++ database/Copy_wine_grasp_to_coke.sql 2012-08-28 08:16:26 +0000
16@@ -3,8 +3,7 @@
17 select 1170000,18744,grasp_pregrasp_joints,grasp_grasp_joints,grasp_energy,grasp_pregrasp_position,grasp_grasp_position,grasp_source_id,grasp_pregrasp_clearance,grasp_cluster_rep,hand_name,grasp_table_clearance
18 from grasp where grasp_id=1129853;
19
20-
21-update grasp
22+update grasp
23 set grasp_pregrasp_joints='{0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}',
24 grasp_grasp_joints='{-25,78,40,0,78,40,0,74,40,0,-25,71,40,-14,70,0,19,27}'
25 where grasp_id=1170000
26@@ -15,3 +14,11 @@
27 set grasp_grasp_position='{0.0,0.05,0.17,0.7071067811865476,0.7071067811865476,0.0,0.0}'
28 where grasp_id=1170000
29
30+update grasp
31+set grasp_cluster_rep=true
32+where grasp_id=1170000
33+
34+
35+update grasp
36+set grasp_energy=1
37+where grasp_id=1170000
38
39=== removed file 'database/full_db_backup'
40--- database/full_db_backup 2011-03-22 12:25:54 +0000
41+++ database/full_db_backup 1970-01-01 00:00:00 +0000
42@@ -1,12 +0,0 @@
43---
44--- PostgreSQL database cluster dump
45---
46-
47--- Started on 2011-03-21 13:22:23 GMT
48-
49-\connect postgres
50-
51-SET client_encoding = 'UTF8';
52-SET standard_conforming_strings = off;
53-SET escape_string_warning = off;
54-
55
56=== removed file 'database/household_backup.backup'
57Binary files database/household_backup.backup 2011-01-18 11:58:21 +0000 and database/household_backup.backup 1970-01-01 00:00:00 +0000 differ
58=== removed file 'database/household_backup_21_march_2011.backup'
59Binary files database/household_backup_21_march_2011.backup 2011-03-22 12:25:54 +0000 and database/household_backup_21_march_2011.backup 1970-01-01 00:00:00 +0000 differ
60=== added file 'database/household_electric.backup'
61Binary files database/household_electric.backup 1970-01-01 00:00:00 +0000 and database/household_electric.backup 2012-08-28 08:16:26 +0000 differ
62=== added file 'database/household_objects_electric_reworked.dia'
63--- database/household_objects_electric_reworked.dia 1970-01-01 00:00:00 +0000
64+++ database/household_objects_electric_reworked.dia 2012-08-28 08:16:26 +0000
65@@ -0,0 +1,6010 @@
66+<?xml version="1.0" encoding="UTF-8"?>
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240+ <dia:attribute name="attributes">
241+ <dia:composite type="umlattribute">
242+ <dia:attribute name="name">
243+ <dia:string># acquisition_method_name#</dia:string>
244+ </dia:attribute>
245+ <dia:attribute name="type">
246+ <dia:string>#text#</dia:string>
247+ </dia:attribute>
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284+ <dia:attribute name="elem_height">
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292+ </dia:attribute>
293+ <dia:attribute name="comment">
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379+ <dia:attribute name="type">
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381+ </dia:attribute>
382+ <dia:attribute name="value">
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465+ </dia:attribute>
466+ </dia:composite>
467+ <dia:composite type="umlattribute">
468+ <dia:attribute name="name">
469+ <dia:string># robot_geometry_hash#</dia:string>
470+ </dia:attribute>
471+ <dia:attribute name="type">
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473+ </dia:attribute>
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488+ </dia:attribute>
489+ </dia:composite>
490+ <dia:composite type="umlattribute">
491+ <dia:attribute name="name">
492+ <dia:string># hand_object_coefficient_of_friction#</dia:string>
493+ </dia:attribute>
494+ <dia:attribute name="type">
495+ <dia:string>#double precision#</dia:string>
496+ </dia:attribute>
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511+ </dia:attribute>
512+ </dia:composite>
513+ <dia:composite type="umlattribute">
514+ <dia:attribute name="name">
515+ <dia:string># pushing_distance#</dia:string>
516+ </dia:attribute>
517+ <dia:attribute name="type">
518+ <dia:string>#double precision#</dia:string>
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520+ <dia:attribute name="value">
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534+ </dia:attribute>
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536+ <dia:composite type="umlattribute">
537+ <dia:attribute name="name">
538+ <dia:string># in_hand_distance#</dia:string>
539+ </dia:attribute>
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541+ <dia:string>#double precision#</dia:string>
542+ </dia:attribute>
543+ <dia:attribute name="value">
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557+ </dia:attribute>
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559+ <dia:composite type="umlattribute">
560+ <dia:attribute name="name">
561+ <dia:string># y_resolution#</dia:string>
562+ </dia:attribute>
563+ <dia:attribute name="type">
564+ <dia:string>#double precision#</dia:string>
565+ </dia:attribute>
566+ <dia:attribute name="value">
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568+ </dia:attribute>
569+ <dia:attribute name="comment">
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584+ <dia:string># start_y_offset#</dia:string>
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588+ </dia:attribute>
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607+ <dia:string># n_y_steps#</dia:string>
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611+ </dia:attribute>
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626+ </dia:attribute>
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629+ <dia:attribute name="name">
630+ <dia:string># rotation_resolution#</dia:string>
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633+ <dia:string>#double precision#</dia:string>
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652+ <dia:attribute name="name">
653+ <dia:string># n_rotations#</dia:string>
654+ </dia:attribute>
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656+ <dia:string>#integer#</dia:string>
657+ </dia:attribute>
658+ <dia:attribute name="value">
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675+ <dia:attribute name="name">
676+ <dia:string># radius_of_cylinder_bounding_the_object#</dia:string>
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678+ <dia:attribute name="type">
679+ <dia:string>#double precision#</dia:string>
680+ </dia:attribute>
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698+ <dia:attribute name="name">
699+ <dia:string># capture_region_computation_frame_in_object_frame#</dia:string>
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702+ <dia:string>#double precision[]#</dia:string>
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719+ </dia:composite>
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721+ <dia:attribute name="name">
722+ <dia:string># fingertip_frame_to_pushing_surface_distance#</dia:string>
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724+ <dia:attribute name="type">
725+ <dia:string>#double precision#</dia:string>
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741+ </dia:attribute>
742+ </dia:composite>
743+ <dia:composite type="umlattribute">
744+ <dia:attribute name="name">
745+ <dia:string># finger_padding#</dia:string>
746+ </dia:attribute>
747+ <dia:attribute name="type">
748+ <dia:string>#double precision#</dia:string>
749+ </dia:attribute>
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764+ </dia:attribute>
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766+ <dia:composite type="umlattribute">
767+ <dia:attribute name="name">
768+ <dia:string># left_pushing_distances#</dia:string>
769+ </dia:attribute>
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788+ </dia:composite>
789+ <dia:composite type="umlattribute">
790+ <dia:attribute name="name">
791+ <dia:string># right_pushing_distances#</dia:string>
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793+ <dia:attribute name="type">
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811+ </dia:composite>
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867+ <dia:point val="-5,-55"/>
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869+ <dia:attribute name="obj_bb">
870+ <dia:rectangle val="-5.05,-55.05;16.725,-48.95"/>
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878+ <dia:attribute name="elem_height">
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880+ </dia:attribute>
881+ <dia:attribute name="name">
882+ <dia:string>#dbase_task#</dia:string>
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884+ <dia:attribute name="stereotype">
885+ <dia:string>##</dia:string>
886+ </dia:attribute>
887+ <dia:attribute name="comment">
888+ <dia:string>#This is the new infrastructure for ... able.#</dia:string>
889+ </dia:attribute>
890+ <dia:attribute name="abstract">
891+ <dia:boolean val="false"/>
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932+ <dia:attribute name="normal_font">
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934+ </dia:attribute>
935+ <dia:attribute name="abstract_font">
936+ <dia:font family="monospace" style="88" name="Courier-BoldOblique"/>
937+ </dia:attribute>
938+ <dia:attribute name="polymorphic_font">
939+ <dia:font family="monospace" style="8" name="Courier-Oblique"/>
940+ </dia:attribute>
941+ <dia:attribute name="classname_font">
942+ <dia:font family="sans" style="80" name="Helvetica-Bold"/>
943+ </dia:attribute>
944+ <dia:attribute name="abstract_classname_font">
945+ <dia:font family="sans" style="88" name="Helvetica-BoldOblique"/>
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947+ <dia:attribute name="comment_font">
948+ <dia:font family="sans" style="8" name="Helvetica-Oblique"/>
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954+ <dia:real val="0.80000000000000004"/>
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974+ <dia:string>#integer#</dia:string>
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976+ <dia:attribute name="value">
977+ <dia:string>#nextval('task_id_ ... lass)#</dia:string>
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1050+ <dia:rectangle val="-21.05,-44.05;-11.21,-41.55"/>
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1064+ <dia:attribute name="stereotype">
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1066+ </dia:attribute>
1067+ <dia:attribute name="comment">
1068+ <dia:string>##</dia:string>
1069+ </dia:attribute>
1070+ <dia:attribute name="abstract">
1071+ <dia:boolean val="false"/>
1072+ </dia:attribute>
1073+ <dia:attribute name="suppress_attributes">
1074+ <dia:boolean val="false"/>
1075+ </dia:attribute>
1076+ <dia:attribute name="suppress_operations">
1077+ <dia:boolean val="false"/>
1078+ </dia:attribute>
1079+ <dia:attribute name="visible_attributes">
1080+ <dia:boolean val="true"/>
1081+ </dia:attribute>
1082+ <dia:attribute name="visible_operations">
1083+ <dia:boolean val="false"/>
1084+ </dia:attribute>
1085+ <dia:attribute name="visible_comments">
1086+ <dia:boolean val="true"/>
1087+ </dia:attribute>
1088+ <dia:attribute name="wrap_operations">
1089+ <dia:boolean val="false"/>
1090+ </dia:attribute>
1091+ <dia:attribute name="wrap_after_char">
1092+ <dia:int val="40"/>
1093+ </dia:attribute>
1094+ <dia:attribute name="comment_line_length">
1095+ <dia:int val="40"/>
1096+ </dia:attribute>
1097+ <dia:attribute name="comment_tagging">
1098+ <dia:boolean val="false"/>
1099+ </dia:attribute>
1100+ <dia:attribute name="line_width">
1101+ <dia:real val="0.10000000000000001"/>
1102+ </dia:attribute>
1103+ <dia:attribute name="line_color">
1104+ <dia:color val="#000000"/>
1105+ </dia:attribute>
1106+ <dia:attribute name="fill_color">
1107+ <dia:color val="#ffffff"/>
1108+ </dia:attribute>
1109+ <dia:attribute name="text_color">
1110+ <dia:color val="#000000"/>
1111+ </dia:attribute>
1112+ <dia:attribute name="normal_font">
1113+ <dia:font family="monospace" style="0" name="Courier"/>
1114+ </dia:attribute>
1115+ <dia:attribute name="abstract_font">
1116+ <dia:font family="monospace" style="88" name="Courier-BoldOblique"/>
1117+ </dia:attribute>
1118+ <dia:attribute name="polymorphic_font">
1119+ <dia:font family="monospace" style="8" name="Courier-Oblique"/>
1120+ </dia:attribute>
1121+ <dia:attribute name="classname_font">
1122+ <dia:font family="sans" style="80" name="Helvetica-Bold"/>
1123+ </dia:attribute>
1124+ <dia:attribute name="abstract_classname_font">
1125+ <dia:font family="sans" style="88" name="Helvetica-BoldOblique"/>
1126+ </dia:attribute>
1127+ <dia:attribute name="comment_font">
1128+ <dia:font family="sans" style="8" name="Helvetica-Oblique"/>
1129+ </dia:attribute>
1130+ <dia:attribute name="normal_font_height">
1131+ <dia:real val="0.80000000000000004"/>
1132+ </dia:attribute>
1133+ <dia:attribute name="polymorphic_font_height">
1134+ <dia:real val="0.80000000000000004"/>
1135+ </dia:attribute>
1136+ <dia:attribute name="abstract_font_height">
1137+ <dia:real val="0.80000000000000004"/>
1138+ </dia:attribute>
1139+ <dia:attribute name="classname_font_height">
1140+ <dia:real val="1"/>
1141+ </dia:attribute>
1142+ <dia:attribute name="abstract_classname_font_height">
1143+ <dia:real val="1"/>
1144+ </dia:attribute>
1145+ <dia:attribute name="comment_font_height">
1146+ <dia:real val="1"/>
1147+ </dia:attribute>
1148+ <dia:attribute name="attributes">
1149+ <dia:composite type="umlattribute">
1150+ <dia:attribute name="name">
1151+ <dia:string># dbase_task_type#</dia:string>
1152+ </dia:attribute>
1153+ <dia:attribute name="type">
1154+ <dia:string>#text#</dia:string>
1155+ </dia:attribute>
1156+ <dia:attribute name="value">
1157+ <dia:string>##</dia:string>
1158+ </dia:attribute>
1159+ <dia:attribute name="comment">
1160+ <dia:string>##</dia:string>
1161+ </dia:attribute>
1162+ <dia:attribute name="visibility">
1163+ <dia:enum val="3"/>
1164+ </dia:attribute>
1165+ <dia:attribute name="abstract">
1166+ <dia:boolean val="false"/>
1167+ </dia:attribute>
1168+ <dia:attribute name="class_scope">
1169+ <dia:boolean val="false"/>
1170+ </dia:attribute>
1171+ </dia:composite>
1172+ </dia:attribute>
1173+ <dia:attribute name="operations"/>
1174+ <dia:attribute name="template">
1175+ <dia:boolean val="false"/>
1176+ </dia:attribute>
1177+ <dia:attribute name="templates"/>
1178+ </dia:object>
1179+ <dia:object type="UML - Class" version="0" id="O4">
1180+ <dia:attribute name="obj_pos">
1181+ <dia:point val="28,5"/>
1182+ </dia:attribute>
1183+ <dia:attribute name="obj_bb">
1184+ <dia:rectangle val="27.95,4.95;48.185,10.25"/>
1185+ </dia:attribute>
1186+ <dia:attribute name="elem_corner">
1187+ <dia:point val="28,5"/>
1188+ </dia:attribute>
1189+ <dia:attribute name="elem_width">
1190+ <dia:real val="20.134999999999998"/>
1191+ </dia:attribute>
1192+ <dia:attribute name="elem_height">
1193+ <dia:real val="5.2000000000000002"/>
1194+ </dia:attribute>
1195+ <dia:attribute name="name">
1196+ <dia:string>#energy_functions#</dia:string>
1197+ </dia:attribute>
1198+ <dia:attribute name="stereotype">
1199+ <dia:string>##</dia:string>
1200+ </dia:attribute>
1201+ <dia:attribute name="comment">
1202+ <dia:string>#Stores human-readable names of the ... n use#</dia:string>
1203+ </dia:attribute>
1204+ <dia:attribute name="abstract">
1205+ <dia:boolean val="false"/>
1206+ </dia:attribute>
1207+ <dia:attribute name="suppress_attributes">
1208+ <dia:boolean val="false"/>
1209+ </dia:attribute>
1210+ <dia:attribute name="suppress_operations">
1211+ <dia:boolean val="false"/>
1212+ </dia:attribute>
1213+ <dia:attribute name="visible_attributes">
1214+ <dia:boolean val="true"/>
1215+ </dia:attribute>
1216+ <dia:attribute name="visible_operations">
1217+ <dia:boolean val="false"/>
1218+ </dia:attribute>
1219+ <dia:attribute name="visible_comments">
