# Latest **URL:** https://forum.karanadyn.com/latest.md [Latest](https://forum.karanadyn.com/latest.md) · [Categories](https://forum.karanadyn.com/categories.md) · [Tags](https://forum.karanadyn.com/tags.md) --- ## [Welcome to Karana Dynamics Forum! 👋](https://forum.karanadyn.com/t/welcome-to-karana-dynamics-forum/5)
**Author:** [@system](https://forum.karanadyn.com/u/system)\ **Replies:** 0\ **Last updated:** [May 22, 2025, 5:36pm UTC](https://forum.karanadyn.com/t/welcome-to-karana-dynamics-forum/5 "2025-05-22T17:36:51Z")
We are so glad you joined us. Karana Dynamics Next generation dynamics modeling and simulation Here are some things you can do to get started: :speaking\_head: Introduce yourself by adding your picture and informatio… --- ## [kdFlex 1.1.6 release](https://forum.karanadyn.com/t/kdflex-1-1-6-release/54)
**Author:** [@leake](https://forum.karanadyn.com/u/leake)\ **Replies:** 0\ **Last updated:** [August 24, 2026, 5:48pm UTC](https://forum.karanadyn.com/t/kdflex-1-1-6-release/54 "2026-08-24T17:48:57Z")
kdFlex 1.1.6 Code Changes Summary API Changes setNodalMatrix has been refactored into setRotationalNodalMatrix and setTranslationalNodalMatrix, and similarly for the getNodalMatrix method. This allows setting the respec… --- ## [kdFlex 1.1.5 release](https://forum.karanadyn.com/t/kdflex-1-1-5-release/53)
**Author:** [@leake](https://forum.karanadyn.com/u/leake)\ **Replies:** 0\ **Last updated:** [July 15, 2026, 11:08pm UTC](https://forum.karanadyn.com/t/kdflex-1-1-5-release/53 "2026-07-15T23:08:58Z")
kdFlex 1.1.5 Code Changes Summary API Changes Refactored Multibody to create and manage a ProxyScene instance, and removed Multibody.setScene. In most cases, users should use Multibody.getScene rather than creating a se… --- ## [kdFlex 1.1.4 release](https://forum.karanadyn.com/t/kdflex-1-1-4-release/52)
**Author:** [@leake](https://forum.karanadyn.com/u/leake)\ **Replies:** 0\ **Last updated:** [June 7, 2026, 12:41am UTC](https://forum.karanadyn.com/t/kdflex-1-1-4-release/52 "2026-06-07T00:41:11Z")
kdFlex 1.1.4 Code Changes Summary Minor bug fixes to Karana Viewer GUI and code changes to improve notebook usability. This change only requires reinstalling the apt/brew package; the Python dependency step does not nee… --- ## [kdFlex 1.1.3 release](https://forum.karanadyn.com/t/kdflex-1-1-3-release/51)
**Author:** [@leake](https://forum.karanadyn.com/u/leake)\ **Replies:** 0\ **Last updated:** [June 5, 2026, 3:09pm UTC](https://forum.karanadyn.com/t/kdflex-1-1-3-release/51 "2026-06-05T15:09:49Z")
kdFlex 1.1.3 Code Changes Summary API Changes Modified nonlinear solver cost and jacobian functions to use Eigen::Ref instead of c++ references Added the DampedContactForce as an alternative to HuntCrossley Combined Mod… --- ## [kdFlex 1.1.2 release](https://forum.karanadyn.com/t/kdflex-1-1-2-release/49)
**Author:** [@leake](https://forum.karanadyn.com/u/leake)\ **Replies:** 0\ **Last updated:** [May 8, 2026, 10:06pm UTC](https://forum.karanadyn.com/t/kdflex-1-1-2-release/49 "2026-05-08T22:06:54Z")
kdFlex 1.1.2 Code Changes Summary API Changes Added ability to remove ScenePartSpecs from PhysicalBody objects. Now every spec attached to a body must have a unique name (relative to that body). The HingeBase::subhinges… --- ## [kdFlex 1.1.1 release](https://forum.karanadyn.com/t/kdflex-1-1-1-release/46)
**Author:** [@leake](https://forum.karanadyn.com/u/leake)\ **Replies:** 0\ **Last updated:** [March 25, 2026, 11:49pm UTC](https://forum.karanadyn.com/t/kdflex-1-1-1-release/46 "2026-03-25T23:49:44Z")
kdFlex 1.1.1 Code Changes Summary API Changes Switched from using quantities to define units/quantities to pint. See the units and quantities section for details. Changed all methods using std::vector for indices to ins… --- ## [kdFlex 1.1.0 release](https://forum.karanadyn.com/t/kdflex-1-1-0-release/45)
