vcBehaviour

vcBehaviour is the basic implementation of all behavior type objects.

Hierarchy
Common Properties
Behavior Specific Properties
Methods
Examples

Hierarchy

Most behaviors have specific implementations that inherit vcBehaviour, while others can be manipulated directly as vcBehaviour type objects. In order to create a behavior, use the createBehaviour() method in vcNode.

vcOneDirectionalPath (Deprecated) use vcMotionPath

vcRoutingRule

vcTwoDirectionalPath (Deprecated) use vcMotionPath

vcRslProcessHandler (Deprecated) use vcPythonProcessHandler

vcPythonProcessHandler

vcExecutor

vcRrsRobotController

vcRslProgramExecutor (Deprecated) use vcExecutor

vcTransportController

vcPythonTransportController

vcInterpolatingTransportController

Common Properties

The following properties are common in all behavior types.

Name	Type	Access	Description
Component	vcComponent	R	Gets the component of the behavior.
Enabled	Boolean	RW	Turns on/off the use of the behavior.
IgnoreEvents	Boolean	RW	Defines if the behavior ignores events. For example, a container type behavior may disregard the transition of a component into and out of the container to avoid passing the event to a user-defined function.
Name	String	RW	Defines the name of the behavior which is unique for every behavior in a component.
Parent	vcNode	R	Gets the node the behavior belongs to in a component.
Properties	List of vcProperty	R	Gets a list of all properties in the behavior.
Type	Enumeration	R	Gets the behavior's type. See Behavior Constants for more information.
Visible	Boolean	RW	Whether this behavior and its properties are visible in the user interface.
World	vcNode	R	Gets the 3D world (simulation root node).

Behavior Specific Properties

Articulated Kinematics (old)

An old, deprecated version Articulated Kinematics might be used in some components. This is not exposed in the GUI and can only be created intentionally by a user.

Important: The constant value for this behavior type is VC_ARTICULATEDKINEMATICS.

Name	Type	Access	Description
LinkLength1	Real	RW	See Articulated Kinematics for descriptions of properties.
LinkLength2	Real	RW
LinkLength3	Real	RW
LinkLength4	Real	RW
LinkLength5	Real	RW
JointOffset1	Real	RW
JointOffset3	Real	RW
ConfigName1	String	RW
ConfigName2	String	RW
ConfigName3	String	RW
ConfigName4	String	RW
ConfigName5	String	RW
ConfigName6	String	RW
ConfigName7	String	RW
ConfigName8	String	RW
PalletizingMode	Boolean	RW
PalletizingNormal	vcVector	RW

Articulated Kinematics (new)

Articulated Kinematics is a forward and inverse kinematics solver for articulated robots.

Important: The constant value for this behavior type is VC_ARTICULATEDKINEMATICS2.

Name	Type	Access	Description
L01Z...L56Z	Real	RW	See Articulated Kinematics for descriptions of properties.
A45	Real	RW
JointZeroOffset1	Real	RW
JointZeroOffset2	Real	RW
JointZeroOffset3	Real	RW
JointZeroOffset4	Real	RW
JointZeroOffset5	Real	RW
JointZeroOffset6	Real	RW
JointSign1	Integer	RW
JointSign2	Integer	RW
JointSign3	Integer	RW
JointSign4	Integer	RW
JointSign5	Integer	RW
JointSign6	Integer	RW
Coupling23	Integer	RW
ShoulderValid	Boolean	RW
ElbowValid	Boolean	RW
WristValid	Boolean	RW
ConfigName1	String	RW
ConfigName2	String	RW
ConfigName3	String	RW
ConfigName4	String	RW
ConfigName5	String	RW
ConfigName6	String	RW
ConfigName7	String	RW
ConfigName8	String	RW
PalletizingMode	Boolean	RW
PalletizingNormal	vcVector	RW
PolarSingularityTolerance	Real	RW
WristSingularityTolerance	Real	RW
ExtendedPositionTolerance	Real	RW
Coupling456	Real	RW

Base Container

See vcBaseContainer for more information.