1220+ <dia:boolean val="true"/>
1221+ </dia:attribute>
1222+ <dia:attribute name="wrap_operations">
1223+ <dia:boolean val="false"/>
1224+ </dia:attribute>
1225+ <dia:attribute name="wrap_after_char">
1226+ <dia:int val="40"/>
1227+ </dia:attribute>
1228+ <dia:attribute name="comment_line_length">
1229+ <dia:int val="40"/>
1230+ </dia:attribute>
1231+ <dia:attribute name="comment_tagging">
1232+ <dia:boolean val="false"/>
1233+ </dia:attribute>
1234+ <dia:attribute name="line_width">
1235+ <dia:real val="0.10000000000000001"/>
1236+ </dia:attribute>
1237+ <dia:attribute name="line_color">
1238+ <dia:color val="#000000"/>
1239+ </dia:attribute>
1240+ <dia:attribute name="fill_color">
1241+ <dia:color val="#ffffff"/>
1242+ </dia:attribute>
1243+ <dia:attribute name="text_color">
1244+ <dia:color val="#000000"/>
1245+ </dia:attribute>
1246+ <dia:attribute name="normal_font">
1247+ <dia:font family="monospace" style="0" name="Courier"/>
1248+ </dia:attribute>
1249+ <dia:attribute name="abstract_font">
1250+ <dia:font family="monospace" style="88" name="Courier-BoldOblique"/>
1251+ </dia:attribute>
1252+ <dia:attribute name="polymorphic_font">
1253+ <dia:font family="monospace" style="8" name="Courier-Oblique"/>
1254+ </dia:attribute>
1255+ <dia:attribute name="classname_font">
1256+ <dia:font family="sans" style="80" name="Helvetica-Bold"/>
1257+ </dia:attribute>
1258+ <dia:attribute name="abstract_classname_font">
1259+ <dia:font family="sans" style="88" name="Helvetica-BoldOblique"/>
1260+ </dia:attribute>
1261+ <dia:attribute name="comment_font">
1262+ <dia:font family="sans" style="8" name="Helvetica-Oblique"/>
1263+ </dia:attribute>
1264+ <dia:attribute name="normal_font_height">
1265+ <dia:real val="0.80000000000000004"/>
1266+ </dia:attribute>
1267+ <dia:attribute name="polymorphic_font_height">
1268+ <dia:real val="0.80000000000000004"/>
1269+ </dia:attribute>
1270+ <dia:attribute name="abstract_font_height">
1271+ <dia:real val="0.80000000000000004"/>
1272+ </dia:attribute>
1273+ <dia:attribute name="classname_font_height">
1274+ <dia:real val="1"/>
1275+ </dia:attribute>
1276+ <dia:attribute name="abstract_classname_font_height">
1277+ <dia:real val="1"/>
1278+ </dia:attribute>
1279+ <dia:attribute name="comment_font_height">
1280+ <dia:real val="1"/>
1281+ </dia:attribute>
1282+ <dia:attribute name="attributes">
1283+ <dia:composite type="umlattribute">
1284+ <dia:attribute name="name">
1285+ <dia:string># energy_id#</dia:string>
1286+ </dia:attribute>
1287+ <dia:attribute name="type">
1288+ <dia:string>#integer#</dia:string>
1289+ </dia:attribute>
1290+ <dia:attribute name="value">
1291+ <dia:string>#nextval('energy_f ... lass)#</dia:string>
1292+ </dia:attribute>
1293+ <dia:attribute name="comment">
1294+ <dia:string>##</dia:string>
1295+ </dia:attribute>
1296+ <dia:attribute name="visibility">
1297+ <dia:enum val="3"/>
1298+ </dia:attribute>
1299+ <dia:attribute name="abstract">
1300+ <dia:boolean val="false"/>
1301+ </dia:attribute>
1302+ <dia:attribute name="class_scope">
1303+ <dia:boolean val="false"/>
1304+ </dia:attribute>
1305+ </dia:composite>
1306+ <dia:composite type="umlattribute">
1307+ <dia:attribute name="name">
1308+ <dia:string># energy_name#</dia:string>
1309+ </dia:attribute>
1310+ <dia:attribute name="type">
1311+ <dia:string>#text#</dia:string>
1312+ </dia:attribute>
1313+ <dia:attribute name="value">
1314+ <dia:string>##</dia:string>
1315+ </dia:attribute>
1316+ <dia:attribute name="comment">
1317+ <dia:string>##</dia:string>
1318+ </dia:attribute>
1319+ <dia:attribute name="visibility">
1320+ <dia:enum val="3"/>
1321+ </dia:attribute>
1322+ <dia:attribute name="abstract">
1323+ <dia:boolean val="false"/>
1324+ </dia:attribute>
1325+ <dia:attribute name="class_scope">
1326+ <dia:boolean val="false"/>
1327+ </dia:attribute>
1328+ </dia:composite>
1329+ </dia:attribute>
1330+ <dia:attribute name="operations"/>
1331+ <dia:attribute name="template">
1332+ <dia:boolean val="false"/>
1333+ </dia:attribute>
1334+ <dia:attribute name="templates"/>
1335+ </dia:object>
1336+ <dia:object type="UML - Class" version="0" id="O5">
1337+ <dia:attribute name="obj_pos">
1338+ <dia:point val="-25,-26"/>
1339+ </dia:attribute>
1340+ <dia:attribute name="obj_bb">
1341+ <dia:rectangle val="-25.05,-26.05;-3.66,-19.15"/>
1342+ </dia:attribute>
1343+ <dia:attribute name="elem_corner">
1344+ <dia:point val="-25,-26"/>
1345+ </dia:attribute>
1346+ <dia:attribute name="elem_width">
1347+ <dia:real val="21.289999999999999"/>
1348+ </dia:attribute>
1349+ <dia:attribute name="elem_height">
1350+ <dia:real val="6.8000000000000007"/>
1351+ </dia:attribute>
1352+ <dia:attribute name="name">
1353+ <dia:string>#file_path#</dia:string>
1354+ </dia:attribute>
1355+ <dia:attribute name="stereotype">
1356+ <dia:string>##</dia:string>
1357+ </dia:attribute>
1358+ <dia:attribute name="comment">
1359+ <dia:string>#Stores paths to files of various ty ... base.#</dia:string>
1360+ </dia:attribute>
1361+ <dia:attribute name="abstract">
1362+ <dia:boolean val="false"/>
1363+ </dia:attribute>
1364+ <dia:attribute name="suppress_attributes">
1365+ <dia:boolean val="false"/>
1366+ </dia:attribute>
1367+ <dia:attribute name="suppress_operations">
1368+ <dia:boolean val="false"/>
1369+ </dia:attribute>
1370+ <dia:attribute name="visible_attributes">
1371+ <dia:boolean val="true"/>
1372+ </dia:attribute>
1373+ <dia:attribute name="visible_operations">
1374+ <dia:boolean val="false"/>
1375+ </dia:attribute>
1376+ <dia:attribute name="visible_comments">
1377+ <dia:boolean val="true"/>
1378+ </dia:attribute>
1379+ <dia:attribute name="wrap_operations">
1380+ <dia:boolean val="false"/>
1381+ </dia:attribute>
1382+ <dia:attribute name="wrap_after_char">
1383+ <dia:int val="40"/>
1384+ </dia:attribute>
1385+ <dia:attribute name="comment_line_length">
1386+ <dia:int val="40"/>
1387+ </dia:attribute>
1388+ <dia:attribute name="comment_tagging">
1389+ <dia:boolean val="false"/>
1390+ </dia:attribute>
1391+ <dia:attribute name="line_width">
1392+ <dia:real val="0.10000000000000001"/>
1393+ </dia:attribute>
1394+ <dia:attribute name="line_color">
1395+ <dia:color val="#000000"/>
1396+ </dia:attribute>
1397+ <dia:attribute name="fill_color">
1398+ <dia:color val="#ffffff"/>
1399+ </dia:attribute>
1400+ <dia:attribute name="text_color">
1401+ <dia:color val="#000000"/>
1402+ </dia:attribute>
1403+ <dia:attribute name="normal_font">
1404+ <dia:font family="monospace" style="0" name="Courier"/>
1405+ </dia:attribute>
1406+ <dia:attribute name="abstract_font">
1407+ <dia:font family="monospace" style="88" name="Courier-BoldOblique"/>
1408+ </dia:attribute>
1409+ <dia:attribute name="polymorphic_font">
1410+ <dia:font family="monospace" style="8" name="Courier-Oblique"/>
1411+ </dia:attribute>
1412+ <dia:attribute name="classname_font">
1413+ <dia:font family="sans" style="80" name="Helvetica-Bold"/>
1414+ </dia:attribute>
1415+ <dia:attribute name="abstract_classname_font">
1416+ <dia:font family="sans" style="88" name="Helvetica-BoldOblique"/>
1417+ </dia:attribute>
1418+ <dia:attribute name="comment_font">
1419+ <dia:font family="sans" style="8" name="Helvetica-Oblique"/>
1420+ </dia:attribute>
1421+ <dia:attribute name="normal_font_height">
1422+ <dia:real val="0.80000000000000004"/>
1423+ </dia:attribute>
1424+ <dia:attribute name="polymorphic_font_height">
1425+ <dia:real val="0.80000000000000004"/>
1426+ </dia:attribute>
1427+ <dia:attribute name="abstract_font_height">
1428+ <dia:real val="0.80000000000000004"/>
1429+ </dia:attribute>
1430+ <dia:attribute name="classname_font_height">
1431+ <dia:real val="1"/>
1432+ </dia:attribute>
1433+ <dia:attribute name="abstract_classname_font_height">
1434+ <dia:real val="1"/>
1435+ </dia:attribute>
1436+ <dia:attribute name="comment_font_height">
1437+ <dia:real val="1"/>
1438+ </dia:attribute>
1439+ <dia:attribute name="attributes">
1440+ <dia:composite type="umlattribute">
1441+ <dia:attribute name="name">
1442+ <dia:string># original_model_id#</dia:string>
1443+ </dia:attribute>
1444+ <dia:attribute name="type">
1445+ <dia:string>#integer#</dia:string>
1446+ </dia:attribute>
1447+ <dia:attribute name="value">
1448+ <dia:string>##</dia:string>
1449+ </dia:attribute>
1450+ <dia:attribute name="comment">
1451+ <dia:string>##</dia:string>
1452+ </dia:attribute>
1453+ <dia:attribute name="visibility">
1454+ <dia:enum val="3"/>
1455+ </dia:attribute>
1456+ <dia:attribute name="abstract">
1457+ <dia:boolean val="false"/>
1458+ </dia:attribute>
1459+ <dia:attribute name="class_scope">
1460+ <dia:boolean val="false"/>
1461+ </dia:attribute>
1462+ </dia:composite>
1463+ <dia:composite type="umlattribute">
1464+ <dia:attribute name="name">
1465+ <dia:string># file_type#</dia:string>
1466+ </dia:attribute>
1467+ <dia:attribute name="type">
1468+ <dia:string>#text#</dia:string>
1469+ </dia:attribute>
1470+ <dia:attribute name="value">
1471+ <dia:string>##</dia:string>
1472+ </dia:attribute>
1473+ <dia:attribute name="comment">
1474+ <dia:string>##</dia:string>
1475+ </dia:attribute>
1476+ <dia:attribute name="visibility">
1477+ <dia:enum val="3"/>
1478+ </dia:attribute>
1479+ <dia:attribute name="abstract">
1480+ <dia:boolean val="false"/>
1481+ </dia:attribute>
1482+ <dia:attribute name="class_scope">
1483+ <dia:boolean val="false"/>
1484+ </dia:attribute>
1485+ </dia:composite>
1486+ <dia:composite type="umlattribute">
1487+ <dia:attribute name="name">
1488+ <dia:string># file_path_path#</dia:string>
1489+ </dia:attribute>
1490+ <dia:attribute name="type">
1491+ <dia:string>#text#</dia:string>
1492+ </dia:attribute>
1493+ <dia:attribute name="value">
1494+ <dia:string>##</dia:string>
1495+ </dia:attribute>
1496+ <dia:attribute name="comment">
1497+ <dia:string>##</dia:string>
1498+ </dia:attribute>
1499+ <dia:attribute name="visibility">
1500+ <dia:enum val="3"/>
1501+ </dia:attribute>
1502+ <dia:attribute name="abstract">
1503+ <dia:boolean val="false"/>
1504+ </dia:attribute>
1505+ <dia:attribute name="class_scope">
1506+ <dia:boolean val="false"/>
1507+ </dia:attribute>
1508+ </dia:composite>
1509+ <dia:composite type="umlattribute">
1510+ <dia:attribute name="name">
1511+ <dia:string># file_path_id#</dia:string>
1512+ </dia:attribute>
1513+ <dia:attribute name="type">
1514+ <dia:string>#integer#</dia:string>
1515+ </dia:attribute>
1516+ <dia:attribute name="value">
1517+ <dia:string>#nextval('file_pat ... lass)#</dia:string>
1518+ </dia:attribute>
1519+ <dia:attribute name="comment">
1520+ <dia:string>##</dia:string>
1521+ </dia:attribute>
1522+ <dia:attribute name="visibility">
1523+ <dia:enum val="3"/>
1524+ </dia:attribute>
1525+ <dia:attribute name="abstract">
1526+ <dia:boolean val="false"/>
1527+ </dia:attribute>
1528+ <dia:attribute name="class_scope">
1529+ <dia:boolean val="false"/>
1530+ </dia:attribute>
1531+ </dia:composite>
1532+ </dia:attribute>
1533+ <dia:attribute name="operations"/>
1534+ <dia:attribute name="template">
1535+ <dia:boolean val="false"/>
1536+ </dia:attribute>
1537+ <dia:attribute name="templates"/>
1538+ </dia:object>
1539+ <dia:object type="UML - Class" version="0" id="O6">
1540+ <dia:attribute name="obj_pos">
1541+ <dia:point val="-56,-28"/>
1542+ </dia:attribute>
1543+ <dia:attribute name="obj_bb">
1544+ <dia:rectangle val="-56.05,-28.05;-41.14,-23.55"/>
1545+ </dia:attribute>
1546+ <dia:attribute name="elem_corner">
1547+ <dia:point val="-56,-28"/>
1548+ </dia:attribute>
1549+ <dia:attribute name="elem_width">
1550+ <dia:real val="14.809999999999999"/>
1551+ </dia:attribute>
1552+ <dia:attribute name="elem_height">
1553+ <dia:real val="4.4000000000000004"/>
1554+ </dia:attribute>
1555+ <dia:attribute name="name">
1556+ <dia:string>#file_type#</dia:string>
1557+ </dia:attribute>
1558+ <dia:attribute name="stereotype">
1559+ <dia:string>##</dia:string>
1560+ </dia:attribute>
1561+ <dia:attribute name="comment">
1562+ <dia:string>#A table for keeping track of the fi ... base.#</dia:string>
1563+ </dia:attribute>
1564+ <dia:attribute name="abstract">
1565+ <dia:boolean val="false"/>
1566+ </dia:attribute>
1567+ <dia:attribute name="suppress_attributes">
1568+ <dia:boolean val="false"/>
1569+ </dia:attribute>
1570+ <dia:attribute name="suppress_operations">
1571+ <dia:boolean val="false"/>
1572+ </dia:attribute>
1573+ <dia:attribute name="visible_attributes">
1574+ <dia:boolean val="true"/>
1575+ </dia:attribute>
1576+ <dia:attribute name="visible_operations">
1577+ <dia:boolean val="false"/>
1578+ </dia:attribute>
1579+ <dia:attribute name="visible_comments">
1580+ <dia:boolean val="true"/>
1581+ </dia:attribute>
1582+ <dia:attribute name="wrap_operations">
1583+ <dia:boolean val="false"/>
1584+ </dia:attribute>
1585+ <dia:attribute name="wrap_after_char">
1586+ <dia:int val="40"/>
1587+ </dia:attribute>
1588+ <dia:attribute name="comment_line_length">
1589+ <dia:int val="40"/>
1590+ </dia:attribute>
1591+ <dia:attribute name="comment_tagging">
1592+ <dia:boolean val="false"/>
1593+ </dia:attribute>
1594+ <dia:attribute name="line_width">
1595+ <dia:real val="0.10000000000000001"/>
1596+ </dia:attribute>
1597+ <dia:attribute name="line_color">
1598+ <dia:color val="#000000"/>
1599+ </dia:attribute>
1600+ <dia:attribute name="fill_color">
1601+ <dia:color val="#ffffff"/>
1602+ </dia:attribute>
1603+ <dia:attribute name="text_color">
1604+ <dia:color val="#000000"/>
1605+ </dia:attribute>
1606+ <dia:attribute name="normal_font">
1607+ <dia:font family="monospace" style="0" name="Courier"/>
1608+ </dia:attribute>
1609+ <dia:attribute name="abstract_font">
1610+ <dia:font family="monospace" style="88" name="Courier-BoldOblique"/>
1611+ </dia:attribute>
1612+ <dia:attribute name="polymorphic_font">
1613+ <dia:font family="monospace" style="8" name="Courier-Oblique"/>
1614+ </dia:attribute>
1615+ <dia:attribute name="classname_font">
1616+ <dia:font family="sans" style="80" name="Helvetica-Bold"/>
1617+ </dia:attribute>
1618+ <dia:attribute name="abstract_classname_font">
1619+ <dia:font family="sans" style="88" name="Helvetica-BoldOblique"/>
1620+ </dia:attribute>
1621+ <dia:attribute name="comment_font">
1622+ <dia:font family="sans" style="8" name="Helvetica-Oblique"/>
1623+ </dia:attribute>
1624+ <dia:attribute name="normal_font_height">
1625+ <dia:real val="0.80000000000000004"/>
1626+ </dia:attribute>
1627+ <dia:attribute name="polymorphic_font_height">
1628+ <dia:real val="0.80000000000000004"/>
1629+ </dia:attribute>
1630+ <dia:attribute name="abstract_font_height">
1631+ <dia:real val="0.80000000000000004"/>
1632+ </dia:attribute>
1633+ <dia:attribute name="classname_font_height">
1634+ <dia:real val="1"/>
1635+ </dia:attribute>
1636+ <dia:attribute name="abstract_classname_font_height">
1637+ <dia:real val="1"/>
1638+ </dia:attribute>
1639+ <dia:attribute name="comment_font_height">
1640+ <dia:real val="1"/>
1641+ </dia:attribute>
1642+ <dia:attribute name="attributes">
1643+ <dia:composite type="umlattribute">
1644+ <dia:attribute name="name">
1645+ <dia:string># file_type#</dia:string>
1646+ </dia:attribute>
1647+ <dia:attribute name="type">
1648+ <dia:string>#text#</dia:string>
1649+ </dia:attribute>
1650+ <dia:attribute name="value">
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1652+ </dia:attribute>
1653+ <dia:attribute name="comment">
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1655+ </dia:attribute>
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1659+ <dia:attribute name="abstract">
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1662+ <dia:attribute name="class_scope">
1663+ <dia:boolean val="false"/>
1664+ </dia:attribute>
1665+ </dia:composite>
