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kdFlex 0.9.20 documentation - Home
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Contents:

  • Chatbot
  • Quick Start
  • Usage Guide
  • Examples
    • Importing a robot arm multibody model from a URDF file
    • 2-link Pendulum
    • Load Mars 2020 rover model from a URDF file
    • n-link Pendulum
    • Spice Frames
    • Import/Export Multibodies
    • Graphics demo
    • Data Logging
    • Slider crank example
    • Double-Wishbone
    • 2-link Pendulum Collision Example
    • Procedural n-link pendulum collision example
    • Flexible Slider-Crank
    • Flexible Double-Wishbone
    • \(n\)-link Pendulum Benchmark Comparison
    • Fully Augmented \(n\)-link Pendulum Benchmark Comparison
  • Recipes
  • Glossary
  • API
    • kdFlex Python API
      • Karana
        • Karana.Collision
        • Karana.Core
        • Karana.Dynamics
        • Karana.FEMBridge
        • Karana.Frame
        • Karana.KUtils
        • Karana.Math
        • Karana.Models
        • Karana.Scene
        • Karana.WebUI
        • Karana.version
    • kdFlex C++ API
      • Namespace @301204037270225026320035324001235112330043131025
      • Namespace coal
      • Namespace Eigen
      • Namespace Karana
      • Namespace Karana::Collision
      • Namespace Karana::Core
      • Namespace Karana::Dynamics
      • Namespace Karana::FEMBridge
      • Namespace Karana::Frame
      • Namespace Karana::KUtils
      • Namespace Karana::Math
      • Namespace Karana::Models
      • Namespace Karana::Scene
      • Namespace Karana::WebUI
      • Namespace LockingBase
      • Namespace pybind11
      • Namespace pybind11::detail
      • Namespace pybind11::typing
      • Namespace spdlog
      • Namespace spdlog::sinks
      • Namespace std
      • Template Struct has_pybind11_caster
      • Struct FrameContact
      • Struct Base::dumpOptions
      • Struct BasicDAGImpl::Node
      • Struct BasicTreeImpl::Node
      • Struct DebugManager
      • Struct LockingBase::dumpOptions
      • Struct Algorithms::ModalAnalysis
      • Struct CompoundBody::ATBIDataCaches
      • Struct CompoundBody::dumpOptions
      • Struct CompoundBody::InvDynVectors
      • Struct CompoundSubhinge::ATBIFilterVectors
      • Struct CompoundSubhinge::ATBIMatrices
      • Struct CoordBase::ATBIFilterVectors
      • Struct CoordBase::ATBIMatrices
      • Struct CoordData::CoordOffset
      • Struct HingeBase::HingeParams
      • Struct HingeNode::dumpOptions
      • Struct HingeOnodeATBIDataCaches
      • Struct HingeOnodeATBIFilterVectors
      • Struct HingeOnodeATBIMatrices
      • Struct HingeOnodeATBISmootherVectors
      • Struct HingeOnodeInvDynVectors
      • Struct HingeOnodeUpsilonMatrices
      • Struct HingePnode::ATBIDataCaches
      • Struct HingePnode::ATBIFilterVectors
      • Struct HingePnode::ATBIMatrices
      • Struct HingePnode::ATBISmootherVectors
      • Struct HingePnode::InvDynVectors
      • Struct HingePnode::UpsilonMatrices
      • Struct LoopConstraintBase::QMats
      • Struct ModalNodeDeformationProvider::DeformationParams
      • Struct Multibody::StickPartsConfig
      • Struct NodeDeformationProvider::DeformationParams
      • Struct Physical1DofSubhinge::PhysicalSubhingeParams
      • Struct PhysicalBody::dumpOptions
      • Struct PhysicalBody::GatherSweepFlags
      • Struct PhysicalBody::InvDynVectors
      • Struct PhysicalBodyParams
      • Struct PhysicalHinge::InterBodyForce