Capacity Controller

Component Grabber

Component Grabber is an old, deprecated behavior for grasping and releasing components in different containers. This is not exposed in the GUI and has been replaced by an Action Script behavior and robot I/O statements.

Name	Type	Access	Description
ComponentSignalIn	vcComponentSignal	RW	Defines the signal used for signaling the arrival of components into the grabber's container.
Container	vcContainer	RW	Defines the container type behavior used for storing components grasped by the grabber.
DoneSignalOut	vcBoolSignal	RW	Defines the signal used for signaling the completion of an action by the grabber.
FunctionalitySignalIn	vcSignal	RW	Defines the behavior signal used for signalling the current state of the grabber. Note: A Behaviour Signal has a constant value of VC_BEHAVIOURSIGNAL and can only be created using the API.
GrabReleaseSignalIn	vcBoolSignal	RW	Defines the signal used for triggering the grasp and release of components by the grabber.
GrabTriggerSignalOut	vcBoolSignal	RW	Defines the signal used for signaling the completion of a grasp action.
Interface	vcSimInterface	RW	Defines the interface used for exchanging components between containers.
ReleaseMode	String	RW	Defines the mode for releasing components from the grabber.
ReleaseTriggerSignalOut	vcBoolSignal	RW	Defines the signal used for signaling the completion of a release action.

Cartesian Kinematics

Cartesian Kinematics is a forward and inverse kinematics solver for Cartesian type (gantry/portal) robots. It has no additional properties.

Component Path Sensor

Component Path Sensor detects components moving along a path, and then signals the detected information.

Name	Type	Access	Description
BoolSignal	vcBoolSignal	RW	Defines the signal used for signaling the value of the BoolSignalValue property.
BoolSignalValue	Boolean	RW	Defines the current state of the sensor. That is, a True value means the sensor has been triggered, whereas a False value means the sensor has either not been triggered or has been reset.
ComponentSignal	vcComponentSignal	RW	Defines the signal used for signaling which component triggered the sensor.
Frame	vcFrameFeature	RW	Defines the Frame feature referenced as the sensor's physical location.
ResetAt	Enumeration	RW	Defines the mode for resetting the sensor. See Path Constants for more information.
TriggerAt	Enumeration	RW	Defines the mode for triggering the sensor. See Path Constants for more information.

Delta Kinematics

Delta Kinematics is a forward and inverse kinematics solver for delta type parallel kinematic robots.

Name	Type	Access	Description
Height1	Real	RW	See Delta Kinematics for descriptions of properties.
Height2	Real	RW
LinkLength1	Real	RW
LinkLength2	Real	RW
ShoulderOffset	Real	RW
WristOffset	Real	RW

Document Link

Document Link has no additional Python properties.

Jog Info

Jog Info manipulates a component's parameter values interactively.

Name	Type	Access	Description
DOF	String	RW	Defines the degree of freedom (DOF) for interaction, which is either a rotation or translation based in a coordinate axis.
Message	String	RW	Defines the message written to the Output panel when the pointer hovers over the Variable property and the Interact or Jog command is enabled.
Offset	vcMatrix	RW	Defines the offset matrix (pivot point) where interaction can occur in the containing node's coordinate system.
Scale	Real	RW	Defines the scale factor for jogging. Generally, the value is 1.0 or -1.0 in order to invert the method of interaction in the 3D world.
Variable	vcProperty	RW	Defines the property that is modified during interaction, which in all cases must be a Real type property.

Note

Note is a container of user-defined notes, free-form text that can include web links to other documents.

Name	Type	Access	Description
Note	String	RW	Defines the text in the note.

Parallelogram Kinematics

Parallelogram Kinematics is a forward and inverse kinematics solver for articulated robots with the tool pointing down (palletization).

Note: Parallelogram kinematics is different from parallel kinematics.