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1667+ <dia:attribute name="operations"/>
1668+ <dia:attribute name="template">
1669+ <dia:boolean val="false"/>
1670+ </dia:attribute>
1671+ <dia:attribute name="templates"/>
1672+ </dia:object>
1673+ <dia:object type="UML - Class" version="0" id="O7">
1674+ <dia:attribute name="obj_pos">
1675+ <dia:point val="35,-27"/>
1676+ </dia:attribute>
1677+ <dia:attribute name="obj_bb">
1678+ <dia:rectangle val="34.95,-27.05;55.57,-12.55"/>
1679+ </dia:attribute>
1680+ <dia:attribute name="elem_corner">
1681+ <dia:point val="35,-27"/>
1682+ </dia:attribute>
1683+ <dia:attribute name="elem_width">
1684+ <dia:real val="20.52"/>
1685+ </dia:attribute>
1686+ <dia:attribute name="elem_height">
1687+ <dia:real val="14.400000000000004"/>
1688+ </dia:attribute>
1689+ <dia:attribute name="name">
1690+ <dia:string>#grasp#</dia:string>
1691+ </dia:attribute>
1692+ <dia:attribute name="stereotype">
1693+ <dia:string>##</dia:string>
1694+ </dia:attribute>
1695+ <dia:attribute name="comment">
1696+ <dia:string>##</dia:string>
1697+ </dia:attribute>
1698+ <dia:attribute name="abstract">
1699+ <dia:boolean val="false"/>
1700+ </dia:attribute>
1701+ <dia:attribute name="suppress_attributes">
1702+ <dia:boolean val="false"/>
1703+ </dia:attribute>
1704+ <dia:attribute name="suppress_operations">
1705+ <dia:boolean val="false"/>
1706+ </dia:attribute>
1707+ <dia:attribute name="visible_attributes">
1708+ <dia:boolean val="true"/>
1709+ </dia:attribute>
1710+ <dia:attribute name="visible_operations">
1711+ <dia:boolean val="false"/>
1712+ </dia:attribute>
1713+ <dia:attribute name="visible_comments">
1714+ <dia:boolean val="true"/>
1715+ </dia:attribute>
1716+ <dia:attribute name="wrap_operations">
1717+ <dia:boolean val="false"/>
1718+ </dia:attribute>
1719+ <dia:attribute name="wrap_after_char">
1720+ <dia:int val="40"/>
1721+ </dia:attribute>
1722+ <dia:attribute name="comment_line_length">
1723+ <dia:int val="40"/>
1724+ </dia:attribute>
1725+ <dia:attribute name="comment_tagging">
1726+ <dia:boolean val="false"/>
1727+ </dia:attribute>
1728+ <dia:attribute name="line_width">
1729+ <dia:real val="0.10000000000000001"/>
1730+ </dia:attribute>
1731+ <dia:attribute name="line_color">
1732+ <dia:color val="#000000"/>
1733+ </dia:attribute>
1734+ <dia:attribute name="fill_color">
1735+ <dia:color val="#ffffff"/>
1736+ </dia:attribute>
1737+ <dia:attribute name="text_color">
1738+ <dia:color val="#000000"/>
1739+ </dia:attribute>
1740+ <dia:attribute name="normal_font">
1741+ <dia:font family="monospace" style="0" name="Courier"/>
1742+ </dia:attribute>
1743+ <dia:attribute name="abstract_font">
1744+ <dia:font family="monospace" style="88" name="Courier-BoldOblique"/>
1745+ </dia:attribute>
1746+ <dia:attribute name="polymorphic_font">
1747+ <dia:font family="monospace" style="8" name="Courier-Oblique"/>
1748+ </dia:attribute>
1749+ <dia:attribute name="classname_font">
1750+ <dia:font family="sans" style="80" name="Helvetica-Bold"/>
1751+ </dia:attribute>
1752+ <dia:attribute name="abstract_classname_font">
1753+ <dia:font family="sans" style="88" name="Helvetica-BoldOblique"/>
1754+ </dia:attribute>
1755+ <dia:attribute name="comment_font">
1756+ <dia:font family="sans" style="8" name="Helvetica-Oblique"/>
1757+ </dia:attribute>
1758+ <dia:attribute name="normal_font_height">
1759+ <dia:real val="0.80000000000000004"/>
1760+ </dia:attribute>
1761+ <dia:attribute name="polymorphic_font_height">
1762+ <dia:real val="0.80000000000000004"/>
1763+ </dia:attribute>
1764+ <dia:attribute name="abstract_font_height">
1765+ <dia:real val="0.80000000000000004"/>
1766+ </dia:attribute>
1767+ <dia:attribute name="classname_font_height">
1768+ <dia:real val="1"/>
1769+ </dia:attribute>
1770+ <dia:attribute name="abstract_classname_font_height">
1771+ <dia:real val="1"/>
1772+ </dia:attribute>
1773+ <dia:attribute name="comment_font_height">
1774+ <dia:real val="1"/>
1775+ </dia:attribute>
1776+ <dia:attribute name="attributes">
1777+ <dia:composite type="umlattribute">
1778+ <dia:attribute name="name">
1779+ <dia:string># grasp_id#</dia:string>
1780+ </dia:attribute>
1781+ <dia:attribute name="type">
1782+ <dia:string>#serial#</dia:string>
1783+ </dia:attribute>
1784+ <dia:attribute name="value">
1785+ <dia:string>##</dia:string>
1786+ </dia:attribute>
1787+ <dia:attribute name="comment">
1788+ <dia:string>##</dia:string>
1789+ </dia:attribute>
1790+ <dia:attribute name="visibility">
1791+ <dia:enum val="3"/>
1792+ </dia:attribute>
1793+ <dia:attribute name="abstract">
1794+ <dia:boolean val="false"/>
1795+ </dia:attribute>
1796+ <dia:attribute name="class_scope">
1797+ <dia:boolean val="false"/>
1798+ </dia:attribute>
1799+ </dia:composite>
1800+ <dia:composite type="umlattribute">
1801+ <dia:attribute name="name">
1802+ <dia:string># scaled_model_id#</dia:string>
1803+ </dia:attribute>
1804+ <dia:attribute name="type">
1805+ <dia:string>#integer#</dia:string>
1806+ </dia:attribute>
1807+ <dia:attribute name="value">
1808+ <dia:string>##</dia:string>
1809+ </dia:attribute>
1810+ <dia:attribute name="comment">
1811+ <dia:string>##</dia:string>
1812+ </dia:attribute>
1813+ <dia:attribute name="visibility">
1814+ <dia:enum val="3"/>
1815+ </dia:attribute>
1816+ <dia:attribute name="abstract">
1817+ <dia:boolean val="false"/>
1818+ </dia:attribute>
1819+ <dia:attribute name="class_scope">
1820+ <dia:boolean val="false"/>
1821+ </dia:attribute>
1822+ </dia:composite>
1823+ <dia:composite type="umlattribute">
1824+ <dia:attribute name="name">
1825+ <dia:string># grasp_pregrasp_joints#</dia:string>
1826+ </dia:attribute>
1827+ <dia:attribute name="type">
1828+ <dia:string>#double precision[]#</dia:string>
1829+ </dia:attribute>
1830+ <dia:attribute name="value">
1831+ <dia:string>##</dia:string>
1832+ </dia:attribute>
1833+ <dia:attribute name="comment">
1834+ <dia:string>##</dia:string>
1835+ </dia:attribute>
1836+ <dia:attribute name="visibility">
1837+ <dia:enum val="3"/>
1838+ </dia:attribute>
1839+ <dia:attribute name="abstract">
1840+ <dia:boolean val="false"/>
1841+ </dia:attribute>
1842+ <dia:attribute name="class_scope">
1843+ <dia:boolean val="false"/>
1844+ </dia:attribute>
1845+ </dia:composite>
1846+ <dia:composite type="umlattribute">
1847+ <dia:attribute name="name">
1848+ <dia:string># grasp_grasp_joints#</dia:string>
1849+ </dia:attribute>
1850+ <dia:attribute name="type">
1851+ <dia:string>#double precision[]#</dia:string>
1852+ </dia:attribute>
1853+ <dia:attribute name="value">
1854+ <dia:string>##</dia:string>
1855+ </dia:attribute>
1856+ <dia:attribute name="comment">
1857+ <dia:string>##</dia:string>
1858+ </dia:attribute>
1859+ <dia:attribute name="visibility">
1860+ <dia:enum val="3"/>
1861+ </dia:attribute>
1862+ <dia:attribute name="abstract">
1863+ <dia:boolean val="false"/>
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1865+ <dia:attribute name="class_scope">
1866+ <dia:boolean val="false"/>
1867+ </dia:attribute>
1868+ </dia:composite>
1869+ <dia:composite type="umlattribute">
1870+ <dia:attribute name="name">
1871+ <dia:string># grasp_energy#</dia:string>
1872+ </dia:attribute>
1873+ <dia:attribute name="type">
1874+ <dia:string>#double precision#</dia:string>
1875+ </dia:attribute>
1876+ <dia:attribute name="value">
1877+ <dia:string>##</dia:string>
1878+ </dia:attribute>
1879+ <dia:attribute name="comment">
1880+ <dia:string>##</dia:string>
1881+ </dia:attribute>
1882+ <dia:attribute name="visibility">
1883+ <dia:enum val="3"/>
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1885+ <dia:attribute name="abstract">
1886+ <dia:boolean val="false"/>
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1888+ <dia:attribute name="class_scope">
1889+ <dia:boolean val="false"/>
1890+ </dia:attribute>
1891+ </dia:composite>
1892+ <dia:composite type="umlattribute">
1893+ <dia:attribute name="name">
1894+ <dia:string># grasp_pregrasp_position#</dia:string>
1895+ </dia:attribute>
1896+ <dia:attribute name="type">
1897+ <dia:string>#double precision[]#</dia:string>
1898+ </dia:attribute>
1899+ <dia:attribute name="value">
1900+ <dia:string>##</dia:string>
1901+ </dia:attribute>
1902+ <dia:attribute name="comment">
1903+ <dia:string>##</dia:string>
1904+ </dia:attribute>
1905+ <dia:attribute name="visibility">
1906+ <dia:enum val="3"/>
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1908+ <dia:attribute name="abstract">
1909+ <dia:boolean val="false"/>
1910+ </dia:attribute>
1911+ <dia:attribute name="class_scope">
1912+ <dia:boolean val="false"/>
1913+ </dia:attribute>
1914+ </dia:composite>
1915+ <dia:composite type="umlattribute">
1916+ <dia:attribute name="name">
1917+ <dia:string># grasp_grasp_position#</dia:string>
1918+ </dia:attribute>
1919+ <dia:attribute name="type">
1920+ <dia:string>#double precision[]#</dia:string>
1921+ </dia:attribute>
1922+ <dia:attribute name="value">
1923+ <dia:string>##</dia:string>
1924+ </dia:attribute>
1925+ <dia:attribute name="comment">
1926+ <dia:string>##</dia:string>
1927+ </dia:attribute>
1928+ <dia:attribute name="visibility">
1929+ <dia:enum val="3"/>
1930+ </dia:attribute>
1931+ <dia:attribute name="abstract">
1932+ <dia:boolean val="false"/>
1933+ </dia:attribute>
1934+ <dia:attribute name="class_scope">
1935+ <dia:boolean val="false"/>
1936+ </dia:attribute>
1937+ </dia:composite>
1938+ <dia:composite type="umlattribute">
1939+ <dia:attribute name="name">
1940+ <dia:string># grasp_source_id#</dia:string>
1941+ </dia:attribute>
1942+ <dia:attribute name="type">
1943+ <dia:string>#integer#</dia:string>
1944+ </dia:attribute>
1945+ <dia:attribute name="value">
1946+ <dia:string>##</dia:string>
1947+ </dia:attribute>
1948+ <dia:attribute name="comment">
1949+ <dia:string>##</dia:string>
1950+ </dia:attribute>
1951+ <dia:attribute name="visibility">
1952+ <dia:enum val="3"/>
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1954+ <dia:attribute name="abstract">
1955+ <dia:boolean val="false"/>
1956+ </dia:attribute>
1957+ <dia:attribute name="class_scope">
1958+ <dia:boolean val="false"/>
1959+ </dia:attribute>
1960+ </dia:composite>
1961+ <dia:composite type="umlattribute">
1962+ <dia:attribute name="name">
1963+ <dia:string># grasp_pregrasp_clearance#</dia:string>
1964+ </dia:attribute>
1965+ <dia:attribute name="type">
1966+ <dia:string>#double precision#</dia:string>
1967+ </dia:attribute>
1968+ <dia:attribute name="value">
1969+ <dia:string>#(-1)#</dia:string>
1970+ </dia:attribute>
1971+ <dia:attribute name="comment">
1972+ <dia:string>##</dia:string>
1973+ </dia:attribute>
1974+ <dia:attribute name="visibility">
1975+ <dia:enum val="3"/>
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1977+ <dia:attribute name="abstract">
1978+ <dia:boolean val="false"/>
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1980+ <dia:attribute name="class_scope">
1981+ <dia:boolean val="false"/>
1982+ </dia:attribute>
1983+ </dia:composite>
1984+ <dia:composite type="umlattribute">
1985+ <dia:attribute name="name">
1986+ <dia:string># grasp_cluster_rep#</dia:string>
1987+ </dia:attribute>
1988+ <dia:attribute name="type">
1989+ <dia:string>#boolean#</dia:string>
1990+ </dia:attribute>
1991+ <dia:attribute name="value">
1992+ <dia:string>#false#</dia:string>
1993+ </dia:attribute>
1994+ <dia:attribute name="comment">
1995+ <dia:string>##</dia:string>
1996+ </dia:attribute>
1997+ <dia:attribute name="visibility">
1998+ <dia:enum val="3"/>
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2000+ <dia:attribute name="abstract">
2001+ <dia:boolean val="false"/>
2002+ </dia:attribute>
2003+ <dia:attribute name="class_scope">
2004+ <dia:boolean val="false"/>
2005+ </dia:attribute>
2006+ </dia:composite>
2007+ <dia:composite type="umlattribute">
2008+ <dia:attribute name="name">
2009+ <dia:string># hand_name#</dia:string>
2010+ </dia:attribute>
2011+ <dia:attribute name="type">
2012+ <dia:string>#text#</dia:string>
2013+ </dia:attribute>
2014+ <dia:attribute name="value">
2015+ <dia:string>##</dia:string>
2016+ </dia:attribute>
2017+ <dia:attribute name="comment">
2018+ <dia:string>##</dia:string>
2019+ </dia:attribute>
2020+ <dia:attribute name="visibility">
2021+ <dia:enum val="3"/>
2022+ </dia:attribute>
2023+ <dia:attribute name="abstract">
2024+ <dia:boolean val="false"/>
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2026+ <dia:attribute name="class_scope">
2027+ <dia:boolean val="false"/>
2028+ </dia:attribute>
2029+ </dia:composite>
2030+ <dia:composite type="umlattribute">
2031+ <dia:attribute name="name">
2032+ <dia:string># grasp_table_clearance#</dia:string>
2033+ </dia:attribute>
2034+ <dia:attribute name="type">
2035+ <dia:string>#double precision#</dia:string>
2036+ </dia:attribute>
2037+ <dia:attribute name="value">
2038+ <dia:string>#(-1)#</dia:string>
2039+ </dia:attribute>
2040+ <dia:attribute name="comment">
2041+ <dia:string>##</dia:string>
2042+ </dia:attribute>
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2044+ <dia:enum val="3"/>
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2046+ <dia:attribute name="abstract">
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2049+ <dia:attribute name="class_scope">
2050+ <dia:boolean val="false"/>
2051+ </dia:attribute>
2052+ </dia:composite>
2053+ <dia:composite type="umlattribute">
2054+ <dia:attribute name="name">
2055+ <dia:string># grasp_compliant_copy#</dia:string>
2056+ </dia:attribute>
2057+ <dia:attribute name="type">
2058+ <dia:string>#boolean#</dia:string>
2059+ </dia:attribute>
2060+ <dia:attribute name="value">
2061+ <dia:string>#false#</dia:string>
2062+ </dia:attribute>
2063+ <dia:attribute name="comment">
2064+ <dia:string>##</dia:string>
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2066+ <dia:attribute name="visibility">
2067+ <dia:enum val="3"/>
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2069+ <dia:attribute name="abstract">
2070+ <dia:boolean val="false"/>
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2072+ <dia:attribute name="class_scope">
2073+ <dia:boolean val="false"/>
2074+ </dia:attribute>
2075+ </dia:composite>
2076+ <dia:composite type="umlattribute">
2077+ <dia:attribute name="name">
2078+ <dia:string># grasp_compliant_original_id#</dia:string>
2079+ </dia:attribute>
2080+ <dia:attribute name="type">
2081+ <dia:string>#integer#</dia:string>
2082+ </dia:attribute>
2083+ <dia:attribute name="value">
2084+ <dia:string>#(-1)#</dia:string>
2085+ </dia:attribute>
2086+ <dia:attribute name="comment">
2087+ <dia:string>##</dia:string>
2088+ </dia:attribute>
2089+ <dia:attribute name="visibility">
2090+ <dia:enum val="3"/>
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2092+ <dia:attribute name="abstract">
2093+ <dia:boolean val="false"/>
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2095+ <dia:attribute name="class_scope">
2096+ <dia:boolean val="false"/>
2097+ </dia:attribute>
2098+ </dia:composite>
2099+ <dia:composite type="umlattribute">
2100+ <dia:attribute name="name">
2101+ <dia:string># grasp_scaled_quality#</dia:string>
2102+ </dia:attribute>
2103+ <dia:attribute name="type">
2104+ <dia:string>#double precision#</dia:string>
2105+ </dia:attribute>
2106+ <dia:attribute name="value">
2107+ <dia:string>#0.0#</dia:string>
2108+ </dia:attribute>
2109+ <dia:attribute name="comment">
2110+ <dia:string>##</dia:string>
2111+ </dia:attribute>
2112+ <dia:attribute name="visibility">
2113+ <dia:enum val="3"/>
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2115+ <dia:attribute name="abstract">
2116+ <dia:boolean val="false"/>
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2118+ <dia:attribute name="class_scope">
2119+ <dia:boolean val="false"/>
