Although the behaviour of the sub-model can be modelled in SysML, however, SysML cannot perform physical calculations on geometric objects. Therefore, we use a dedicated physics calculation software i.e. Virtual Robot Experimentation Platform (V-REP). V-REP offer an remote API based on multiple programming languages like python, c, c++ etc. By means of this API, different objects’ parameters can be controlled. Below figure show an example scene in V-REP that is an exect replica of the VR scene, however, the geometric representations are in a form that can facilitate physics relevant calculations. This scene contains a vacuum cleaner as product inside a living room environment, in the presence of a user as actor.

V-Rep Scene with human model

V-Rep Scene with human model

 V-REP also implements multiple physics engines like Bullet, vortex, newton etc for the calculation. In this project, a python based software is developed that one side can control the objects in the scene and on the other side communicates with SysML.

The video below shows the execution of SysML behavior model inside a commercial modelling tool. The SysML behavior models are executed on the basis of fUML based token flow simulation. The execution of the behavior model drives/controls the simulation in the physics engine.