Name	Type	Access	Description
JointOffset1	Real	RW	See Parallelogram Kinematics for descriptions of properties.
JointOffset3	Real	RW
LinkLength1	Real	RW
LinkLength2	Real	RW
LinkLength3	Real	RW
LinkLength4	Real	RW
LinkLength5	Real	RW

Particle System

(Deprecated) Particle System allows you to create swarms of particles in the 3D world for visualization purposes. A Particle System can only be created using Python API and must be triggered by a connected Boolean Signal during a simulation in order to generate particles.

Name	Type	Access	Description
BurstAmount	Integer	RW	Defines the amount of particles to use in the burst.
BurstLife	Real	RW	Defines the life span of the particle burst.
BurstMode	Boolean	RW	Defines the burst mode of the particle system.
BurstSpeed	Real	RW	Defines the speed of the particle burst.
Frame	vcFrameFeature	RW	Defines the Frame feature referenced as the physical location of the particle system and the departure point for particles.
Interval	Real	RW	Defines the time interval of each burst or swarm.
Material	vcMaterial	RW	Defines the material of each particle. Note: The material must have a texture (vcBitmap) assigned to it in order for particles to be visible in the 3D world.
ParticleSize	Real	RW	Defines the size of each particle.

Physics Cable

Physics Cable generates a cable and spring in the 3D world that can be anchored/pinned to nodes. The cable can have a fixed length and stretch based on its physical properties.

Name	Type	Access	Description
CableLength	Real	RW	Defines the length of cable. If 0.0, the length is dynamic and based on the location of cable endpoints.
ColliderLength	Real	RW	Defines the size of collider relative to length of cable.
ColliderOverlap	Real	RW	Defines an acceptable overlap of collider in relation to others.
EndType1	Enumeration	RW	Defines an anchor type of the first endpoint. 0 = Free The cable hangs freely while attached to Node1. 1 = Rotating The cable can swing back and forth or rotate while attached to Node1. 2 = Fixed The cable is securely anchored to Node1.
EndType2	Enumeration	RW	Defines an anchor type of the second endpoint. 0 = Free The cable hangs freely while attached to Node2. 1 = Rotating The cable can swing back and forth or rotate while attached to Node2. 2 = Fixed The cable is securely anchored to Node2.
Material	vcMaterial	RW	Defines the material of cable.
MaterialDensity	Real	RW	Defines the density of cable material.
MaterialFrictionDynamic	Real	RW	Defines the dynamic friction of cable material.
MaterialFrictionStatic	Real	RW	Defines the static friction of cable material.
MaterialRestitution	Real	RW	Defines the restitution of cable material.
Node1	vcNode	RW	Defines the node the first endpoint of cable is attached to in 3D world.
Node2	vcNode	RW	Defines the node the second endpoint of cable is attached to in 3D world.
RenderingSteps	Integer	RW	Defines the amount of steps for rendering cable.
SolverIterExternal	Integer	RW	Defines the number of iterations for solving external setting of cable.
SolverIterInternal	Integer	RW	Defines the number of iterations for solving internal setting of cable.
SolverIterPosition	Integer	RW	Defines the number of iterations for solving position of cable.
SolverIterProjections	Integer	RW	Defines the number of iterations for solving the projection of cable.
SolverIterVelocity	Integer	RW	Defines the number of iterations for solving the velocity of cable.
SolverSeparationLimit	Real	RW	Defines a limit for cable separation.
SpringDamping	Real	RW	Defines the damping of cable, thereby affecting its bounciness.
SpringStrength	Real	RW	Defines the strength of cable relative to applied force when compressing or stretching the cable, for example its tensile strength.
SpringTangentialDamping	Real	RW	Defines the tangential damping of cable relative to applied forced when contacting a surface.
SpringTangentialStrength	Real	RW	Defines the tangential strength of cable relative to applied force when contacting a surface.
Stiffness	Enumeration	RW	Defines the rigidity of cable. 0 = Low Cable is very flexible. 1 = Medium (Default) Cable is fairly flexible. 2 = High Cable is very rigid.
Thickness	Real	RW	Defines the thickness of cable.
TotalLengthFactor	Real	RW	Defines a factor for determining cable length.