2120+ </dia:attribute>
2121+ </dia:composite>
2122+ <dia:composite type="umlattribute">
2123+ <dia:attribute name="name">
2124+ <dia:string># fingertip_object_collision#</dia:string>
2125+ </dia:attribute>
2126+ <dia:attribute name="type">
2127+ <dia:string>#boolean#</dia:string>
2128+ </dia:attribute>
2129+ <dia:attribute name="value">
2130+ <dia:string>#false#</dia:string>
2131+ </dia:attribute>
2132+ <dia:attribute name="comment">
2133+ <dia:string>##</dia:string>
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2135+ <dia:attribute name="visibility">
2136+ <dia:enum val="3"/>
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2138+ <dia:attribute name="abstract">
2139+ <dia:boolean val="false"/>
2140+ </dia:attribute>
2141+ <dia:attribute name="class_scope">
2142+ <dia:boolean val="false"/>
2143+ </dia:attribute>
2144+ </dia:composite>
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2146+ <dia:attribute name="operations"/>
2147+ <dia:attribute name="template">
2148+ <dia:boolean val="false"/>
2149+ </dia:attribute>
2150+ <dia:attribute name="templates"/>
2151+ </dia:object>
2152+ <dia:object type="UML - Class" version="0" id="O8">
2153+ <dia:attribute name="obj_pos">
2154+ <dia:point val="19,-24"/>
2155+ </dia:attribute>
2156+ <dia:attribute name="obj_bb">
2157+ <dia:rectangle val="18.95,-24.05;32.255,-19.95"/>
2158+ </dia:attribute>
2159+ <dia:attribute name="elem_corner">
2160+ <dia:point val="19,-24"/>
2161+ </dia:attribute>
2162+ <dia:attribute name="elem_width">
2163+ <dia:real val="13.205"/>
2164+ </dia:attribute>
2165+ <dia:attribute name="elem_height">
2166+ <dia:real val="4"/>
2167+ </dia:attribute>
2168+ <dia:attribute name="name">
2169+ <dia:string>#grasp_source#</dia:string>
2170+ </dia:attribute>
2171+ <dia:attribute name="stereotype">
2172+ <dia:string>##</dia:string>
2173+ </dia:attribute>
2174+ <dia:attribute name="comment">
2175+ <dia:string>##</dia:string>
2176+ </dia:attribute>
2177+ <dia:attribute name="abstract">
2178+ <dia:boolean val="false"/>
2179+ </dia:attribute>
2180+ <dia:attribute name="suppress_attributes">
2181+ <dia:boolean val="false"/>
2182+ </dia:attribute>
2183+ <dia:attribute name="suppress_operations">
2184+ <dia:boolean val="false"/>
2185+ </dia:attribute>
2186+ <dia:attribute name="visible_attributes">
2187+ <dia:boolean val="true"/>
2188+ </dia:attribute>
2189+ <dia:attribute name="visible_operations">
2190+ <dia:boolean val="false"/>
2191+ </dia:attribute>
2192+ <dia:attribute name="visible_comments">
2193+ <dia:boolean val="true"/>
2194+ </dia:attribute>
2195+ <dia:attribute name="wrap_operations">
2196+ <dia:boolean val="false"/>
2197+ </dia:attribute>
2198+ <dia:attribute name="wrap_after_char">
2199+ <dia:int val="40"/>
2200+ </dia:attribute>
2201+ <dia:attribute name="comment_line_length">
2202+ <dia:int val="40"/>
2203+ </dia:attribute>
2204+ <dia:attribute name="comment_tagging">
2205+ <dia:boolean val="false"/>
2206+ </dia:attribute>
2207+ <dia:attribute name="line_width">
2208+ <dia:real val="0.10000000000000001"/>
2209+ </dia:attribute>
2210+ <dia:attribute name="line_color">
2211+ <dia:color val="#000000"/>
2212+ </dia:attribute>
2213+ <dia:attribute name="fill_color">
2214+ <dia:color val="#ffffff"/>
2215+ </dia:attribute>
2216+ <dia:attribute name="text_color">
2217+ <dia:color val="#000000"/>
2218+ </dia:attribute>
2219+ <dia:attribute name="normal_font">
2220+ <dia:font family="monospace" style="0" name="Courier"/>
2221+ </dia:attribute>
2222+ <dia:attribute name="abstract_font">
2223+ <dia:font family="monospace" style="88" name="Courier-BoldOblique"/>
2224+ </dia:attribute>
2225+ <dia:attribute name="polymorphic_font">
2226+ <dia:font family="monospace" style="8" name="Courier-Oblique"/>
2227+ </dia:attribute>
2228+ <dia:attribute name="classname_font">
2229+ <dia:font family="sans" style="80" name="Helvetica-Bold"/>
2230+ </dia:attribute>
2231+ <dia:attribute name="abstract_classname_font">
2232+ <dia:font family="sans" style="88" name="Helvetica-BoldOblique"/>
2233+ </dia:attribute>
2234+ <dia:attribute name="comment_font">
2235+ <dia:font family="sans" style="8" name="Helvetica-Oblique"/>
2236+ </dia:attribute>
2237+ <dia:attribute name="normal_font_height">
2238+ <dia:real val="0.80000000000000004"/>
2239+ </dia:attribute>
2240+ <dia:attribute name="polymorphic_font_height">
2241+ <dia:real val="0.80000000000000004"/>
2242+ </dia:attribute>
2243+ <dia:attribute name="abstract_font_height">
2244+ <dia:real val="0.80000000000000004"/>
2245+ </dia:attribute>
2246+ <dia:attribute name="classname_font_height">
2247+ <dia:real val="1"/>
2248+ </dia:attribute>
2249+ <dia:attribute name="abstract_classname_font_height">
2250+ <dia:real val="1"/>
2251+ </dia:attribute>
2252+ <dia:attribute name="comment_font_height">
2253+ <dia:real val="1"/>
2254+ </dia:attribute>
2255+ <dia:attribute name="attributes">
2256+ <dia:composite type="umlattribute">
2257+ <dia:attribute name="name">
2258+ <dia:string># grasp_source_id#</dia:string>
2259+ </dia:attribute>
2260+ <dia:attribute name="type">
2261+ <dia:string>#integer#</dia:string>
2262+ </dia:attribute>
2263+ <dia:attribute name="value">
2264+ <dia:string>##</dia:string>
2265+ </dia:attribute>
2266+ <dia:attribute name="comment">
2267+ <dia:string>##</dia:string>
2268+ </dia:attribute>
2269+ <dia:attribute name="visibility">
2270+ <dia:enum val="3"/>
2271+ </dia:attribute>
2272+ <dia:attribute name="abstract">
2273+ <dia:boolean val="false"/>
2274+ </dia:attribute>
2275+ <dia:attribute name="class_scope">
2276+ <dia:boolean val="false"/>
2277+ </dia:attribute>
2278+ </dia:composite>
2279+ <dia:composite type="umlattribute">
2280+ <dia:attribute name="name">
2281+ <dia:string># grasp_source_description#</dia:string>
2282+ </dia:attribute>
2283+ <dia:attribute name="type">
2284+ <dia:string>#text#</dia:string>
2285+ </dia:attribute>
2286+ <dia:attribute name="value">
2287+ <dia:string>##</dia:string>
2288+ </dia:attribute>
2289+ <dia:attribute name="comment">
2290+ <dia:string>##</dia:string>
2291+ </dia:attribute>
2292+ <dia:attribute name="visibility">
2293+ <dia:enum val="3"/>
2294+ </dia:attribute>
2295+ <dia:attribute name="abstract">
2296+ <dia:boolean val="false"/>
2297+ </dia:attribute>
2298+ <dia:attribute name="class_scope">
2299+ <dia:boolean val="false"/>
2300+ </dia:attribute>
2301+ </dia:composite>
2302+ <dia:composite type="umlattribute">
2303+ <dia:attribute name="name">
2304+ <dia:string># grasp_source_name#</dia:string>
2305+ </dia:attribute>
2306+ <dia:attribute name="type">
2307+ <dia:string>#text#</dia:string>
2308+ </dia:attribute>
2309+ <dia:attribute name="value">
2310+ <dia:string>##</dia:string>
2311+ </dia:attribute>
2312+ <dia:attribute name="comment">
2313+ <dia:string>##</dia:string>
2314+ </dia:attribute>
2315+ <dia:attribute name="visibility">
2316+ <dia:enum val="3"/>
2317+ </dia:attribute>
2318+ <dia:attribute name="abstract">
2319+ <dia:boolean val="false"/>
2320+ </dia:attribute>
2321+ <dia:attribute name="class_scope">
2322+ <dia:boolean val="false"/>
2323+ </dia:attribute>
2324+ </dia:composite>
2325+ </dia:attribute>
2326+ <dia:attribute name="operations"/>
2327+ <dia:attribute name="template">
2328+ <dia:boolean val="false"/>
2329+ </dia:attribute>
2330+ <dia:attribute name="templates"/>
2331+ </dia:object>
2332+ <dia:object type="UML - Class" version="0" id="O9">
2333+ <dia:attribute name="obj_pos">
2334+ <dia:point val="-18,-16"/>
2335+ </dia:attribute>
2336+ <dia:attribute name="obj_bb">
2337+ <dia:rectangle val="-18.05,-16.05;-10.52,-13.55"/>
2338+ </dia:attribute>
2339+ <dia:attribute name="elem_corner">
2340+ <dia:point val="-18,-16"/>
2341+ </dia:attribute>
2342+ <dia:attribute name="elem_width">
2343+ <dia:real val="7.4299999999999997"/>
2344+ </dia:attribute>
2345+ <dia:attribute name="elem_height">
2346+ <dia:real val="2.3999999999999999"/>
2347+ </dia:attribute>
2348+ <dia:attribute name="name">
2349+ <dia:string>#hand#</dia:string>
2350+ </dia:attribute>
2351+ <dia:attribute name="stereotype">
2352+ <dia:string>##</dia:string>
2353+ </dia:attribute>
2354+ <dia:attribute name="comment">
2355+ <dia:string>##</dia:string>
2356+ </dia:attribute>
2357+ <dia:attribute name="abstract">
2358+ <dia:boolean val="false"/>
2359+ </dia:attribute>
2360+ <dia:attribute name="suppress_attributes">
2361+ <dia:boolean val="false"/>
2362+ </dia:attribute>
2363+ <dia:attribute name="suppress_operations">
2364+ <dia:boolean val="false"/>
2365+ </dia:attribute>
2366+ <dia:attribute name="visible_attributes">
2367+ <dia:boolean val="true"/>
2368+ </dia:attribute>
2369+ <dia:attribute name="visible_operations">
2370+ <dia:boolean val="false"/>
2371+ </dia:attribute>
2372+ <dia:attribute name="visible_comments">
2373+ <dia:boolean val="true"/>
2374+ </dia:attribute>
2375+ <dia:attribute name="wrap_operations">
2376+ <dia:boolean val="false"/>
2377+ </dia:attribute>
2378+ <dia:attribute name="wrap_after_char">
2379+ <dia:int val="40"/>
2380+ </dia:attribute>
2381+ <dia:attribute name="comment_line_length">
2382+ <dia:int val="40"/>
2383+ </dia:attribute>
2384+ <dia:attribute name="comment_tagging">
2385+ <dia:boolean val="false"/>
2386+ </dia:attribute>
2387+ <dia:attribute name="line_width">
2388+ <dia:real val="0.10000000000000001"/>
2389+ </dia:attribute>
2390+ <dia:attribute name="line_color">
2391+ <dia:color val="#000000"/>
2392+ </dia:attribute>
2393+ <dia:attribute name="fill_color">
2394+ <dia:color val="#ffffff"/>
2395+ </dia:attribute>
2396+ <dia:attribute name="text_color">
2397+ <dia:color val="#000000"/>
2398+ </dia:attribute>
2399+ <dia:attribute name="normal_font">
2400+ <dia:font family="monospace" style="0" name="Courier"/>
2401+ </dia:attribute>
2402+ <dia:attribute name="abstract_font">
2403+ <dia:font family="monospace" style="88" name="Courier-BoldOblique"/>
2404+ </dia:attribute>
2405+ <dia:attribute name="polymorphic_font">
2406+ <dia:font family="monospace" style="8" name="Courier-Oblique"/>
2407+ </dia:attribute>
2408+ <dia:attribute name="classname_font">
2409+ <dia:font family="sans" style="80" name="Helvetica-Bold"/>
2410+ </dia:attribute>
2411+ <dia:attribute name="abstract_classname_font">
2412+ <dia:font family="sans" style="88" name="Helvetica-BoldOblique"/>
2413+ </dia:attribute>
2414+ <dia:attribute name="comment_font">
2415+ <dia:font family="sans" style="8" name="Helvetica-Oblique"/>
2416+ </dia:attribute>
2417+ <dia:attribute name="normal_font_height">
2418+ <dia:real val="0.80000000000000004"/>
2419+ </dia:attribute>
2420+ <dia:attribute name="polymorphic_font_height">
2421+ <dia:real val="0.80000000000000004"/>
2422+ </dia:attribute>
2423+ <dia:attribute name="abstract_font_height">
2424+ <dia:real val="0.80000000000000004"/>
2425+ </dia:attribute>
2426+ <dia:attribute name="classname_font_height">
2427+ <dia:real val="1"/>
2428+ </dia:attribute>
2429+ <dia:attribute name="abstract_classname_font_height">
2430+ <dia:real val="1"/>
2431+ </dia:attribute>
2432+ <dia:attribute name="comment_font_height">
2433+ <dia:real val="1"/>
2434+ </dia:attribute>
2435+ <dia:attribute name="attributes">
2436+ <dia:composite type="umlattribute">
2437+ <dia:attribute name="name">
2438+ <dia:string># hand_name#</dia:string>
2439+ </dia:attribute>
2440+ <dia:attribute name="type">
2441+ <dia:string>#text#</dia:string>
2442+ </dia:attribute>
2443+ <dia:attribute name="value">
2444+ <dia:string>##</dia:string>
2445+ </dia:attribute>
2446+ <dia:attribute name="comment">
2447+ <dia:string>##</dia:string>
2448+ </dia:attribute>
2449+ <dia:attribute name="visibility">
2450+ <dia:enum val="3"/>
2451+ </dia:attribute>
2452+ <dia:attribute name="abstract">
2453+ <dia:boolean val="false"/>
2454+ </dia:attribute>
2455+ <dia:attribute name="class_scope">
2456+ <dia:boolean val="false"/>
2457+ </dia:attribute>
2458+ </dia:composite>
2459+ </dia:attribute>
2460+ <dia:attribute name="operations"/>
2461+ <dia:attribute name="template">
2462+ <dia:boolean val="false"/>
2463+ </dia:attribute>
2464+ <dia:attribute name="templates"/>
2465+ </dia:object>
2466+ <dia:object type="UML - Class" version="0" id="O10">
2467+ <dia:attribute name="obj_pos">
2468+ <dia:point val="-25,-57"/>
2469+ </dia:attribute>
2470+ <dia:attribute name="obj_bb">
2471+ <dia:rectangle val="-25.05,-57.05;-9.7475,-50.95"/>
2472+ </dia:attribute>
2473+ <dia:attribute name="elem_corner">
2474+ <dia:point val="-25,-57"/>
2475+ </dia:attribute>
2476+ <dia:attribute name="elem_width">
2477+ <dia:real val="15.202500000000001"/>
2478+ </dia:attribute>
2479+ <dia:attribute name="elem_height">
2480+ <dia:real val="6"/>
2481+ </dia:attribute>
2482+ <dia:attribute name="name">
2483+ <dia:string>#mesh#</dia:string>
2484+ </dia:attribute>
2485+ <dia:attribute name="stereotype">
2486+ <dia:string>##</dia:string>
2487+ </dia:attribute>
2488+ <dia:attribute name="comment">
2489+ <dia:string>#Holds a simple mesh, as a list of v ... base.#</dia:string>
2490+ </dia:attribute>
2491+ <dia:attribute name="abstract">
2492+ <dia:boolean val="false"/>
2493+ </dia:attribute>
2494+ <dia:attribute name="suppress_attributes">
2495+ <dia:boolean val="false"/>
2496+ </dia:attribute>
2497+ <dia:attribute name="suppress_operations">
2498+ <dia:boolean val="false"/>
2499+ </dia:attribute>
2500+ <dia:attribute name="visible_attributes">
2501+ <dia:boolean val="true"/>
2502+ </dia:attribute>
2503+ <dia:attribute name="visible_operations">
2504+ <dia:boolean val="false"/>
2505+ </dia:attribute>
2506+ <dia:attribute name="visible_comments">
2507+ <dia:boolean val="true"/>
2508+ </dia:attribute>
2509+ <dia:attribute name="wrap_operations">
2510+ <dia:boolean val="false"/>
2511+ </dia:attribute>
2512+ <dia:attribute name="wrap_after_char">
2513+ <dia:int val="40"/>
2514+ </dia:attribute>
2515+ <dia:attribute name="comment_line_length">
2516+ <dia:int val="40"/>
2517+ </dia:attribute>
2518+ <dia:attribute name="comment_tagging">
2519+ <dia:boolean val="false"/>
2520+ </dia:attribute>
2521+ <dia:attribute name="line_width">
2522+ <dia:real val="0.10000000000000001"/>
2523+ </dia:attribute>
2524+ <dia:attribute name="line_color">
2525+ <dia:color val="#000000"/>
2526+ </dia:attribute>
2527+ <dia:attribute name="fill_color">
2528+ <dia:color val="#ffffff"/>
2529+ </dia:attribute>
2530+ <dia:attribute name="text_color">
2531+ <dia:color val="#000000"/>
2532+ </dia:attribute>
2533+ <dia:attribute name="normal_font">
2534+ <dia:font family="monospace" style="0" name="Courier"/>
2535+ </dia:attribute>
2536+ <dia:attribute name="abstract_font">
2537+ <dia:font family="monospace" style="88" name="Courier-BoldOblique"/>
2538+ </dia:attribute>
2539+ <dia:attribute name="polymorphic_font">
2540+ <dia:font family="monospace" style="8" name="Courier-Oblique"/>
2541+ </dia:attribute>
2542+ <dia:attribute name="classname_font">
2543+ <dia:font family="sans" style="80" name="Helvetica-Bold"/>
2544+ </dia:attribute>
2545+ <dia:attribute name="abstract_classname_font">
2546+ <dia:font family="sans" style="88" name="Helvetica-BoldOblique"/>
2547+ </dia:attribute>
2548+ <dia:attribute name="comment_font">
2549+ <dia:font family="sans" style="8" name="Helvetica-Oblique"/>
2550+ </dia:attribute>
2551+ <dia:attribute name="normal_font_height">
2552+ <dia:real val="0.80000000000000004"/>
2553+ </dia:attribute>
2554+ <dia:attribute name="polymorphic_font_height">
2555+ <dia:real val="0.80000000000000004"/>
2556+ </dia:attribute>
2557+ <dia:attribute name="abstract_font_height">
2558+ <dia:real val="0.80000000000000004"/>
2559+ </dia:attribute>
2560+ <dia:attribute name="classname_font_height">
2561+ <dia:real val="1"/>
2562+ </dia:attribute>
2563+ <dia:attribute name="abstract_classname_font_height">
