Model ::= RobotArm ZoneModel ;

ZoneModel ::= <Size:IntPosition> SafetyZone:Zone* ;

Zone ::= Coordinate* ;

RobotArm ::= Joint* EndEffector <AttributeTestSource:int> /<AppropriateSpeed:double>/ ; // normally this would be: <AttributeTestSource:int> ;

Joint ::= <Name:String> <CurrentPosition:IntPosition> ;  // normally this would be: <CurrentPosition:IntPosition>

EndEffector : Joint;

Coordinate ::= <Position:IntPosition> ;