Physics Entity

Physics Entity allows its node to be defined as a physical body that is affected by the physics of the 3D world.

Name	Type	Access	Description
AngularDamping	Real	RW	Defines the angular damping of entity.
CenterOfGravity	vcMatrix	RW	Defines the mass center point of payload and if needed the orientation for LoadInertia.
DynamicFriction	Real	RW	Defines the kinetic friction of entity.
Inertia	vcVector	RW	Defines the inertia value (kgm^2) for each axis defined by LoadCenterOfGravity.
LinearDamping	Real	Real	Defines the linear damping of entity.
Mass	Real	RW	Defines the weight (kg) of payload.
MaterialDensity	Real	RW	Defines the density of entity.
PhysicsType	Enumeration	RW	Defines the physics type of entity. See Entity Constants for more information.
Restitution	Real	RW	Defines the restitution of entity.
SolverPositionIterations	Integer	RW	Defines the number of iterations for solving the motion of entity in relation to its position.
SolverVelocityIterations	Integer	RW	Defines the number of iterations for solving the motion of entity in relation to its velocity.
StaticFriction	Real	RW	Defines the static friction of entity.
UpdatePhysics	Boolean	RW	Updates the changes on the component during the simulation runtime. Note: You need to call the update() method at the end of the changes to do the commit.

Physics Joint

Physics Joint allows you to configure a D6 joint with multiple degrees of freedom for nodes in a component. The joint itself can be attached to any node in component and you can manipulate its constraint frame. The joint can have linear movement in XYZ axes. The swing of a D6 joint is around its X- and Y-axes, whereas twist is around the Z-axis of joint. All motions depend on how the joint is configured in a component, specifically the constraints and parent node of joint.

Name	Type	Access	Description
Attachinchildmat	vcMatrix	RW	Defines anchor point of joint in coordinate system of connected node.
Attachinparentmat	vcMatrix	RW	Defines anchor point of joint in coordinate system of parent node. Note: The joint behavior can be contained in one node, but attached to a different node. The node attached to a joint is its parent.
BreakForce	Real	RW	Defines force needed to break joint.
BreakTorque	Real	RW	Defines torque needed to break joint.
ExMotion	Enumeration	RW	Defines movement of joint in X-axis. 0 = Locked 1 = Limited 2 = Free
EyMotion	Enumeration	RW	Defines movement of joint in Y-axis. 0 = Locked 1 = Limited 2 = Free
EzMotion	Enumeration	RW	Defines movement of joint in Z-axis. 0 = Locked 1 = Limited 2 = Free
LinearLimitdamping	Real	RW	Defines damping of spring for linear limit of joint.
LinearLimitdistance	Real	RW	Defines limit for linear movement of joint based on the distance from its origin.
LinearLimitextend	Real	RW	Defines extended limit for linear movement of joint.
LinearLimitrestitution	Real	RW	Defines restitution for linear limit of joint.
LinearLimitsoft	Boolean	RW	Turns on/off soft linear limit of joint.
LinearLimitspring	Real	RW	Defines stiffness of spring for linear limit of joint.
Parent	vcNode	RW	Defines the node the joint attaches itself to in component.
ProjectionAngular	Real	RW	Defines angular tolerance for solver to project joint and its bodies back together.
ProjectionLinear	Real	RW	Defines linear tolerance for solver to project joint and its bodies back together.
Swing1Motion	Enumeration	RW	Defines freedom of joint to rotate around its X-axis. 0 = Locked 1 = Limited 2 = Free Note: Swing refers to rotation around X- and Y-axes of joint.
Swing2Motion	Enumeration	RW	Defines freedom of joint to rotate around its Y-axis. 0 = Locked 1 = Limited 2 = Free
SwingLimitdamping	Real	RW	Defines damping of spring for swing limit of joint.
Swinglimitdistance	Real	RW	Defines limit for swing movement of joint based on the distance from its origin.
SwingLimitrestitution	Real	RW	Defines restitution for swing limit of joint.
SwingLimitsoft	Boolean	RW	Turns on/off soft swing limit of joint.
SwingLimitspring	Real	RW	Defines stiffness of spring for swing limit of joint.
SwingLimitYangle	Real	RW	Defines limit for swing movement of joint around its X-axis.
SwingLimitZangle	Real	RW	Defines limit for swing movement of joint around its Y-axis.
TwistLimitdamping	Real	RW	Defines damping of spring for twist limit of joint.
Twistlimitdistance	Real	RW	Defines limit for twist movement of joint based on the distance from its origin.
TwistLimitLower	Real	RW	Defines lower limit for twist movement of joint.
TwistLimitrestitution	Real	RW	Defines restitution for twist limit of joint.
TwistLimitsoft	Boolean	RW	Turns on/off soft twist limit of joint.
TwistLimitspring	Real	RW	Defines stiffness of spring for twist limit of joint.
TwistLimitUpper	Real	RW	Defines upper limit for twist movement of joint.
TwistMotion	Enumeration	RW	Defines freedom of joint to rotate around its Z-axis. 0 = Locked 1 = Limited 2 = Free Note: Twist refers to rotation around Z-axis of joint.