2564+ <dia:real val="1"/>
2565+ </dia:attribute>
2566+ <dia:attribute name="comment_font_height">
2567+ <dia:real val="1"/>
2568+ </dia:attribute>
2569+ <dia:attribute name="attributes">
2570+ <dia:composite type="umlattribute">
2571+ <dia:attribute name="name">
2572+ <dia:string># original_model_id#</dia:string>
2573+ </dia:attribute>
2574+ <dia:attribute name="type">
2575+ <dia:string>#integer#</dia:string>
2576+ </dia:attribute>
2577+ <dia:attribute name="value">
2578+ <dia:string>##</dia:string>
2579+ </dia:attribute>
2580+ <dia:attribute name="comment">
2581+ <dia:string>##</dia:string>
2582+ </dia:attribute>
2583+ <dia:attribute name="visibility">
2584+ <dia:enum val="3"/>
2585+ </dia:attribute>
2586+ <dia:attribute name="abstract">
2587+ <dia:boolean val="false"/>
2588+ </dia:attribute>
2589+ <dia:attribute name="class_scope">
2590+ <dia:boolean val="false"/>
2591+ </dia:attribute>
2592+ </dia:composite>
2593+ <dia:composite type="umlattribute">
2594+ <dia:attribute name="name">
2595+ <dia:string># mesh_vertex_list#</dia:string>
2596+ </dia:attribute>
2597+ <dia:attribute name="type">
2598+ <dia:string>#bytea#</dia:string>
2599+ </dia:attribute>
2600+ <dia:attribute name="value">
2601+ <dia:string>##</dia:string>
2602+ </dia:attribute>
2603+ <dia:attribute name="comment">
2604+ <dia:string>##</dia:string>
2605+ </dia:attribute>
2606+ <dia:attribute name="visibility">
2607+ <dia:enum val="3"/>
2608+ </dia:attribute>
2609+ <dia:attribute name="abstract">
2610+ <dia:boolean val="false"/>
2611+ </dia:attribute>
2612+ <dia:attribute name="class_scope">
2613+ <dia:boolean val="false"/>
2614+ </dia:attribute>
2615+ </dia:composite>
2616+ <dia:composite type="umlattribute">
2617+ <dia:attribute name="name">
2618+ <dia:string># mesh_triangle_list#</dia:string>
2619+ </dia:attribute>
2620+ <dia:attribute name="type">
2621+ <dia:string>#bytea#</dia:string>
2622+ </dia:attribute>
2623+ <dia:attribute name="value">
2624+ <dia:string>##</dia:string>
2625+ </dia:attribute>
2626+ <dia:attribute name="comment">
2627+ <dia:string>##</dia:string>
2628+ </dia:attribute>
2629+ <dia:attribute name="visibility">
2630+ <dia:enum val="3"/>
2631+ </dia:attribute>
2632+ <dia:attribute name="abstract">
2633+ <dia:boolean val="false"/>
2634+ </dia:attribute>
2635+ <dia:attribute name="class_scope">
2636+ <dia:boolean val="false"/>
2637+ </dia:attribute>
2638+ </dia:composite>
2639+ </dia:attribute>
2640+ <dia:attribute name="operations"/>
2641+ <dia:attribute name="template">
2642+ <dia:boolean val="false"/>
2643+ </dia:attribute>
2644+ <dia:attribute name="templates"/>
2645+ </dia:object>
2646+ <dia:object type="UML - Class" version="0" id="O11">
2647+ <dia:attribute name="obj_pos">
2648+ <dia:point val="-24,-40"/>
2649+ </dia:attribute>
2650+ <dia:attribute name="obj_bb">
2651+ <dia:rectangle val="-24.05,-40.05;-12.285,-36.75"/>
2652+ </dia:attribute>
2653+ <dia:attribute name="elem_corner">
2654+ <dia:point val="-24,-40"/>
2655+ </dia:attribute>
2656+ <dia:attribute name="elem_width">
2657+ <dia:real val="11.665000000000001"/>
2658+ </dia:attribute>
2659+ <dia:attribute name="elem_height">
2660+ <dia:real val="3.2000000000000002"/>
2661+ </dia:attribute>
2662+ <dia:attribute name="name">
2663+ <dia:string>#model_set#</dia:string>
2664+ </dia:attribute>
2665+ <dia:attribute name="stereotype">
2666+ <dia:string>##</dia:string>
2667+ </dia:attribute>
2668+ <dia:attribute name="comment">
2669+ <dia:string>##</dia:string>
2670+ </dia:attribute>
2671+ <dia:attribute name="abstract">
2672+ <dia:boolean val="false"/>
2673+ </dia:attribute>
2674+ <dia:attribute name="suppress_attributes">
2675+ <dia:boolean val="false"/>
2676+ </dia:attribute>
2677+ <dia:attribute name="suppress_operations">
2678+ <dia:boolean val="false"/>
2679+ </dia:attribute>
2680+ <dia:attribute name="visible_attributes">
2681+ <dia:boolean val="true"/>
2682+ </dia:attribute>
2683+ <dia:attribute name="visible_operations">
2684+ <dia:boolean val="false"/>
2685+ </dia:attribute>
2686+ <dia:attribute name="visible_comments">
2687+ <dia:boolean val="true"/>
2688+ </dia:attribute>
2689+ <dia:attribute name="wrap_operations">
2690+ <dia:boolean val="false"/>
2691+ </dia:attribute>
2692+ <dia:attribute name="wrap_after_char">
2693+ <dia:int val="40"/>
2694+ </dia:attribute>
2695+ <dia:attribute name="comment_line_length">
2696+ <dia:int val="40"/>
2697+ </dia:attribute>
2698+ <dia:attribute name="comment_tagging">
2699+ <dia:boolean val="false"/>
2700+ </dia:attribute>
2701+ <dia:attribute name="line_width">
2702+ <dia:real val="0.10000000000000001"/>
2703+ </dia:attribute>
2704+ <dia:attribute name="line_color">
2705+ <dia:color val="#000000"/>
2706+ </dia:attribute>
2707+ <dia:attribute name="fill_color">
2708+ <dia:color val="#ffffff"/>
2709+ </dia:attribute>
2710+ <dia:attribute name="text_color">
2711+ <dia:color val="#000000"/>
2712+ </dia:attribute>
2713+ <dia:attribute name="normal_font">
2714+ <dia:font family="monospace" style="0" name="Courier"/>
2715+ </dia:attribute>
2716+ <dia:attribute name="abstract_font">
2717+ <dia:font family="monospace" style="88" name="Courier-BoldOblique"/>
2718+ </dia:attribute>
2719+ <dia:attribute name="polymorphic_font">
2720+ <dia:font family="monospace" style="8" name="Courier-Oblique"/>
2721+ </dia:attribute>
2722+ <dia:attribute name="classname_font">
2723+ <dia:font family="sans" style="80" name="Helvetica-Bold"/>
2724+ </dia:attribute>
2725+ <dia:attribute name="abstract_classname_font">
2726+ <dia:font family="sans" style="88" name="Helvetica-BoldOblique"/>
2727+ </dia:attribute>
2728+ <dia:attribute name="comment_font">
2729+ <dia:font family="sans" style="8" name="Helvetica-Oblique"/>
2730+ </dia:attribute>
2731+ <dia:attribute name="normal_font_height">
2732+ <dia:real val="0.80000000000000004"/>
2733+ </dia:attribute>
2734+ <dia:attribute name="polymorphic_font_height">
2735+ <dia:real val="0.80000000000000004"/>
2736+ </dia:attribute>
2737+ <dia:attribute name="abstract_font_height">
2738+ <dia:real val="0.80000000000000004"/>
2739+ </dia:attribute>
2740+ <dia:attribute name="classname_font_height">
2741+ <dia:real val="1"/>
2742+ </dia:attribute>
2743+ <dia:attribute name="abstract_classname_font_height">
2744+ <dia:real val="1"/>
2745+ </dia:attribute>
2746+ <dia:attribute name="comment_font_height">
2747+ <dia:real val="1"/>
2748+ </dia:attribute>
2749+ <dia:attribute name="attributes">
2750+ <dia:composite type="umlattribute">
2751+ <dia:attribute name="name">
2752+ <dia:string># model_set_name#</dia:string>
2753+ </dia:attribute>
2754+ <dia:attribute name="type">
2755+ <dia:string>#text#</dia:string>
2756+ </dia:attribute>
2757+ <dia:attribute name="value">
2758+ <dia:string>##</dia:string>
2759+ </dia:attribute>
2760+ <dia:attribute name="comment">
2761+ <dia:string>##</dia:string>
2762+ </dia:attribute>
2763+ <dia:attribute name="visibility">
2764+ <dia:enum val="3"/>
2765+ </dia:attribute>
2766+ <dia:attribute name="abstract">
2767+ <dia:boolean val="false"/>
2768+ </dia:attribute>
2769+ <dia:attribute name="class_scope">
2770+ <dia:boolean val="false"/>
2771+ </dia:attribute>
2772+ </dia:composite>
2773+ <dia:composite type="umlattribute">
2774+ <dia:attribute name="name">
2775+ <dia:string># original_model_id#</dia:string>
2776+ </dia:attribute>
2777+ <dia:attribute name="type">
2778+ <dia:string>#integer#</dia:string>
2779+ </dia:attribute>
2780+ <dia:attribute name="value">
2781+ <dia:string>##</dia:string>
2782+ </dia:attribute>
2783+ <dia:attribute name="comment">
2784+ <dia:string>##</dia:string>
2785+ </dia:attribute>
2786+ <dia:attribute name="visibility">
2787+ <dia:enum val="3"/>
2788+ </dia:attribute>
2789+ <dia:attribute name="abstract">
2790+ <dia:boolean val="false"/>
2791+ </dia:attribute>
2792+ <dia:attribute name="class_scope">
2793+ <dia:boolean val="false"/>
2794+ </dia:attribute>
2795+ </dia:composite>
2796+ </dia:attribute>
2797+ <dia:attribute name="operations"/>
2798+ <dia:attribute name="template">
2799+ <dia:boolean val="false"/>
2800+ </dia:attribute>
2801+ <dia:attribute name="templates"/>
2802+ </dia:object>
2803+ <dia:object type="UML - Class" version="0" id="O12">
2804+ <dia:attribute name="obj_pos">
2805+ <dia:point val="-76,-53"/>
2806+ </dia:attribute>
2807+ <dia:attribute name="obj_bb">
2808+ <dia:rectangle val="-76.05,-53.05;-60.875,-48.55"/>
2809+ </dia:attribute>
2810+ <dia:attribute name="elem_corner">
2811+ <dia:point val="-76,-53"/>
2812+ </dia:attribute>
2813+ <dia:attribute name="elem_width">
2814+ <dia:real val="15.074999999999999"/>
2815+ </dia:attribute>
2816+ <dia:attribute name="elem_height">
2817+ <dia:real val="4.4000000000000004"/>
2818+ </dia:attribute>
2819+ <dia:attribute name="name">
2820+ <dia:string>#model_source#</dia:string>
2821+ </dia:attribute>
2822+ <dia:attribute name="stereotype">
2823+ <dia:string>##</dia:string>
2824+ </dia:attribute>
2825+ <dia:attribute name="comment">
2826+ <dia:string>#Lists the origin of the models that ... base.#</dia:string>
2827+ </dia:attribute>
2828+ <dia:attribute name="abstract">
2829+ <dia:boolean val="false"/>
2830+ </dia:attribute>
2831+ <dia:attribute name="suppress_attributes">
2832+ <dia:boolean val="false"/>
2833+ </dia:attribute>
2834+ <dia:attribute name="suppress_operations">
2835+ <dia:boolean val="false"/>
2836+ </dia:attribute>
2837+ <dia:attribute name="visible_attributes">
2838+ <dia:boolean val="true"/>
2839+ </dia:attribute>
2840+ <dia:attribute name="visible_operations">
2841+ <dia:boolean val="false"/>
2842+ </dia:attribute>
2843+ <dia:attribute name="visible_comments">
2844+ <dia:boolean val="true"/>
2845+ </dia:attribute>
2846+ <dia:attribute name="wrap_operations">
2847+ <dia:boolean val="false"/>
2848+ </dia:attribute>
2849+ <dia:attribute name="wrap_after_char">
2850+ <dia:int val="40"/>
2851+ </dia:attribute>
2852+ <dia:attribute name="comment_line_length">
2853+ <dia:int val="40"/>
2854+ </dia:attribute>
2855+ <dia:attribute name="comment_tagging">
2856+ <dia:boolean val="false"/>
2857+ </dia:attribute>
2858+ <dia:attribute name="line_width">
2859+ <dia:real val="0.10000000000000001"/>
2860+ </dia:attribute>
2861+ <dia:attribute name="line_color">
2862+ <dia:color val="#000000"/>
2863+ </dia:attribute>
2864+ <dia:attribute name="fill_color">
2865+ <dia:color val="#ffffff"/>
2866+ </dia:attribute>
2867+ <dia:attribute name="text_color">
2868+ <dia:color val="#000000"/>
2869+ </dia:attribute>
2870+ <dia:attribute name="normal_font">
2871+ <dia:font family="monospace" style="0" name="Courier"/>
2872+ </dia:attribute>
2873+ <dia:attribute name="abstract_font">
2874+ <dia:font family="monospace" style="88" name="Courier-BoldOblique"/>
2875+ </dia:attribute>
2876+ <dia:attribute name="polymorphic_font">
2877+ <dia:font family="monospace" style="8" name="Courier-Oblique"/>
2878+ </dia:attribute>
2879+ <dia:attribute name="classname_font">
2880+ <dia:font family="sans" style="80" name="Helvetica-Bold"/>
2881+ </dia:attribute>
2882+ <dia:attribute name="abstract_classname_font">
2883+ <dia:font family="sans" style="88" name="Helvetica-BoldOblique"/>
2884+ </dia:attribute>
2885+ <dia:attribute name="comment_font">
2886+ <dia:font family="sans" style="8" name="Helvetica-Oblique"/>
2887+ </dia:attribute>
2888+ <dia:attribute name="normal_font_height">
2889+ <dia:real val="0.80000000000000004"/>
2890+ </dia:attribute>
2891+ <dia:attribute name="polymorphic_font_height">
2892+ <dia:real val="0.80000000000000004"/>
2893+ </dia:attribute>
2894+ <dia:attribute name="abstract_font_height">
2895+ <dia:real val="0.80000000000000004"/>
2896+ </dia:attribute>
2897+ <dia:attribute name="classname_font_height">
2898+ <dia:real val="1"/>
2899+ </dia:attribute>
2900+ <dia:attribute name="abstract_classname_font_height">
2901+ <dia:real val="1"/>
2902+ </dia:attribute>
2903+ <dia:attribute name="comment_font_height">
2904+ <dia:real val="1"/>
2905+ </dia:attribute>
2906+ <dia:attribute name="attributes">
2907+ <dia:composite type="umlattribute">
2908+ <dia:attribute name="name">
2909+ <dia:string># model_source_name#</dia:string>
2910+ </dia:attribute>
2911+ <dia:attribute name="type">
2912+ <dia:string>#text#</dia:string>
2913+ </dia:attribute>
2914+ <dia:attribute name="value">
2915+ <dia:string>##</dia:string>
2916+ </dia:attribute>
2917+ <dia:attribute name="comment">
2918+ <dia:string>##</dia:string>
2919+ </dia:attribute>
2920+ <dia:attribute name="visibility">
2921+ <dia:enum val="3"/>
2922+ </dia:attribute>
2923+ <dia:attribute name="abstract">
2924+ <dia:boolean val="false"/>
2925+ </dia:attribute>
2926+ <dia:attribute name="class_scope">
2927+ <dia:boolean val="false"/>
2928+ </dia:attribute>
2929+ </dia:composite>
2930+ </dia:attribute>
2931+ <dia:attribute name="operations"/>
2932+ <dia:attribute name="template">
2933+ <dia:boolean val="false"/>
2934+ </dia:attribute>
2935+ <dia:attribute name="templates"/>
2936+ </dia:object>
2937+ <dia:object type="UML - Class" version="0" id="O13">
2938+ <dia:attribute name="obj_pos">
2939+ <dia:point val="-57,-17"/>
2940+ </dia:attribute>
2941+ <dia:attribute name="obj_bb">
2942+ <dia:rectangle val="-57.05,-17.05;-31.81,8.25"/>
2943+ </dia:attribute>
2944+ <dia:attribute name="elem_corner">
2945+ <dia:point val="-57,-17"/>
2946+ </dia:attribute>
2947+ <dia:attribute name="elem_width">
2948+ <dia:real val="25.140000000000001"/>
2949+ </dia:attribute>
2950+ <dia:attribute name="elem_height">
2951+ <dia:real val="25.20000000000001"/>
2952+ </dia:attribute>
2953+ <dia:attribute name="name">
2954+ <dia:string>#object_paths#</dia:string>
2955+ </dia:attribute>
2956+ <dia:attribute name="stereotype">
2957+ <dia:string>##</dia:string>
2958+ </dia:attribute>
2959+ <dia:attribute name="comment">
2960+ <dia:string>#Table for holding push-grasping pat ... ects.#</dia:string>
2961+ </dia:attribute>
2962+ <dia:attribute name="abstract">
2963+ <dia:boolean val="false"/>
2964+ </dia:attribute>
2965+ <dia:attribute name="suppress_attributes">
2966+ <dia:boolean val="false"/>
2967+ </dia:attribute>
2968+ <dia:attribute name="suppress_operations">
2969+ <dia:boolean val="false"/>
2970+ </dia:attribute>
2971+ <dia:attribute name="visible_attributes">
2972+ <dia:boolean val="true"/>
2973+ </dia:attribute>
2974+ <dia:attribute name="visible_operations">
2975+ <dia:boolean val="false"/>
2976+ </dia:attribute>
2977+ <dia:attribute name="visible_comments">
2978+ <dia:boolean val="true"/>
2979+ </dia:attribute>
2980+ <dia:attribute name="wrap_operations">
2981+ <dia:boolean val="false"/>
2982+ </dia:attribute>
2983+ <dia:attribute name="wrap_after_char">
2984+ <dia:int val="40"/>
2985+ </dia:attribute>
2986+ <dia:attribute name="comment_line_length">
2987+ <dia:int val="40"/>
2988+ </dia:attribute>
2989+ <dia:attribute name="comment_tagging">
2990+ <dia:boolean val="false"/>
2991+ </dia:attribute>
2992+ <dia:attribute name="line_width">
2993+ <dia:real val="0.10000000000000001"/>
2994+ </dia:attribute>
2995+ <dia:attribute name="line_color">
2996+ <dia:color val="#000000"/>
2997+ </dia:attribute>
2998+ <dia:attribute name="fill_color">
2999+ <dia:color val="#ffffff"/>
3000+ </dia:attribute>
3001+ <dia:attribute name="text_color">
3002+ <dia:color val="#000000"/>
3003+ </dia:attribute>
3004+ <dia:attribute name="normal_font">
3005+ <dia:font family="monospace" style="0" name="Courier"/>
3006+ </dia:attribute>
3007+ <dia:attribute name="abstract_font">
3008+ <dia:font family="monospace" style="88" name="Courier-BoldOblique"/>
3009+ </dia:attribute>
3010+ <dia:attribute name="polymorphic_font">
3011+ <dia:font family="monospace" style="8" name="Courier-Oblique"/>
3012+ </dia:attribute>
3013+ <dia:attribute name="classname_font">