      • Struct PhysicalModalBody::ATBIFilterVectors
      • Struct PhysicalModalBody::ATBIMatrices
      • Struct PhysicalModalBody::ATBISmootherVectors
      • Struct PhysicalModalBody::ModalUpsilonMatrices
      • Struct PhysicalModalBody::SZNodeMatrices
      • Struct PhysicalModalBodyParams
      • Struct PhysicalSubhinge::PhysicalSubhingeParams
      • Struct PhysicalSubhinge_T::ATBIFilterVectors
      • Struct PhysicalSubhinge_T::ATBIMatrices
      • Struct ScrewSubhinge::PhysicalSubhingeParams
      • Struct SphericalSubhinge::PhysicalSubhingeParams
      • Struct StatePropagator::Counters
      • Struct StatePropagator::spFunctions
      • Struct StatePropagator::spOptions
      • Struct SubTree::dumpTreeOptions
      • Struct Frame2Frame::dumpOptions
      • Struct Frame::dumpFrameTreeOptions
      • Struct FrameContainer::dumpOptions
      • Struct OrientedChainedFrame2Frame::dumpOptions
      • Template Struct extract_matrix_dimensions
      • Template Struct extract_matrix_dimensions< Eigen::Matrix< double, _rows, 1 > >
      • Template Struct extract_matrix_dimensions< Eigen::Matrix< double, _rows, _cols, Eigen::RowMajor > >
      • Template Struct extract_rows
      • Template Struct extract_rows< Eigen::Matrix< double, rows, 1 > >
      • Template Struct is_eigen_type
      • Template Struct is_eigen_type< Eigen::Matrix< double, Rows, 1 > >
      • Template Struct is_eigen_type< Eigen::Matrix< double, Rows, Cols, Eigen::RowMajor > >
      • Template Struct is_eigen_vector
      • Template Struct is_eigen_vector< Eigen::Matrix< double, Rows, 1 > >
      • Struct ArkExplicitIntegrator::IntegratorOptions
      • Struct CVodeIntegrator::IntegratorOptions
      • Struct DynamicFunctor
      • Struct DynamicFunctorNoJac
      • Template Struct Functor
      • Struct IdaIntegrator::IntegratorOptions
      • Struct Integrator::IntegratorOptions
      • Template Struct NumDiffBaseFunctor
      • Struct NumDiffFunctor
      • Struct StateSpace::ss
      • Struct ClientSceneData
      • Struct CollisionInfo
      • Struct Contact
      • Struct DistanceInfo
      • Struct ImportResult
      • Struct OrthographicProjection
      • Struct PerspectiveProjection
      • Struct PhongMaterialInfo
      • Struct PhysicalMaterialInfo
      • Struct RGBABuffer
      • Struct ScenePartSpec
      • Struct TextParameters
      • Struct LocalClientOptions
      • Template Struct handle_type_name< typing::Sequence< T > >
      • Template Struct PyTypeWrapper
      • Template Class duration_caster
      • Class ContactForceBase
      • Class ContactForceManager
      • Class FrameCollider
      • Class HuntCrossley
      • Class HuntCrossley::HuntCrossleyParams
      • Class Base
      • Class BaseContainer
      • Template Class BasicDAGImpl
      • Template Class BasicTreeImpl
      • Template Class CallbackRegistry
      • Template Class DAG
      • Template Class DataCache
      • Class IdGenerator
      • Class JsonLogger
      • Class LockingBase
      • Class MsgLogger
      • Class my_formatter_flag
      • Template Class RegistryList
      • Class SideEffect
      • Class StderrLog
      • Class StdoutLog
      • Template Class Tree
      • Template Class UsageTrackingMap
      • Class Algorithms
      • Class BilateralConstraintBase
      • Class BodyBase
      • Class CECompoundBody
      • Class CECompoundSubhinge
      • Class CompoundBody
      • Class CompoundHinge
      • Class CompoundSubhinge