Physics Path

Name	Type	Access	Description
Path	List of vcFrameFeature	RW	Defines the points of path.
PushingFeatures	List of vcFeature	RW	Defines the geometry of path used to push objects.
Speed	Real	RW	Defines the speed of the path. If a negative value is given, the path direction will be the opposite.

Python Kinematics

Python Kinematics is a kinematics object that can be defined by a user with Python API. See vcPythonKinematics for more information.

Python Script

Python Script customizes component behavior by controlling other objects. The script's execution may use signals and other events to control script execution.

Name	Type	Access	Description
Script	String	RW	Defines the code of the script.

Raycast Sensor

Raycast Sensor detects the closest component intersecting with a finite ray in the 3D world.

Name	Type	Access	Description
BoolSignal	vcBoolSignal	RW	Defines the signal used for signaling whether or not a component has intersected the ray within a distance tolerance set by the DetectionThreshold property.
ComponentSignal	vcComponentSignal	RW	Defines the signal used for signaling the component detected by the ray.
DetectionContainer	vcContainer	RW	Defines if the sensor only detects components in a specific container type behavior.
DetectionThreshold	Real	RW	Defines the distance at which the RangeSignal property will start to send distance information for a detected component.
Frame	vcFrameFeature	RW	Defines the Frame feature that is referenced as the physical location of the sensor. The ray is cast along the positive Z-axis of its location.
MaxRange	Real	RW	Defines the length of the ray cast by the sensor.
RangeSignal	vcRealSignal	RW	Defines the signal used for signaling the range of a detected component to sensor's location.
SampleTime	Real	RW	Defines the time interval (in seconds) for detecting components when the UseSampling property has a True value.
ShowRay	Boolean	RW	Turns on/off the visibility of the ray in the 3D world. The ray is rendered as a red line.
TestParent	Boolean	RW	Defines if the sensor can detect geometry contained in the sensor's node. Generally, a True value is used when you want to detect self collisions.
UpdateScene	Boolean	RW	Turns on/off the rendering of the scene in the 3D world when a component triggers the sensor. Generally, a True value is used in cases where there are many moving parts, whereas a False value should be used if only the sensor's component moves during a simulation.
UseSampling	Boolean	RW	Defines the rate at which the sensor detects components. A True value means detection occurs at a sampling interval defined by the SampleTime property. A False value means detection occurs when a signal is received from a connected Boolean Signal (pulse mode).

Real Signal Map

Real Signal Map signals values to ports in a continuous IO space used in logic executors.

Name	Type	Access	Description
Listeners	List of vcBehaviour	RW	Defines a list of behaviors using the signal map.
PortCount	Integer	RW	Defines the amount of ports in the signal map.

Scara Kinematics (Old)

An old, deprecated version Scara Kinematics might be used in some components. This is not exposed in the GUI and can only be created intentionally by a user.