3014+ <dia:font family="sans" style="80" name="Helvetica-Bold"/>
3015+ </dia:attribute>
3016+ <dia:attribute name="abstract_classname_font">
3017+ <dia:font family="sans" style="88" name="Helvetica-BoldOblique"/>
3018+ </dia:attribute>
3019+ <dia:attribute name="comment_font">
3020+ <dia:font family="sans" style="8" name="Helvetica-Oblique"/>
3021+ </dia:attribute>
3022+ <dia:attribute name="normal_font_height">
3023+ <dia:real val="0.80000000000000004"/>
3024+ </dia:attribute>
3025+ <dia:attribute name="polymorphic_font_height">
3026+ <dia:real val="0.80000000000000004"/>
3027+ </dia:attribute>
3028+ <dia:attribute name="abstract_font_height">
3029+ <dia:real val="0.80000000000000004"/>
3030+ </dia:attribute>
3031+ <dia:attribute name="classname_font_height">
3032+ <dia:real val="1"/>
3033+ </dia:attribute>
3034+ <dia:attribute name="abstract_classname_font_height">
3035+ <dia:real val="1"/>
3036+ </dia:attribute>
3037+ <dia:attribute name="comment_font_height">
3038+ <dia:real val="1"/>
3039+ </dia:attribute>
3040+ <dia:attribute name="attributes">
3041+ <dia:composite type="umlattribute">
3042+ <dia:attribute name="name">
3043+ <dia:string># object_paths_id#</dia:string>
3044+ </dia:attribute>
3045+ <dia:attribute name="type">
3046+ <dia:string>#integer#</dia:string>
3047+ </dia:attribute>
3048+ <dia:attribute name="value">
3049+ <dia:string>#nextval('object_p ... lass)#</dia:string>
3050+ </dia:attribute>
3051+ <dia:attribute name="comment">
3052+ <dia:string>##</dia:string>
3053+ </dia:attribute>
3054+ <dia:attribute name="visibility">
3055+ <dia:enum val="3"/>
3056+ </dia:attribute>
3057+ <dia:attribute name="abstract">
3058+ <dia:boolean val="false"/>
3059+ </dia:attribute>
3060+ <dia:attribute name="class_scope">
3061+ <dia:boolean val="false"/>
3062+ </dia:attribute>
3063+ </dia:composite>
3064+ <dia:composite type="umlattribute">
3065+ <dia:attribute name="name">
3066+ <dia:string># scaled_model_id#</dia:string>
3067+ </dia:attribute>
3068+ <dia:attribute name="type">
3069+ <dia:string>#integer#</dia:string>
3070+ </dia:attribute>
3071+ <dia:attribute name="value">
3072+ <dia:string>##</dia:string>
3073+ </dia:attribute>
3074+ <dia:attribute name="comment">
3075+ <dia:string>##</dia:string>
3076+ </dia:attribute>
3077+ <dia:attribute name="visibility">
3078+ <dia:enum val="3"/>
3079+ </dia:attribute>
3080+ <dia:attribute name="abstract">
3081+ <dia:boolean val="false"/>
3082+ </dia:attribute>
3083+ <dia:attribute name="class_scope">
3084+ <dia:boolean val="false"/>
3085+ </dia:attribute>
3086+ </dia:composite>
3087+ <dia:composite type="umlattribute">
3088+ <dia:attribute name="name">
3089+ <dia:string># object_description#</dia:string>
3090+ </dia:attribute>
3091+ <dia:attribute name="type">
3092+ <dia:string>#text#</dia:string>
3093+ </dia:attribute>
3094+ <dia:attribute name="value">
3095+ <dia:string>##</dia:string>
3096+ </dia:attribute>
3097+ <dia:attribute name="comment">
3098+ <dia:string>##</dia:string>
3099+ </dia:attribute>
3100+ <dia:attribute name="visibility">
3101+ <dia:enum val="3"/>
3102+ </dia:attribute>
3103+ <dia:attribute name="abstract">
3104+ <dia:boolean val="false"/>
3105+ </dia:attribute>
3106+ <dia:attribute name="class_scope">
3107+ <dia:boolean val="false"/>
3108+ </dia:attribute>
3109+ </dia:composite>
3110+ <dia:composite type="umlattribute">
3111+ <dia:attribute name="name">
3112+ <dia:string># object_geometry_hash#</dia:string>
3113+ </dia:attribute>
3114+ <dia:attribute name="type">
3115+ <dia:string>#text#</dia:string>
3116+ </dia:attribute>
3117+ <dia:attribute name="value">
3118+ <dia:string>##</dia:string>
3119+ </dia:attribute>
3120+ <dia:attribute name="comment">
3121+ <dia:string>##</dia:string>
3122+ </dia:attribute>
3123+ <dia:attribute name="visibility">
3124+ <dia:enum val="3"/>
3125+ </dia:attribute>
3126+ <dia:attribute name="abstract">
3127+ <dia:boolean val="false"/>
3128+ </dia:attribute>
3129+ <dia:attribute name="class_scope">
3130+ <dia:boolean val="false"/>
3131+ </dia:attribute>
3132+ </dia:composite>
3133+ <dia:composite type="umlattribute">
3134+ <dia:attribute name="name">
3135+ <dia:string># robot_geometry_hash#</dia:string>
3136+ </dia:attribute>
3137+ <dia:attribute name="type">
3138+ <dia:string>#text#</dia:string>
3139+ </dia:attribute>
3140+ <dia:attribute name="value">
3141+ <dia:string>##</dia:string>
3142+ </dia:attribute>
3143+ <dia:attribute name="comment">
3144+ <dia:string>##</dia:string>
3145+ </dia:attribute>
3146+ <dia:attribute name="visibility">
3147+ <dia:enum val="3"/>
3148+ </dia:attribute>
3149+ <dia:attribute name="abstract">
3150+ <dia:boolean val="false"/>
3151+ </dia:attribute>
3152+ <dia:attribute name="class_scope">
3153+ <dia:boolean val="false"/>
3154+ </dia:attribute>
3155+ </dia:composite>
3156+ <dia:composite type="umlattribute">
3157+ <dia:attribute name="name">
3158+ <dia:string># hand_object_coefficient_of_friction#</dia:string>
3159+ </dia:attribute>
3160+ <dia:attribute name="type">
3161+ <dia:string>#double precision#</dia:string>
3162+ </dia:attribute>
3163+ <dia:attribute name="value">
3164+ <dia:string>##</dia:string>
3165+ </dia:attribute>
3166+ <dia:attribute name="comment">
3167+ <dia:string>##</dia:string>
3168+ </dia:attribute>
3169+ <dia:attribute name="visibility">
3170+ <dia:enum val="3"/>
3171+ </dia:attribute>
3172+ <dia:attribute name="abstract">
3173+ <dia:boolean val="false"/>
3174+ </dia:attribute>
3175+ <dia:attribute name="class_scope">
3176+ <dia:boolean val="false"/>
3177+ </dia:attribute>
3178+ </dia:composite>
3179+ <dia:composite type="umlattribute">
3180+ <dia:attribute name="name">
3181+ <dia:string># pushing_distance#</dia:string>
3182+ </dia:attribute>
3183+ <dia:attribute name="type">
3184+ <dia:string>#double precision#</dia:string>
3185+ </dia:attribute>
3186+ <dia:attribute name="value">
3187+ <dia:string>##</dia:string>
3188+ </dia:attribute>
3189+ <dia:attribute name="comment">
3190+ <dia:string>##</dia:string>
3191+ </dia:attribute>
3192+ <dia:attribute name="visibility">
3193+ <dia:enum val="3"/>
3194+ </dia:attribute>
3195+ <dia:attribute name="abstract">
3196+ <dia:boolean val="false"/>
3197+ </dia:attribute>
3198+ <dia:attribute name="class_scope">
3199+ <dia:boolean val="false"/>
3200+ </dia:attribute>
3201+ </dia:composite>
3202+ <dia:composite type="umlattribute">
3203+ <dia:attribute name="name">
3204+ <dia:string># in_hand_distance#</dia:string>
3205+ </dia:attribute>
3206+ <dia:attribute name="type">
3207+ <dia:string>#double precision#</dia:string>
3208+ </dia:attribute>
3209+ <dia:attribute name="value">
3210+ <dia:string>##</dia:string>
3211+ </dia:attribute>
3212+ <dia:attribute name="comment">
3213+ <dia:string>##</dia:string>
3214+ </dia:attribute>
3215+ <dia:attribute name="visibility">
3216+ <dia:enum val="3"/>
3217+ </dia:attribute>
3218+ <dia:attribute name="abstract">
3219+ <dia:boolean val="false"/>
3220+ </dia:attribute>
3221+ <dia:attribute name="class_scope">
3222+ <dia:boolean val="false"/>
3223+ </dia:attribute>
3224+ </dia:composite>
3225+ <dia:composite type="umlattribute">
3226+ <dia:attribute name="name">
3227+ <dia:string># y_resolution#</dia:string>
3228+ </dia:attribute>
3229+ <dia:attribute name="type">
3230+ <dia:string>#double precision#</dia:string>
3231+ </dia:attribute>
3232+ <dia:attribute name="value">
3233+ <dia:string>##</dia:string>
3234+ </dia:attribute>
3235+ <dia:attribute name="comment">
3236+ <dia:string>##</dia:string>
3237+ </dia:attribute>
3238+ <dia:attribute name="visibility">
3239+ <dia:enum val="3"/>
3240+ </dia:attribute>
3241+ <dia:attribute name="abstract">
3242+ <dia:boolean val="false"/>
3243+ </dia:attribute>
3244+ <dia:attribute name="class_scope">
3245+ <dia:boolean val="false"/>
3246+ </dia:attribute>
3247+ </dia:composite>
3248+ <dia:composite type="umlattribute">
3249+ <dia:attribute name="name">
3250+ <dia:string># start_y_offset#</dia:string>
3251+ </dia:attribute>
3252+ <dia:attribute name="type">
3253+ <dia:string>#double precision#</dia:string>
3254+ </dia:attribute>
3255+ <dia:attribute name="value">
3256+ <dia:string>##</dia:string>
3257+ </dia:attribute>
3258+ <dia:attribute name="comment">
3259+ <dia:string>##</dia:string>
3260+ </dia:attribute>
3261+ <dia:attribute name="visibility">
3262+ <dia:enum val="3"/>
3263+ </dia:attribute>
3264+ <dia:attribute name="abstract">
3265+ <dia:boolean val="false"/>
3266+ </dia:attribute>
3267+ <dia:attribute name="class_scope">
3268+ <dia:boolean val="false"/>
3269+ </dia:attribute>
3270+ </dia:composite>
3271+ <dia:composite type="umlattribute">
3272+ <dia:attribute name="name">
3273+ <dia:string># n_y_steps#</dia:string>
3274+ </dia:attribute>
3275+ <dia:attribute name="type">
3276+ <dia:string>#integer#</dia:string>
3277+ </dia:attribute>
3278+ <dia:attribute name="value">
3279+ <dia:string>##</dia:string>
3280+ </dia:attribute>
3281+ <dia:attribute name="comment">
3282+ <dia:string>##</dia:string>
3283+ </dia:attribute>
3284+ <dia:attribute name="visibility">
3285+ <dia:enum val="3"/>
3286+ </dia:attribute>
3287+ <dia:attribute name="abstract">
3288+ <dia:boolean val="false"/>
3289+ </dia:attribute>
3290+ <dia:attribute name="class_scope">
3291+ <dia:boolean val="false"/>
3292+ </dia:attribute>
3293+ </dia:composite>
3294+ <dia:composite type="umlattribute">
3295+ <dia:attribute name="name">
3296+ <dia:string># rotation_resolution#</dia:string>
3297+ </dia:attribute>
3298+ <dia:attribute name="type">
3299+ <dia:string>#double precision#</dia:string>
3300+ </dia:attribute>
3301+ <dia:attribute name="value">
3302+ <dia:string>##</dia:string>
3303+ </dia:attribute>
3304+ <dia:attribute name="comment">
3305+ <dia:string>##</dia:string>
3306+ </dia:attribute>
3307+ <dia:attribute name="visibility">
3308+ <dia:enum val="3"/>
3309+ </dia:attribute>
3310+ <dia:attribute name="abstract">
3311+ <dia:boolean val="false"/>
3312+ </dia:attribute>
3313+ <dia:attribute name="class_scope">
3314+ <dia:boolean val="false"/>
3315+ </dia:attribute>
3316+ </dia:composite>
3317+ <dia:composite type="umlattribute">
3318+ <dia:attribute name="name">
3319+ <dia:string># n_rotations#</dia:string>
3320+ </dia:attribute>
3321+ <dia:attribute name="type">
3322+ <dia:string>#integer#</dia:string>
3323+ </dia:attribute>
3324+ <dia:attribute name="value">
3325+ <dia:string>##</dia:string>
3326+ </dia:attribute>
3327+ <dia:attribute name="comment">
3328+ <dia:string>##</dia:string>
3329+ </dia:attribute>
3330+ <dia:attribute name="visibility">
3331+ <dia:enum val="3"/>
3332+ </dia:attribute>
3333+ <dia:attribute name="abstract">
3334+ <dia:boolean val="false"/>
3335+ </dia:attribute>
3336+ <dia:attribute name="class_scope">
3337+ <dia:boolean val="false"/>
3338+ </dia:attribute>
3339+ </dia:composite>
3340+ <dia:composite type="umlattribute">
3341+ <dia:attribute name="name">
3342+ <dia:string># radius_of_cylinder_bounding_the_object#</dia:string>
3343+ </dia:attribute>
3344+ <dia:attribute name="type">
3345+ <dia:string>#double precision#</dia:string>
3346+ </dia:attribute>
3347+ <dia:attribute name="value">
3348+ <dia:string>##</dia:string>
3349+ </dia:attribute>
3350+ <dia:attribute name="comment">
3351+ <dia:string>##</dia:string>
3352+ </dia:attribute>
3353+ <dia:attribute name="visibility">
3354+ <dia:enum val="3"/>
3355+ </dia:attribute>
3356+ <dia:attribute name="abstract">
3357+ <dia:boolean val="false"/>
3358+ </dia:attribute>
3359+ <dia:attribute name="class_scope">
3360+ <dia:boolean val="false"/>
3361+ </dia:attribute>
3362+ </dia:composite>
3363+ <dia:composite type="umlattribute">
3364+ <dia:attribute name="name">
3365+ <dia:string># object_pushing_frame_in_object_frame#</dia:string>
3366+ </dia:attribute>
3367+ <dia:attribute name="type">
3368+ <dia:string>#double precision[]#</dia:string>
3369+ </dia:attribute>
3370+ <dia:attribute name="value">
3371+ <dia:string>##</dia:string>
3372+ </dia:attribute>
3373+ <dia:attribute name="comment">
3374+ <dia:string>##</dia:string>
3375+ </dia:attribute>
3376+ <dia:attribute name="visibility">
3377+ <dia:enum val="3"/>
3378+ </dia:attribute>
3379+ <dia:attribute name="abstract">
3380+ <dia:boolean val="false"/>
3381+ </dia:attribute>
3382+ <dia:attribute name="class_scope">
3383+ <dia:boolean val="false"/>
3384+ </dia:attribute>
3385+ </dia:composite>
3386+ <dia:composite type="umlattribute">
3387+ <dia:attribute name="name">
3388+ <dia:string># fingertip_frame_to_pushing_surface_distance#</dia:string>
3389+ </dia:attribute>
3390+ <dia:attribute name="type">
3391+ <dia:string>#double precision#</dia:string>
3392+ </dia:attribute>
3393+ <dia:attribute name="value">
3394+ <dia:string>##</dia:string>
3395+ </dia:attribute>
3396+ <dia:attribute name="comment">
3397+ <dia:string>##</dia:string>
3398+ </dia:attribute>
3399+ <dia:attribute name="visibility">
3400+ <dia:enum val="3"/>
3401+ </dia:attribute>
3402+ <dia:attribute name="abstract">
3403+ <dia:boolean val="false"/>
3404+ </dia:attribute>
3405+ <dia:attribute name="class_scope">
3406+ <dia:boolean val="false"/>
3407+ </dia:attribute>
3408+ </dia:composite>
3409+ <dia:composite type="umlattribute">
3410+ <dia:attribute name="name">
3411+ <dia:string># finger_width#</dia:string>
3412+ </dia:attribute>
3413+ <dia:attribute name="type">
3414+ <dia:string>#double precision#</dia:string>
3415+ </dia:attribute>
3416+ <dia:attribute name="value">
3417+ <dia:string>##</dia:string>
3418+ </dia:attribute>
3419+ <dia:attribute name="comment">
3420+ <dia:string>##</dia:string>
3421+ </dia:attribute>
3422+ <dia:attribute name="visibility">
3423+ <dia:enum val="3"/>
3424+ </dia:attribute>
3425+ <dia:attribute name="abstract">
3426+ <dia:boolean val="false"/>
3427+ </dia:attribute>
3428+ <dia:attribute name="class_scope">
3429+ <dia:boolean val="false"/>
3430+ </dia:attribute>
3431+ </dia:composite>
3432+ <dia:composite type="umlattribute">
3433+ <dia:attribute name="name">
3434+ <dia:string># motion_types#</dia:string>
3435+ </dia:attribute>
3436+ <dia:attribute name="type">
3437+ <dia:string>#integer[]#</dia:string>
3438+ </dia:attribute>
3439+ <dia:attribute name="value">
3440+ <dia:string>##</dia:string>
3441+ </dia:attribute>
3442+ <dia:attribute name="comment">
3443+ <dia:string>##</dia:string>
3444+ </dia:attribute>
3445+ <dia:attribute name="visibility">
3446+ <dia:enum val="3"/>
3447+ </dia:attribute>
3448+ <dia:attribute name="abstract">
3449+ <dia:boolean val="false"/>
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4063+ <dia:enum val="3"/>
4064+ </dia:attribute>
4065+ <dia:attribute name="abstract">
4066+ <dia:boolean val="false"/>
4067+ </dia:attribute>
4068+ <dia:attribute name="class_scope">
4069+ <dia:boolean val="false"/>
4070+ </dia:attribute>
4071+ </dia:composite>
4072+ </dia:attribute>
4073+ <dia:attribute name="operations"/>
4074+ <dia:attribute name="template">
4075+ <dia:boolean val="false"/>
4076+ </dia:attribute>
4077+ <dia:attribute name="templates"/>
4078+ </dia:object>
4079+ <dia:object type="UML - Class" version="0" id="O15">
4080+ <dia:attribute name="obj_pos">
4081+ <dia:point val="36,-37"/>
4082+ </dia:attribute>
4083+ <dia:attribute name="obj_bb">
4084+ <dia:rectangle val="35.95,-37.05;58.88,-31.35"/>
4085+ </dia:attribute>
4086+ <dia:attribute name="elem_corner">
4087+ <dia:point val="36,-37"/>
4088+ </dia:attribute>
4089+ <dia:attribute name="elem_width">
4090+ <dia:real val="22.830000000000002"/>
4091+ </dia:attribute>
4092+ <dia:attribute name="elem_height">
4093+ <dia:real val="5.5999999999999996"/>
4094+ </dia:attribute>
4095+ <dia:attribute name="name">
4096+ <dia:string>#planning_task#</dia:string>
4097+ </dia:attribute>
4098+ <dia:attribute name="stereotype">
4099+ <dia:string>##</dia:string>