      • Class ConstraintKinematicsSolver
      • Class ConstraintNode
      • Class CoordBase
      • Template Class CoordBase_T
      • Class CoordData
      • Class CoordinateConstraint
      • Class F2FJacobianGenerator
      • Class FramePairHinge
      • Class GearedCompoundBody
      • Class HingeBase
      • Class HingeNode
      • Class HingeOnode
      • Class HingePnode
      • Class Linear3Subhinge
      • Class LinearSubhinge
      • Class LockedSubhinge
      • Class LoopConstraintBase
      • Class LoopConstraintConVel
      • Class LoopConstraintHinge
      • Class LoopsCompoundBody
      • Class ModalNodeDeformationProvider
      • Class Multibody
      • Class MultiJacobianGenerator
      • Class Node
      • Class NodeDeformationProvider
      • Class Physical1DofSubhinge
      • Class PhysicalApparentMassBody
      • Class PhysicalBody
      • Class PhysicalHinge
      • Class PhysicalModalBody
      • Class PhysicalSubhinge
      • Template Class PhysicalSubhinge_T
      • Class PinSubhinge
      • Class Scheduler
      • Class ScrewSubhinge
      • Class SphericalQuatSubhinge
      • Class SphericalSubhinge
      • Class SpiceTimeKeeper
      • Class StatePropagator
      • Class SubGraph
      • Class SubhingeBase
      • Class SubTree
      • Class TimedEvent
      • Class TimeKeeper
      • Class ChainedFrame2Frame
      • Class EdgeFrame2Frame
      • Class Frame
      • Class Frame2Frame
      • Class FrameContainer
      • Class OrientedChainedFrame2Frame
      • Class PrescribedFrame2Frame
      • Class SpiceFrame
      • Class SpiceFrame2Frame
      • Class H5Writer
      • Class PacketTableConfig
      • Class AABB
      • Class AkimaSplineInterpolator
      • Class ArkExplicitIntegrator
      • Class BaseInterpolator
      • Class ConstantInterpolator
      • Class CVodeIntegrator
      • Class EulerIntegrator
      • Class HomTran
      • Class IdaIntegrator
      • Class Integrator
      • Class Jacobian
      • Class LinearInterpolator
      • Class NearestNeighborInterpolator
      • Class NonlinearSolver
      • Class NoopIntegrator
      • Class RK4Integrator
      • Class RotationMatrix
      • Class RotationVector
      • Class SimTran
      • Class SpatialInertia
      • Class SpatialVector
      • Class StateSpace
      • Class UnitQuaternion
      • Class BaseKModel
      • Class ComputedTorque
      • Class DataLogger
      • Class DataLoggerParams
      • Class GraphicalSceneMovie
      • Class GraphicalSceneMovieParams
      • Template Class KModel
      • Class KModelContinuousStates
      • Class KModelDiscreteStates
      • Class KModelParams
      • Class KModelScratch
      • Class NoContinuousStates
      • Class NoDiscreteStates
      • Class NoParams
      • Class NoScratch
      • Class PenaltyContact
      • Class PID
      • Class PIDParams
      • Class PinJointLimits
      • Class PinJointLimitsParams
      • Class PointMassGravity
      • Class PointMassGravityParams
      • Class ProjectConstraintError
      • Class ProjectConstraintErrorParams
      • Class SpringDamper
      • Class SpringDamperParams
      • Class SubhingeForceLimits
      • Class SubhingeForceLimitsParams
      • Class SubhingeSpringDamper
      • Class SubhingeSpringDamperParams
      • Class SyncRealTime
      • Class TimeDisplay
      • Class TimeDisplayParams
      • Class UniformGravity
      • Class UniformGravityParams
      • Class UpdateProxyScene