Important: The constant value for this behavior type is VC_SCARAKINEMATICS.

Name	Type	Access	Description
JointOffset1	Real	RW	See Scara Kinematics for descriptions of properties.
JointOffset3	Real	RW
LinkLength1	Real	RW
LinkLength2	Real	RW

Scara Kinematics (New)

Scara Kinematics is a forward and inverse kinematics solver for SCARA type robots.

Important: The constant value for this behavior type is VC_SCARAKINEMATICS2.

Name	Type	Access	Description
ConfigName1	String	RW	See Scara Kinematics for descriptions of properties.
ConfigName2	String	RW
JointSign1	Integer	RW
JointSign2	Integer	RW
JointSign3	Integer	RW
JointSign4	Integer	RW
L12X...L04Z	Real	RW
JointZeroOffset1	Real	RW
JointZeroOffset2	Real	RW
JointZeroOffset3	Real	RW
JointZeroOffset4	Real	RW

Tool Container

See vcToolContainer for more information.

Volume Sensor

Volume Sensor detects components anywhere in the 3D world by using a detection box defined by two Frame features.

Name	Type	Access	Description
BoolSignal	vcBoolSignal	RW	Defines the signal used for signaling the current state of the sensor. That is, a True value means the sensor has been triggered, whereas a False value means the sensor has either not been triggered or reset.
ComponentSignal	vcComponentSignal	RW	Defines the signal used for signaling the component that triggered the sensor.
DetectionContainer	vcContainer	RW	Defines if the sensor only tests components in a specific container type behavior.
LowerFrame	vcFrameFeature	RW	Defines the bottom-left corner of the sensor's detection box.
SampleTime	Real	RW	Defines the time interval (in seconds) for detecting components when the UseSampling property has a True value.
ShowVolume	Boolean	RW	Turns on/off the visibility of the sensor's detection box in the 3D world.
TestMethod	Integer	RW	Defines the mode used by the sensor for detecting components. 0 BBox Intersect 1 BBox Center Inside 2 BBox Fully Inside 3 Precise Test
TestOnlyContained	Boolean	RW	Defines if the sensor only tests components stored in container type behaviors.
TestParent	Boolean	RW	Defines if the sensor can detect geometry contained in the sensor's node. Generally, a True value is used when you want to detect self collisions.
TestSiblings	Boolean	RW	Defines if the sensor can detect geometry at the same level of the sensor in a node hierarchy. That is, any geometry contained in siblings of the sensor's node.
UpdateScene	Boolean	RW	Turns on/off the rendering of the scene in the 3D world when a component triggers the sensor. Generally, a True value is used in cases where there are many moving parts, whereas a False value should be used if only the sensor's component moves during a simulation.
UpperFrame	vcFrameFeature	RW	Defines the top-right corner of the sensor's detection box.
UseSampling	Boolean	RW	Defines the rate at which the sensor detects components. A True value means detection occurs at a sampling interval defined by the SampleTime property. A False value means detection occurs when a signal is received from a connected Boolean Signal (pulse mode).
VolumeMaterial	vcMaterial	RW	Defines the material of the sensor's detection box.

Methods

Name	Return Type	Parameters	Description
delete	Boolean	None	Deletes the behavior.
update	None	None	Updates the behavior.

Examples

Example. Find a behavior and its node

from vcScript import *

# use a robot from the library with this snippet

comp = getComponent()

container = comp.findBehaviour('GraspContainer')

# search a behaviour matching the given name in the whole nodal component tree

mountPlateNode = container.Parent

# the owner node of the behaviour

if comp == container.Component:

print 'It truly is a back-pointer to the same thing'

for prop in container.Properties:

print prop.Name, prop.Value

Example. Call the update after making changes to the physics entities

# In order to trigger the update, user needs to set UpdatePhysics flag.

# The flag has one use and will be immediately reset after this.

entity = part.getBehavioursByType('rPhysicsEntity')[0]

entity.UpdatePhysics = True

entity.update()