4100+ </dia:attribute>
4101+ <dia:attribute name="comment">
4102+ <dia:string>##</dia:string>
4103+ </dia:attribute>
4104+ <dia:attribute name="abstract">
4105+ <dia:boolean val="false"/>
4106+ </dia:attribute>
4107+ <dia:attribute name="suppress_attributes">
4108+ <dia:boolean val="false"/>
4109+ </dia:attribute>
4110+ <dia:attribute name="suppress_operations">
4111+ <dia:boolean val="false"/>
4112+ </dia:attribute>
4113+ <dia:attribute name="visible_attributes">
4114+ <dia:boolean val="true"/>
4115+ </dia:attribute>
4116+ <dia:attribute name="visible_operations">
4117+ <dia:boolean val="false"/>
4118+ </dia:attribute>
4119+ <dia:attribute name="visible_comments">
4120+ <dia:boolean val="true"/>
4121+ </dia:attribute>
4122+ <dia:attribute name="wrap_operations">
4123+ <dia:boolean val="false"/>
4124+ </dia:attribute>
4125+ <dia:attribute name="wrap_after_char">
4126+ <dia:int val="40"/>
4127+ </dia:attribute>
4128+ <dia:attribute name="comment_line_length">
4129+ <dia:int val="40"/>
4130+ </dia:attribute>
4131+ <dia:attribute name="comment_tagging">
4132+ <dia:boolean val="false"/>
4133+ </dia:attribute>
4134+ <dia:attribute name="line_width">
4135+ <dia:real val="0.10000000000000001"/>
4136+ </dia:attribute>
4137+ <dia:attribute name="line_color">
4138+ <dia:color val="#000000"/>
4139+ </dia:attribute>
4140+ <dia:attribute name="fill_color">
4141+ <dia:color val="#ffffff"/>
4142+ </dia:attribute>
4143+ <dia:attribute name="text_color">
4144+ <dia:color val="#000000"/>
4145+ </dia:attribute>
4146+ <dia:attribute name="normal_font">
4147+ <dia:font family="monospace" style="0" name="Courier"/>
4148+ </dia:attribute>
4149+ <dia:attribute name="abstract_font">
4150+ <dia:font family="monospace" style="88" name="Courier-BoldOblique"/>
4151+ </dia:attribute>
4152+ <dia:attribute name="polymorphic_font">
4153+ <dia:font family="monospace" style="8" name="Courier-Oblique"/>
4154+ </dia:attribute>
4155+ <dia:attribute name="classname_font">
4156+ <dia:font family="sans" style="80" name="Helvetica-Bold"/>
4157+ </dia:attribute>
4158+ <dia:attribute name="abstract_classname_font">
4159+ <dia:font family="sans" style="88" name="Helvetica-BoldOblique"/>
4160+ </dia:attribute>
4161+ <dia:attribute name="comment_font">
4162+ <dia:font family="sans" style="8" name="Helvetica-Oblique"/>
4163+ </dia:attribute>
4164+ <dia:attribute name="normal_font_height">
4165+ <dia:real val="0.80000000000000004"/>
4166+ </dia:attribute>
4167+ <dia:attribute name="polymorphic_font_height">
4168+ <dia:real val="0.80000000000000004"/>
4169+ </dia:attribute>
4170+ <dia:attribute name="abstract_font_height">
4171+ <dia:real val="0.80000000000000004"/>
4172+ </dia:attribute>
4173+ <dia:attribute name="classname_font_height">
4174+ <dia:real val="1"/>
4175+ </dia:attribute>
4176+ <dia:attribute name="abstract_classname_font_height">
4177+ <dia:real val="1"/>
4178+ </dia:attribute>
4179+ <dia:attribute name="comment_font_height">
4180+ <dia:real val="1"/>
4181+ </dia:attribute>
4182+ <dia:attribute name="attributes">
4183+ <dia:composite type="umlattribute">
4184+ <dia:attribute name="name">
4185+ <dia:string># dbase_task_id#</dia:string>
4186+ </dia:attribute>
4187+ <dia:attribute name="type">
4188+ <dia:string>#integer#</dia:string>
4189+ </dia:attribute>
4190+ <dia:attribute name="value">
4191+ <dia:string>##</dia:string>
4192+ </dia:attribute>
4193+ <dia:attribute name="comment">
4194+ <dia:string>##</dia:string>
4195+ </dia:attribute>
4196+ <dia:attribute name="visibility">
4197+ <dia:enum val="3"/>
4198+ </dia:attribute>
4199+ <dia:attribute name="abstract">
4200+ <dia:boolean val="false"/>
4201+ </dia:attribute>
4202+ <dia:attribute name="class_scope">
4203+ <dia:boolean val="false"/>
4204+ </dia:attribute>
4205+ </dia:composite>
4206+ <dia:composite type="umlattribute">
4207+ <dia:attribute name="name">
4208+ <dia:string># scaled_model_id#</dia:string>
4209+ </dia:attribute>
4210+ <dia:attribute name="type">
4211+ <dia:string>#integer#</dia:string>
4212+ </dia:attribute>
4213+ <dia:attribute name="value">
4214+ <dia:string>##</dia:string>
4215+ </dia:attribute>
4216+ <dia:attribute name="comment">
4217+ <dia:string>##</dia:string>
4218+ </dia:attribute>
4219+ <dia:attribute name="visibility">
4220+ <dia:enum val="3"/>
4221+ </dia:attribute>
4222+ <dia:attribute name="abstract">
4223+ <dia:boolean val="false"/>
4224+ </dia:attribute>
4225+ <dia:attribute name="class_scope">
4226+ <dia:boolean val="false"/>
4227+ </dia:attribute>
4228+ </dia:composite>
4229+ <dia:composite type="umlattribute">
4230+ <dia:attribute name="name">
4231+ <dia:string># task_time#</dia:string>
4232+ </dia:attribute>
4233+ <dia:attribute name="type">
4234+ <dia:string>#integer#</dia:string>
4235+ </dia:attribute>
4236+ <dia:attribute name="value">
4237+ <dia:string>##</dia:string>
4238+ </dia:attribute>
4239+ <dia:attribute name="comment">
4240+ <dia:string>##</dia:string>
4241+ </dia:attribute>
4242+ <dia:attribute name="visibility">
4243+ <dia:enum val="3"/>
4244+ </dia:attribute>
4245+ <dia:attribute name="abstract">
4246+ <dia:boolean val="false"/>
4247+ </dia:attribute>
4248+ <dia:attribute name="class_scope">
4249+ <dia:boolean val="false"/>
4250+ </dia:attribute>
4251+ </dia:composite>
4252+ <dia:composite type="umlattribute">
4253+ <dia:attribute name="name">
4254+ <dia:string># hand_name#</dia:string>
4255+ </dia:attribute>
4256+ <dia:attribute name="type">
4257+ <dia:string>#text#</dia:string>
4258+ </dia:attribute>
4259+ <dia:attribute name="value">
4260+ <dia:string>##</dia:string>
4261+ </dia:attribute>
4262+ <dia:attribute name="comment">
4263+ <dia:string>##</dia:string>
4264+ </dia:attribute>
4265+ <dia:attribute name="visibility">
4266+ <dia:enum val="3"/>
4267+ </dia:attribute>
4268+ <dia:attribute name="abstract">
4269+ <dia:boolean val="false"/>
4270+ </dia:attribute>
4271+ <dia:attribute name="class_scope">
4272+ <dia:boolean val="false"/>
4273+ </dia:attribute>
4274+ </dia:composite>
4275+ <dia:composite type="umlattribute">
4276+ <dia:attribute name="name">
4277+ <dia:string># planning_task_id#</dia:string>
4278+ </dia:attribute>
4279+ <dia:attribute name="type">
4280+ <dia:string>#integer#</dia:string>
4281+ </dia:attribute>
4282+ <dia:attribute name="value">
4283+ <dia:string>#nextval('planning ... lass)#</dia:string>
4284+ </dia:attribute>
4285+ <dia:attribute name="comment">
4286+ <dia:string>##</dia:string>
4287+ </dia:attribute>
4288+ <dia:attribute name="visibility">
4289+ <dia:enum val="3"/>
4290+ </dia:attribute>
4291+ <dia:attribute name="abstract">
4292+ <dia:boolean val="false"/>
4293+ </dia:attribute>
4294+ <dia:attribute name="class_scope">
4295+ <dia:boolean val="false"/>
4296+ </dia:attribute>
4297+ </dia:composite>
4298+ </dia:attribute>
4299+ <dia:attribute name="operations"/>
4300+ <dia:attribute name="template">
4301+ <dia:boolean val="false"/>
4302+ </dia:attribute>
4303+ <dia:attribute name="templates"/>
4304+ </dia:object>
4305+ <dia:object type="UML - Class" version="0" id="O16">
4306+ <dia:attribute name="obj_pos">
4307+ <dia:point val="-25,-34"/>
4308+ </dia:attribute>
4309+ <dia:attribute name="obj_bb">
4310+ <dia:rectangle val="-25.05,-34.05;-9.435,-29.95"/>
4311+ </dia:attribute>
4312+ <dia:attribute name="elem_corner">
4313+ <dia:point val="-25,-34"/>
4314+ </dia:attribute>
4315+ <dia:attribute name="elem_width">
4316+ <dia:real val="15.515000000000001"/>
4317+ </dia:attribute>
4318+ <dia:attribute name="elem_height">
4319+ <dia:real val="4"/>
4320+ </dia:attribute>
4321+ <dia:attribute name="name">
4322+ <dia:string>#scaled_model#</dia:string>
4323+ </dia:attribute>
4324+ <dia:attribute name="stereotype">
4325+ <dia:string>##</dia:string>
4326+ </dia:attribute>
4327+ <dia:attribute name="comment">
4328+ <dia:string>##</dia:string>
4329+ </dia:attribute>
4330+ <dia:attribute name="abstract">
4331+ <dia:boolean val="false"/>
4332+ </dia:attribute>
4333+ <dia:attribute name="suppress_attributes">
4334+ <dia:boolean val="false"/>
4335+ </dia:attribute>
4336+ <dia:attribute name="suppress_operations">
4337+ <dia:boolean val="false"/>
4338+ </dia:attribute>
4339+ <dia:attribute name="visible_attributes">
4340+ <dia:boolean val="true"/>
4341+ </dia:attribute>
4342+ <dia:attribute name="visible_operations">
4343+ <dia:boolean val="false"/>
4344+ </dia:attribute>
4345+ <dia:attribute name="visible_comments">
4346+ <dia:boolean val="true"/>
4347+ </dia:attribute>
4348+ <dia:attribute name="wrap_operations">
4349+ <dia:boolean val="false"/>
4350+ </dia:attribute>
4351+ <dia:attribute name="wrap_after_char">
4352+ <dia:int val="40"/>
4353+ </dia:attribute>
4354+ <dia:attribute name="comment_line_length">
4355+ <dia:int val="40"/>
4356+ </dia:attribute>
4357+ <dia:attribute name="comment_tagging">
4358+ <dia:boolean val="false"/>
4359+ </dia:attribute>
4360+ <dia:attribute name="line_width">
4361+ <dia:real val="0.10000000000000001"/>
4362+ </dia:attribute>
4363+ <dia:attribute name="line_color">
4364+ <dia:color val="#000000"/>
4365+ </dia:attribute>
4366+ <dia:attribute name="fill_color">
4367+ <dia:color val="#ffffff"/>
4368+ </dia:attribute>
4369+ <dia:attribute name="text_color">
4370+ <dia:color val="#000000"/>
4371+ </dia:attribute>
4372+ <dia:attribute name="normal_font">
4373+ <dia:font family="monospace" style="0" name="Courier"/>
4374+ </dia:attribute>
4375+ <dia:attribute name="abstract_font">
4376+ <dia:font family="monospace" style="88" name="Courier-BoldOblique"/>
4377+ </dia:attribute>
4378+ <dia:attribute name="polymorphic_font">
4379+ <dia:font family="monospace" style="8" name="Courier-Oblique"/>
4380+ </dia:attribute>
4381+ <dia:attribute name="classname_font">
4382+ <dia:font family="sans" style="80" name="Helvetica-Bold"/>
4383+ </dia:attribute>
4384+ <dia:attribute name="abstract_classname_font">
4385+ <dia:font family="sans" style="88" name="Helvetica-BoldOblique"/>
4386+ </dia:attribute>
4387+ <dia:attribute name="comment_font">
4388+ <dia:font family="sans" style="8" name="Helvetica-Oblique"/>
4389+ </dia:attribute>
4390+ <dia:attribute name="normal_font_height">
4391+ <dia:real val="0.80000000000000004"/>
4392+ </dia:attribute>
4393+ <dia:attribute name="polymorphic_font_height">
4394+ <dia:real val="0.80000000000000004"/>
4395+ </dia:attribute>
4396+ <dia:attribute name="abstract_font_height">
4397+ <dia:real val="0.80000000000000004"/>
4398+ </dia:attribute>
4399+ <dia:attribute name="classname_font_height">
4400+ <dia:real val="1"/>
4401+ </dia:attribute>
4402+ <dia:attribute name="abstract_classname_font_height">
4403+ <dia:real val="1"/>
4404+ </dia:attribute>
4405+ <dia:attribute name="comment_font_height">
4406+ <dia:real val="1"/>
4407+ </dia:attribute>
4408+ <dia:attribute name="attributes">
4409+ <dia:composite type="umlattribute">
4410+ <dia:attribute name="name">
4411+ <dia:string># scaled_model_id#</dia:string>
4412+ </dia:attribute>
4413+ <dia:attribute name="type">
4414+ <dia:string>#serial#</dia:string>
4415+ </dia:attribute>
4416+ <dia:attribute name="value">
4417+ <dia:string>##</dia:string>
4418+ </dia:attribute>
4419+ <dia:attribute name="comment">
4420+ <dia:string>##</dia:string>
4421+ </dia:attribute>
4422+ <dia:attribute name="visibility">
4423+ <dia:enum val="3"/>
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4425+ <dia:attribute name="abstract">
4426+ <dia:boolean val="false"/>
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4428+ <dia:attribute name="class_scope">
4429+ <dia:boolean val="false"/>
4430+ </dia:attribute>
4431+ </dia:composite>
4432+ <dia:composite type="umlattribute">
4433+ <dia:attribute name="name">
4434+ <dia:string># scaled_model_scale#</dia:string>
4435+ </dia:attribute>
4436+ <dia:attribute name="type">
4437+ <dia:string>#double precision#</dia:string>
4438+ </dia:attribute>
4439+ <dia:attribute name="value">
4440+ <dia:string>##</dia:string>
4441+ </dia:attribute>
4442+ <dia:attribute name="comment">
4443+ <dia:string>##</dia:string>
4444+ </dia:attribute>
4445+ <dia:attribute name="visibility">
4446+ <dia:enum val="3"/>
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4448+ <dia:attribute name="abstract">
4449+ <dia:boolean val="false"/>
4450+ </dia:attribute>
4451+ <dia:attribute name="class_scope">
4452+ <dia:boolean val="false"/>
4453+ </dia:attribute>
4454+ </dia:composite>
4455+ <dia:composite type="umlattribute">
4456+ <dia:attribute name="name">
4457+ <dia:string># original_model_id#</dia:string>
4458+ </dia:attribute>
4459+ <dia:attribute name="type">
4460+ <dia:string>#integer#</dia:string>
4461+ </dia:attribute>
4462+ <dia:attribute name="value">
4463+ <dia:string>##</dia:string>
4464+ </dia:attribute>
4465+ <dia:attribute name="comment">
4466+ <dia:string>##</dia:string>
4467+ </dia:attribute>
4468+ <dia:attribute name="visibility">
4469+ <dia:enum val="3"/>
4470+ </dia:attribute>
4471+ <dia:attribute name="abstract">
4472+ <dia:boolean val="false"/>
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4474+ <dia:attribute name="class_scope">
4475+ <dia:boolean val="false"/>
4476+ </dia:attribute>
4477+ </dia:composite>
4478+ </dia:attribute>
4479+ <dia:attribute name="operations"/>
4480+ <dia:attribute name="template">
4481+ <dia:boolean val="false"/>
4482+ </dia:attribute>
4483+ <dia:attribute name="templates"/>
4484+ </dia:object>
4485+ <dia:object type="UML - Class" version="0" id="O17">
4486+ <dia:attribute name="obj_pos">
4487+ <dia:point val="26,-9"/>
4488+ </dia:attribute>
4489+ <dia:attribute name="obj_bb">
4490+ <dia:rectangle val="25.95,-9.05;45.415,-1.75"/>
4491+ </dia:attribute>
4492+ <dia:attribute name="elem_corner">
4493+ <dia:point val="26,-9"/>
4494+ </dia:attribute>
4495+ <dia:attribute name="elem_width">
4496+ <dia:real val="19.365000000000002"/>
4497+ </dia:attribute>
4498+ <dia:attribute name="elem_height">
4499+ <dia:real val="7.1999999999999993"/>
4500+ </dia:attribute>
4501+ <dia:attribute name="name">
4502+ <dia:string>#scan#</dia:string>
4503+ </dia:attribute>
4504+ <dia:attribute name="stereotype">
4505+ <dia:string>##</dia:string>
4506+ </dia:attribute>
4507+ <dia:attribute name="comment">
4508+ <dia:string>##</dia:string>
4509+ </dia:attribute>
4510+ <dia:attribute name="abstract">
4511+ <dia:boolean val="false"/>
4512+ </dia:attribute>
4513+ <dia:attribute name="suppress_attributes">
4514+ <dia:boolean val="false"/>
4515+ </dia:attribute>
4516+ <dia:attribute name="suppress_operations">
4517+ <dia:boolean val="false"/>
4518+ </dia:attribute>
4519+ <dia:attribute name="visible_attributes">
4520+ <dia:boolean val="true"/>
4521+ </dia:attribute>
4522+ <dia:attribute name="visible_operations">
4523+ <dia:boolean val="false"/>
4524+ </dia:attribute>
4525+ <dia:attribute name="visible_comments">
4526+ <dia:boolean val="true"/>
4527+ </dia:attribute>
4528+ <dia:attribute name="wrap_operations">
4529+ <dia:boolean val="false"/>
4530+ </dia:attribute>
4531+ <dia:attribute name="wrap_after_char">
4532+ <dia:int val="40"/>
4533+ </dia:attribute>
4534+ <dia:attribute name="comment_line_length">
4535+ <dia:int val="40"/>
4536+ </dia:attribute>
4537+ <dia:attribute name="comment_tagging">
4538+ <dia:boolean val="false"/>
4539+ </dia:attribute>
4540+ <dia:attribute name="line_width">
4541+ <dia:real val="0.10000000000000001"/>
4542+ </dia:attribute>
4543+ <dia:attribute name="line_color">
4544+ <dia:color val="#000000"/>
4545+ </dia:attribute>
4546+ <dia:attribute name="fill_color">
4547+ <dia:color val="#ffffff"/>
4548+ </dia:attribute>
4549+ <dia:attribute name="text_color">
4550+ <dia:color val="#000000"/>
4551+ </dia:attribute>
4552+ <dia:attribute name="normal_font">
4553+ <dia:font family="monospace" style="0" name="Courier"/>