      • Class AbstractImporter
      • Class AbstractStaticGeometry
      • Class AssimpImporter
      • Class BoxGeometry
      • Class CapsuleGeometry
      • Class ClientRegistry
      • Class CoalGeometryCache
      • Class CoalScene
      • Class CoalSceneNode
      • Class CoalScenePart
      • Class CollisionScene
      • Class CollisionSceneNode
      • Class CollisionScenePart
      • Class Color
      • Class ConeGeometry
      • Class CylinderGeometry
      • Class ExtMime
      • Class GraphicalScene
      • Class GraphicalSceneCamera
      • Class GraphicalSceneNode
      • Class GraphicalScenePart
      • Class GrayscaleTexture
      • Class ImplDatabase
      • Class PhongMaterial
      • Class PhysicalMaterial
      • Class ProxyScene
      • Class ProxySceneNode
      • Class ProxyScenePart
      • Class RoundFrustumGeometry
      • Class Scene
      • Class SceneNode
      • Class ScenePart
      • Class SphereGeometry
      • Class StaticMeshGeometry
      • Class Texture
      • Class WebResourceManager
      • Class WebScene
      • Class WebSceneCamera
      • Class WebSceneNode
      • Class WebScenePart
      • Class Connection
      • Class Server
      • Class LoopConstraintConvel
      • Template Class Sequence
      • Template Class type_caster< std::chrono::duration< Rep, Period > >
      • Template Class type_caster< std::chrono::time_point< Clock, Duration > >
      • Enum IntegratorType
      • Enum solver_enum
      • Enum Alignment
      • Function cast
      • Function Karana::Core::_dummy
      • Function Karana::Core::_ensureRegisteredPy
      • Function Karana::Core::_numTraceCheck
      • Function Karana::Core::_numTraceInt(const std::string&)
      • Function Karana::Core::_numTraceInt(msg_f)
      • Template Function Karana::Core::_numTraceInt(spdlog::format_string_t<Args…>, Args&&…)
      • Function Karana::Core::allCurrent
      • Function Karana::Core::allDestroyed
      • Function Karana::Core::allFinalized
      • Template Function Karana::Core::CallbackRegistryPybind11
      • Template Function Karana::Core::const_pointer_cast
      • Template Function Karana::Core::createSharedPtrDiscard
      • Function Karana::Core::debug(const std::string&)
      • Function Karana::Core::debug(msg_f)
      • Template Function Karana::Core::debug(spdlog::format_string_t<Args…>, Args&&…)
      • Function Karana::Core::debugJson(const nlohmann::ordered_json&, OrderedJsonToString)
      • Function Karana::Core::debugJson(const nlohmann::json&, JsonToString)
      • Function Karana::Core::defaultJsonToString
      • Function Karana::Core::defaultOrderedJsonToString
      • Function Karana::Core::deprecated
      • Template Function Karana::Core::deprecatedWrapper
      • Template Function Karana::Core::discard
      • Template Function Karana::Core::dynamic_pointer_cast
      • Function Karana::Core::error(const std::string&)
      • Function Karana::Core::error(msg_f)
      • Template Function Karana::Core::error(spdlog::format_string_t<Args…>, Args&&…)
      • Function Karana::Core::info(const std::string&)
      • Function Karana::Core::info(msg_f)
      • Template Function Karana::Core::info(spdlog::format_string_t<Args…>, Args&&…)
      • Function Karana::Core::sharedPtrDiscard
      • Function Karana::Core::sharedPtrDiscardVec
      • Template Function Karana::Core::static_pointer_cast
      • Function Karana::Core::trace(const std::string&)
      • Function Karana::Core::trace(msg_f)