4554+ </dia:attribute>
4555+ <dia:attribute name="abstract_font">
4556+ <dia:font family="monospace" style="88" name="Courier-BoldOblique"/>
4557+ </dia:attribute>
4558+ <dia:attribute name="polymorphic_font">
4559+ <dia:font family="monospace" style="8" name="Courier-Oblique"/>
4560+ </dia:attribute>
4561+ <dia:attribute name="classname_font">
4562+ <dia:font family="sans" style="80" name="Helvetica-Bold"/>
4563+ </dia:attribute>
4564+ <dia:attribute name="abstract_classname_font">
4565+ <dia:font family="sans" style="88" name="Helvetica-BoldOblique"/>
4566+ </dia:attribute>
4567+ <dia:attribute name="comment_font">
4568+ <dia:font family="sans" style="8" name="Helvetica-Oblique"/>
4569+ </dia:attribute>
4570+ <dia:attribute name="normal_font_height">
4571+ <dia:real val="0.80000000000000004"/>
4572+ </dia:attribute>
4573+ <dia:attribute name="polymorphic_font_height">
4574+ <dia:real val="0.80000000000000004"/>
4575+ </dia:attribute>
4576+ <dia:attribute name="abstract_font_height">
4577+ <dia:real val="0.80000000000000004"/>
4578+ </dia:attribute>
4579+ <dia:attribute name="classname_font_height">
4580+ <dia:real val="1"/>
4581+ </dia:attribute>
4582+ <dia:attribute name="abstract_classname_font_height">
4583+ <dia:real val="1"/>
4584+ </dia:attribute>
4585+ <dia:attribute name="comment_font_height">
4586+ <dia:real val="1"/>
4587+ </dia:attribute>
4588+ <dia:attribute name="attributes">
4589+ <dia:composite type="umlattribute">
4590+ <dia:attribute name="name">
4591+ <dia:string># scan_id#</dia:string>
4592+ </dia:attribute>
4593+ <dia:attribute name="type">
4594+ <dia:string>#integer#</dia:string>
4595+ </dia:attribute>
4596+ <dia:attribute name="value">
4597+ <dia:string>#nextval('scan_sca ... lass)#</dia:string>
4598+ </dia:attribute>
4599+ <dia:attribute name="comment">
4600+ <dia:string>##</dia:string>
4601+ </dia:attribute>
4602+ <dia:attribute name="visibility">
4603+ <dia:enum val="3"/>
4604+ </dia:attribute>
4605+ <dia:attribute name="abstract">
4606+ <dia:boolean val="false"/>
4607+ </dia:attribute>
4608+ <dia:attribute name="class_scope">
4609+ <dia:boolean val="false"/>
4610+ </dia:attribute>
4611+ </dia:composite>
4612+ <dia:composite type="umlattribute">
4613+ <dia:attribute name="name">
4614+ <dia:string># scaled_model_id#</dia:string>
4615+ </dia:attribute>
4616+ <dia:attribute name="type">
4617+ <dia:string>#integer#</dia:string>
4618+ </dia:attribute>
4619+ <dia:attribute name="value">
4620+ <dia:string>##</dia:string>
4621+ </dia:attribute>
4622+ <dia:attribute name="comment">
4623+ <dia:string>##</dia:string>
4624+ </dia:attribute>
4625+ <dia:attribute name="visibility">
4626+ <dia:enum val="3"/>
4627+ </dia:attribute>
4628+ <dia:attribute name="abstract">
4629+ <dia:boolean val="false"/>
4630+ </dia:attribute>
4631+ <dia:attribute name="class_scope">
4632+ <dia:boolean val="false"/>
4633+ </dia:attribute>
4634+ </dia:composite>
4635+ <dia:composite type="umlattribute">
4636+ <dia:attribute name="name">
4637+ <dia:string># scan_bagfile_location#</dia:string>
4638+ </dia:attribute>
4639+ <dia:attribute name="type">
4640+ <dia:string>#text#</dia:string>
4641+ </dia:attribute>
4642+ <dia:attribute name="value">
4643+ <dia:string>##</dia:string>
4644+ </dia:attribute>
4645+ <dia:attribute name="comment">
4646+ <dia:string>##</dia:string>
4647+ </dia:attribute>
4648+ <dia:attribute name="visibility">
4649+ <dia:enum val="3"/>
4650+ </dia:attribute>
4651+ <dia:attribute name="abstract">
4652+ <dia:boolean val="false"/>
4653+ </dia:attribute>
4654+ <dia:attribute name="class_scope">
4655+ <dia:boolean val="false"/>
4656+ </dia:attribute>
4657+ </dia:composite>
4658+ <dia:composite type="umlattribute">
4659+ <dia:attribute name="name">
4660+ <dia:string># scan_source#</dia:string>
4661+ </dia:attribute>
4662+ <dia:attribute name="type">
4663+ <dia:string>#text#</dia:string>
4664+ </dia:attribute>
4665+ <dia:attribute name="value">
4666+ <dia:string>##</dia:string>
4667+ </dia:attribute>
4668+ <dia:attribute name="comment">
4669+ <dia:string>##</dia:string>
4670+ </dia:attribute>
4671+ <dia:attribute name="visibility">
4672+ <dia:enum val="3"/>
4673+ </dia:attribute>
4674+ <dia:attribute name="abstract">
4675+ <dia:boolean val="false"/>
4676+ </dia:attribute>
4677+ <dia:attribute name="class_scope">
4678+ <dia:boolean val="false"/>
4679+ </dia:attribute>
4680+ </dia:composite>
4681+ <dia:composite type="umlattribute">
4682+ <dia:attribute name="name">
4683+ <dia:string># object_pose#</dia:string>
4684+ </dia:attribute>
4685+ <dia:attribute name="type">
4686+ <dia:string>#double precision[]#</dia:string>
4687+ </dia:attribute>
4688+ <dia:attribute name="value">
4689+ <dia:string>##</dia:string>
4690+ </dia:attribute>
4691+ <dia:attribute name="comment">
4692+ <dia:string>##</dia:string>
4693+ </dia:attribute>
4694+ <dia:attribute name="visibility">
4695+ <dia:enum val="3"/>
4696+ </dia:attribute>
4697+ <dia:attribute name="abstract">
4698+ <dia:boolean val="false"/>
4699+ </dia:attribute>
4700+ <dia:attribute name="class_scope">
4701+ <dia:boolean val="false"/>
4702+ </dia:attribute>
4703+ </dia:composite>
4704+ <dia:composite type="umlattribute">
4705+ <dia:attribute name="name">
4706+ <dia:string># frame_id#</dia:string>
4707+ </dia:attribute>
4708+ <dia:attribute name="type">
4709+ <dia:string>#text#</dia:string>
4710+ </dia:attribute>
4711+ <dia:attribute name="value">
4712+ <dia:string>##</dia:string>
4713+ </dia:attribute>
4714+ <dia:attribute name="comment">
4715+ <dia:string>##</dia:string>
4716+ </dia:attribute>
4717+ <dia:attribute name="visibility">
4718+ <dia:enum val="3"/>
4719+ </dia:attribute>
4720+ <dia:attribute name="abstract">
4721+ <dia:boolean val="false"/>
4722+ </dia:attribute>
4723+ <dia:attribute name="class_scope">
4724+ <dia:boolean val="false"/>
4725+ </dia:attribute>
4726+ </dia:composite>
4727+ <dia:composite type="umlattribute">
4728+ <dia:attribute name="name">
4729+ <dia:string># cloud_topic#</dia:string>
4730+ </dia:attribute>
4731+ <dia:attribute name="type">
4732+ <dia:string>#text#</dia:string>
4733+ </dia:attribute>
4734+ <dia:attribute name="value">
4735+ <dia:string>##</dia:string>
4736+ </dia:attribute>
4737+ <dia:attribute name="comment">
4738+ <dia:string>##</dia:string>
4739+ </dia:attribute>
4740+ <dia:attribute name="visibility">
4741+ <dia:enum val="3"/>
4742+ </dia:attribute>
4743+ <dia:attribute name="abstract">
4744+ <dia:boolean val="false"/>
4745+ </dia:attribute>
4746+ <dia:attribute name="class_scope">
4747+ <dia:boolean val="false"/>
4748+ </dia:attribute>
4749+ </dia:composite>
4750+ </dia:attribute>
4751+ <dia:attribute name="operations"/>
4752+ <dia:attribute name="template">
4753+ <dia:boolean val="false"/>
4754+ </dia:attribute>
4755+ <dia:attribute name="templates"/>
4756+ </dia:object>
4757+ <dia:object type="UML - Class" version="0" id="O18">
4758+ <dia:attribute name="obj_pos">
4759+ <dia:point val="6,-1"/>
4760+ </dia:attribute>
4761+ <dia:attribute name="obj_bb">
4762+ <dia:rectangle val="5.95,-1.05;21.2375,3.45"/>
4763+ </dia:attribute>
4764+ <dia:attribute name="elem_corner">
4765+ <dia:point val="6,-1"/>
4766+ </dia:attribute>
4767+ <dia:attribute name="elem_width">
4768+ <dia:real val="15.1875"/>
4769+ </dia:attribute>
4770+ <dia:attribute name="elem_height">
4771+ <dia:real val="4.4000000000000004"/>
4772+ </dia:attribute>
4773+ <dia:attribute name="name">
4774+ <dia:string>#scan_source#</dia:string>
4775+ </dia:attribute>
4776+ <dia:attribute name="stereotype">
4777+ <dia:string>##</dia:string>
4778+ </dia:attribute>
4779+ <dia:attribute name="comment">
4780+ <dia:string>#Stores the different sources of poi ... jects#</dia:string>
4781+ </dia:attribute>
4782+ <dia:attribute name="abstract">
4783+ <dia:boolean val="false"/>
4784+ </dia:attribute>
4785+ <dia:attribute name="suppress_attributes">
4786+ <dia:boolean val="false"/>
4787+ </dia:attribute>
4788+ <dia:attribute name="suppress_operations">
4789+ <dia:boolean val="false"/>
4790+ </dia:attribute>
4791+ <dia:attribute name="visible_attributes">
4792+ <dia:boolean val="true"/>
4793+ </dia:attribute>
4794+ <dia:attribute name="visible_operations">
4795+ <dia:boolean val="false"/>
4796+ </dia:attribute>
4797+ <dia:attribute name="visible_comments">
4798+ <dia:boolean val="true"/>
4799+ </dia:attribute>
4800+ <dia:attribute name="wrap_operations">
4801+ <dia:boolean val="false"/>
4802+ </dia:attribute>
4803+ <dia:attribute name="wrap_after_char">
4804+ <dia:int val="40"/>
4805+ </dia:attribute>
4806+ <dia:attribute name="comment_line_length">
4807+ <dia:int val="40"/>
4808+ </dia:attribute>
4809+ <dia:attribute name="comment_tagging">
4810+ <dia:boolean val="false"/>
4811+ </dia:attribute>
4812+ <dia:attribute name="line_width">
4813+ <dia:real val="0.10000000000000001"/>
4814+ </dia:attribute>
4815+ <dia:attribute name="line_color">
4816+ <dia:color val="#000000"/>
4817+ </dia:attribute>
4818+ <dia:attribute name="fill_color">
4819+ <dia:color val="#ffffff"/>
4820+ </dia:attribute>
4821+ <dia:attribute name="text_color">
4822+ <dia:color val="#000000"/>
4823+ </dia:attribute>
4824+ <dia:attribute name="normal_font">
4825+ <dia:font family="monospace" style="0" name="Courier"/>
4826+ </dia:attribute>
4827+ <dia:attribute name="abstract_font">
4828+ <dia:font family="monospace" style="88" name="Courier-BoldOblique"/>
4829+ </dia:attribute>
4830+ <dia:attribute name="polymorphic_font">
4831+ <dia:font family="monospace" style="8" name="Courier-Oblique"/>
4832+ </dia:attribute>
4833+ <dia:attribute name="classname_font">
4834+ <dia:font family="sans" style="80" name="Helvetica-Bold"/>
4835+ </dia:attribute>
4836+ <dia:attribute name="abstract_classname_font">
4837+ <dia:font family="sans" style="88" name="Helvetica-BoldOblique"/>
4838+ </dia:attribute>
4839+ <dia:attribute name="comment_font">
4840+ <dia:font family="sans" style="8" name="Helvetica-Oblique"/>
4841+ </dia:attribute>
4842+ <dia:attribute name="normal_font_height">
4843+ <dia:real val="0.80000000000000004"/>
4844+ </dia:attribute>
4845+ <dia:attribute name="polymorphic_font_height">
4846+ <dia:real val="0.80000000000000004"/>
4847+ </dia:attribute>
4848+ <dia:attribute name="abstract_font_height">
4849+ <dia:real val="0.80000000000000004"/>
4850+ </dia:attribute>
4851+ <dia:attribute name="classname_font_height">
4852+ <dia:real val="1"/>
4853+ </dia:attribute>
4854+ <dia:attribute name="abstract_classname_font_height">
4855+ <dia:real val="1"/>
4856+ </dia:attribute>
4857+ <dia:attribute name="comment_font_height">
4858+ <dia:real val="1"/>
4859+ </dia:attribute>
4860+ <dia:attribute name="attributes">
4861+ <dia:composite type="umlattribute">
4862+ <dia:attribute name="name">
4863+ <dia:string># scan_source_name#</dia:string>
4864+ </dia:attribute>
4865+ <dia:attribute name="type">
4866+ <dia:string>#text#</dia:string>
4867+ </dia:attribute>
4868+ <dia:attribute name="value">
4869+ <dia:string>##</dia:string>
4870+ </dia:attribute>
4871+ <dia:attribute name="comment">
4872+ <dia:string>##</dia:string>
4873+ </dia:attribute>
4874+ <dia:attribute name="visibility">
4875+ <dia:enum val="3"/>
4876+ </dia:attribute>
4877+ <dia:attribute name="abstract">
4878+ <dia:boolean val="false"/>
4879+ </dia:attribute>
4880+ <dia:attribute name="class_scope">
4881+ <dia:boolean val="false"/>
4882+ </dia:attribute>
4883+ </dia:composite>
4884+ </dia:attribute>
4885+ <dia:attribute name="operations"/>
4886+ <dia:attribute name="template">
4887+ <dia:boolean val="false"/>
4888+ </dia:attribute>
4889+ <dia:attribute name="templates"/>
4890+ </dia:object>
4891+ <dia:object type="UML - Class" version="0" id="O19">
4892+ <dia:attribute name="obj_pos">
4893+ <dia:point val="4,-44"/>
4894+ </dia:attribute>
4895+ <dia:attribute name="obj_bb">
4896+ <dia:rectangle val="3.95,-44.05;23.415,-35.55"/>
4897+ </dia:attribute>
4898+ <dia:attribute name="elem_corner">
4899+ <dia:point val="4,-44"/>
4900+ </dia:attribute>
4901+ <dia:attribute name="elem_width">
4902+ <dia:real val="19.365000000000002"/>
4903+ </dia:attribute>
4904+ <dia:attribute name="elem_height">
4905+ <dia:real val="8.4000000000000004"/>
4906+ </dia:attribute>
4907+ <dia:attribute name="name">
4908+ <dia:string>#task#</dia:string>
4909+ </dia:attribute>
4910+ <dia:attribute name="stereotype">
4911+ <dia:string>##</dia:string>
4912+ </dia:attribute>
4913+ <dia:attribute name="comment">
4914+ <dia:string>#A list of tasks, or experiments, to ... base.#</dia:string>
4915+ </dia:attribute>
4916+ <dia:attribute name="abstract">
4917+ <dia:boolean val="false"/>
4918+ </dia:attribute>
4919+ <dia:attribute name="suppress_attributes">
4920+ <dia:boolean val="false"/>
4921+ </dia:attribute>
4922+ <dia:attribute name="suppress_operations">
4923+ <dia:boolean val="false"/>
4924+ </dia:attribute>
4925+ <dia:attribute name="visible_attributes">
4926+ <dia:boolean val="true"/>
4927+ </dia:attribute>
4928+ <dia:attribute name="visible_operations">
4929+ <dia:boolean val="false"/>
4930+ </dia:attribute>
4931+ <dia:attribute name="visible_comments">
4932+ <dia:boolean val="true"/>
4933+ </dia:attribute>
4934+ <dia:attribute name="wrap_operations">
4935+ <dia:boolean val="false"/>
4936+ </dia:attribute>
4937+ <dia:attribute name="wrap_after_char">
4938+ <dia:int val="40"/>
4939+ </dia:attribute>
4940+ <dia:attribute name="comment_line_length">
4941+ <dia:int val="40"/>
4942+ </dia:attribute>
4943+ <dia:attribute name="comment_tagging">
4944+ <dia:boolean val="false"/>
4945+ </dia:attribute>
4946+ <dia:attribute name="line_width">
4947+ <dia:real val="0.10000000000000001"/>
4948+ </dia:attribute>
4949+ <dia:attribute name="line_color">
4950+ <dia:color val="#000000"/>
4951+ </dia:attribute>
4952+ <dia:attribute name="fill_color">
4953+ <dia:color val="#ffffff"/>
4954+ </dia:attribute>
4955+ <dia:attribute name="text_color">
4956+ <dia:color val="#000000"/>
4957+ </dia:attribute>
4958+ <dia:attribute name="normal_font">
4959+ <dia:font family="monospace" style="0" name="Courier"/>
4960+ </dia:attribute>
4961+ <dia:attribute name="abstract_font">
4962+ <dia:font family="monospace" style="88" name="Courier-BoldOblique"/>
4963+ </dia:attribute>
4964+ <dia:attribute name="polymorphic_font">
4965+ <dia:font family="monospace" style="8" name="Courier-Oblique"/>
4966+ </dia:attribute>
4967+ <dia:attribute name="classname_font">
4968+ <dia:font family="sans" style="80" name="Helvetica-Bold"/>
4969+ </dia:attribute>
4970+ <dia:attribute name="abstract_classname_font">
4971+ <dia:font family="sans" style="88" name="Helvetica-BoldOblique"/>
4972+ </dia:attribute>
4973+ <dia:attribute name="comment_font">
4974+ <dia:font family="sans" style="8" name="Helvetica-Oblique"/>
4975+ </dia:attribute>
4976+ <dia:attribute name="normal_font_height">
4977+ <dia:real val="0.80000000000000004"/>
4978+ </dia:attribute>
4979+ <dia:attribute name="polymorphic_font_height">
4980+ <dia:real val="0.80000000000000004"/>
4981+ </dia:attribute>
4982+ <dia:attribute name="abstract_font_height">
4983+ <dia:real val="0.80000000000000004"/>
4984+ </dia:attribute>
4985+ <dia:attribute name="classname_font_height">
4986+ <dia:real val="1"/>
4987+ </dia:attribute>
4988+ <dia:attribute name="abstract_classname_font_height">
4989+ <dia:real val="1"/>
4990+ </dia:attribute>
4991+ <dia:attribute name="comment_font_height">
4992+ <dia:real val="1"/>
4993+ </dia:attribute>
4994+ <dia:attribute name="attributes">
4995+ <dia:composite type="umlattribute">
4996+ <dia:attribute name="name">
4997+ <dia:string># task_outcome_name#</dia:string>
4998+ </dia:attribute>
4999+ <dia:attribute name="type">
5000+ <dia:string>#text#</dia:string>
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