      • Template Function Karana::Core::trace(spdlog::format_string_t<Args…>, Args&&…)
      • Function Karana::Core::traceJson(const nlohmann::ordered_json&, OrderedJsonToString)
      • Function Karana::Core::traceJson(const nlohmann::json&, JsonToString)
      • Function Karana::Core::warn(const std::string&)
      • Function Karana::Core::warn(msg_f)
      • Template Function Karana::Core::warn(spdlog::format_string_t<Args…>, Args&&…)
      • Function Karana::FEMBridge::bodyMdfLogger
      • Function Karana::Math::buildNaNWithPayload
      • Template Function Karana::Math::dump
      • Template Function Karana::Math::dumpString
      • Template Function Karana::Math::getIndepColIndices
      • Template Function Karana::Math::getIndepRowColIndices
      • Template Function Karana::Math::getRank
      • Template Function Karana::Math::getSingularValues
      • Template Function Karana::Math::isInitialized(const Eigen::MatrixBase<Derived>&)
      • Template Function Karana::Math::isInitialized(const Eigen::ArrayBase<Derived>&)
      • Function Karana::Math::isNaNWithPayload
      • Function Karana::Math::isUninitialized
      • Function Karana::Math::isUninitializedNaN
      • Function Karana::Math::ktimeToSeconds
      • Function Karana::Math::secondsToKtime
      • Function Karana::Math::strToIntegratorType
      • Function Karana::Math::tilde
      • Function Karana::Math::uninitialize(Ktime&)
      • Template Function Karana::Math::uninitialize(Eigen::DenseBase<Derived>&)
      • Template Function Karana::Models::addToDSMethod
      • Template Function Karana::Models::KModelPybind11
      • Function Karana::Scene::defaultGeometry
      • Function Karana::Scene::defaultMaterial
      • Function load
      • Function localtime_thread_safe
      • Function operator<<
      • Function PYBIND11_DECLARE_HOLDER_TYPE
      • Function PYBIND11_MODULE
      • Function PYBIND11_TYPE_CASTER
      • Variable has_pybind11_caster_v
      • Variable Karana::KUtils::extract_cols_v
      • Variable Karana::KUtils::extract_rows_v
      • Variable Karana::KUtils::extract_vector_rows_v
      • Variable Karana::KUtils::is_eigen_type_v
      • Variable Karana::KUtils::is_eigen_vector_v
      • Variable Karana::Math::uninitializedNaN
      • Variable Karana::Math::uninitializedPayload
      • Variable Karana::Scene::LAYER_ALL
      • Variable Karana::Scene::LAYER_COLLISION
      • Variable Karana::Scene::LAYER_CUSTOM0
      • Variable Karana::Scene::LAYER_CUSTOM1
      • Variable Karana::Scene::LAYER_CUSTOM10
      • Variable Karana::Scene::LAYER_CUSTOM11
      • Variable Karana::Scene::LAYER_CUSTOM12
      • Variable Karana::Scene::LAYER_CUSTOM13
      • Variable Karana::Scene::LAYER_CUSTOM14
      • Variable Karana::Scene::LAYER_CUSTOM15
      • Variable Karana::Scene::LAYER_CUSTOM16
      • Variable Karana::Scene::LAYER_CUSTOM17
      • Variable Karana::Scene::LAYER_CUSTOM18
      • Variable Karana::Scene::LAYER_CUSTOM19
      • Variable Karana::Scene::LAYER_CUSTOM2
      • Variable Karana::Scene::LAYER_CUSTOM20
      • Variable Karana::Scene::LAYER_CUSTOM21
      • Variable Karana::Scene::LAYER_CUSTOM22
      • Variable Karana::Scene::LAYER_CUSTOM23
      • Variable Karana::Scene::LAYER_CUSTOM3
      • Variable Karana::Scene::LAYER_CUSTOM4
      • Variable Karana::Scene::LAYER_CUSTOM5
      • Variable Karana::Scene::LAYER_CUSTOM6
      • Variable Karana::Scene::LAYER_CUSTOM7
      • Variable Karana::Scene::LAYER_CUSTOM8
      • Variable Karana::Scene::LAYER_CUSTOM9
      • Variable Karana::Scene::LAYER_GRAPHICS
      • Variable Karana::Scene::LAYER_NONE
      • Variable Karana::Scene::LAYER_ORNAMENTAL
      • Variable Karana::Scene::LAYER_PHYSICAL
      • Variable Karana::Scene::LAYER_PHYSICAL_GRAPHICS
      • Variable Karana::Scene::LAYER_RESERVED0
      • Variable Karana::Scene::LAYER_RESERVED1
      • Variable Karana::Scene::LAYER_RESERVED2
      • Variable Karana::Scene::LAYER_RESERVED3
      • Variable Karana::Scene::LAYER_RESERVED4
      • Variable Karana::Scene::LAYER_RESERVED5
      • Variable Karana::Scene::LAYER_RESERVED6
      • Variable Karana::Scene::LAYER_RESERVED7
      • Variable Karana::Scene::LAYER_STICK_FIGURE
      • Define KARANA_MODIFIED
      • Define KARANA_VERSION_MAJOR
      • Define KARANA_VERSION_MINOR
      • Define KARANA_VERSION_PATCH
      • Define KARANA_VERSION_STRING
      • Define MATH_EPSILON
      • Define numTrace
      • Typedef Karana::Core::Allocator
      • Typedef Karana::Core::id_t
      • Typedef Karana::Core::JsonToString
      • Typedef Karana::Core::ks_ptr
      • Typedef Karana::Core::msg_f
      • Typedef Karana::Core::OrderedJsonToString
      • Typedef Karana::Dynamics::f
      • Typedef Karana::Math::Array
      • Typedef Karana::Math::ArrayVec
      • Typedef Karana::Math::ConstMatSlice
      • Typedef Karana::Math::ConstVec3Slice
      • Typedef Karana::Math::ConstVecSlice
      • Typedef Karana::Math::cost_fn
      • Typedef Karana::Math::DerivativeFunction
      • Typedef Karana::Math::DynamicFunctorNumJac
      • Typedef Karana::Math::fn
      • Typedef Karana::Math::functor_type
      • Typedef Karana::Math::jac_fn
      • Typedef Karana::Math::Ktime
      • Typedef Karana::Math::lin_fn
      • Typedef Karana::Math::Mat
      • Typedef Karana::Math::Mat33
      • Typedef Karana::Math::Mat44
      • Typedef Karana::Math::Mat66
      • Typedef Karana::Math::Mat6n
      • Typedef Karana::Math::MatSlice
      • Typedef Karana::Math::num_diff_functor_type
      • Typedef Karana::Math::solver_type
      • Typedef Karana::Math::Vec
      • Typedef Karana::Math::Vec3
      • Typedef Karana::Math::Vec3Slice
      • Typedef Karana::Math::Vec4
      • Typedef Karana::Math::Vec6
      • Typedef Karana::Math::VecSlice
      • Typedef Karana::Scene::layer_t
      • Typedef Karana::Scene::TextureCache
      • Typedef Karana::Scene::TextureData
      • Typedef Karana::Scene::VarMaterial
      • Typedef Karana::Scene::VarProjection
      • Typedef Karana::Scene::VarStaticGeometry
      • Typedef type
  • .rst

Karana

Contents

  • Submodules
  • Attributes
  • Package Contents
    • __version__

Karana#

Karana is the main Python package used by all Karana Dynamics Inc. products.

This package is your gateway into the next generation in dynamics modeling and simulation. For more information, visit https://www.karanadyn.com/

Submodules#

  • Karana.Collision
  • Karana.Core
  • Karana.Dynamics
  • Karana.FEMBridge
  • Karana.Frame
  • Karana.KUtils
  • Karana.Math
  • Karana.Models
  • Karana.Scene
  • Karana.WebUI
  • Karana.version

Attributes#

__version__

Package Contents#

Karana.__version__ = '0.9.20'#

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Contents
  • Submodules
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  • Package Contents
    • __version__

By Karana Dynamics Inc.

© Copyright 2025, Karana Dynamics Inc. Generated on 14 November 2025 21:42 UTC.