**Author:** [@leake](https://forum.karanadyn.com/u/leake)\ **Replies:** 0\ **Last updated:** [February 24, 2026, 2:07am UTC](https://forum.karanadyn.com/t/kdflex-1-1-0-release/45 "2026-02-24T02:07:07Z")
kdFlex 1.1.0 Code Changes Summary API Changes Added optional argument to SubGraph::enabledConstraints() for filtering type of constraint list and removed the constraint specific methods to simplify the API. docs. Multib… --- ## [kdFlex 1.0.2 release](https://forum.karanadyn.com/t/kdflex-1-0-2-release/44)
**Author:** [@leake](https://forum.karanadyn.com/u/leake)\ **Replies:** 0\ **Last updated:** [January 24, 2026, 12:48am UTC](https://forum.karanadyn.com/t/kdflex-1-0-2-release/44 "2026-01-24T00:48:19Z")
kdFlex 1.0.2 Code Changes Summary API Changes Updated the arguments for creating a ProxyScenePart, WebScenePart, or CoalScenePart. The arguments have been reordered so that the Scene container for the part comes before … --- ## [kdFlex 1.0.1 release](https://forum.karanadyn.com/t/kdflex-1-0-1-release/43)
**Author:** [@leake](https://forum.karanadyn.com/u/leake)\ **Replies:** 0\ **Last updated:** [December 19, 2025, 2:10am UTC](https://forum.karanadyn.com/t/kdflex-1-0-1-release/43 "2025-12-19T02:10:11Z")
kdFlex 1.0.1 Code Changes Summary API Changes Renamed onode interBodyFroce() to getInterBodyForceTreeFwdDyn() doc Renamed onode getTAInterBodyFroce() to getInterBodyForceTAFwdDyn() doc The evalTreeForwardDynamics and e… --- ## [kdFlex 1.0.0 release](https://forum.karanadyn.com/t/kdflex-1-0-0-release/42)
**Author:** [@leake](https://forum.karanadyn.com/u/leake)\ **Replies:** 0\ **Last updated:** [December 5, 2025, 6:43pm UTC](https://forum.karanadyn.com/t/kdflex-1-0-0-release/42 "2025-12-05T18:43:10Z")
kdFlex 1.0.0 Code Changes Summary API Changes Renamed webscene-frontend to karana-webui. This is the name of the application which is typically launched automatically by WebUI.Server.launchLocalClient. Removed the show-… --- ## [kdFlex 0.9.20 release](https://forum.karanadyn.com/t/kdflex-0-9-20-release/41)
**Author:** [@leake](https://forum.karanadyn.com/u/leake)\ **Replies:** 0\ **Last updated:** [November 15, 2025, 1:19am UTC](https://forum.karanadyn.com/t/kdflex-0-9-20-release/41 "2025-11-15T01:19:31Z")
kdFlex 0.9.20 Code Changes Summary API Changes Now uniform gravity value can be set for a subtree only after it is current. See the setUniformGravAccel method for details. Now StatePropagator has separate setState() and… --- ## [kdFlex 0.9.19 release](https://forum.karanadyn.com/t/kdflex-0-9-19-release/40)
**Author:** [@leake](https://forum.karanadyn.com/u/leake)\ **Replies:** 0\ **Last updated:** [October 20, 2025, 8:46pm UTC](https://forum.karanadyn.com/t/kdflex-0-9-19-release/40 "2025-10-20T20:46:15Z")
kdFlex 0.9.19 Code Changes Summary API Changes Renamed HingePnode.crbSpatialInertia() to crbInertiaMatrix() and it now returns a matrix instead of a spatial inertia. See HingePnode.crbInertiaMatrix for details. The lock… --- ## [kdFlex 0.9.18 release](https://forum.karanadyn.com/t/kdflex-0-9-18-release/39)
**Author:** [@leake](https://forum.karanadyn.com/u/leake)\ **Replies:** 0\ **Last updated:** [October 3, 2025, 9:10pm UTC](https://forum.karanadyn.com/t/kdflex-0-9-18-release/39 "2025-10-03T21:10:14Z")
kdFlex 0.9.18 Code Changes Summary API Changes Slightly modified the signature of Karana.Dynamics.SOADyn\_Py.SubGraph.showBodiesGraph as a result of the Karana.KUtils.visjs factor. Documentation details. Unified loop and… --- ## [kdFlex 0.9.17 release](https://forum.karanadyn.com/t/kdflex-0-9-17-release/38)
**Author:** [@leake](https://forum.karanadyn.com/u/leake)\ **Replies:** 0\ **Last updated:** [September 18, 2025, 10:11pm UTC](https://forum.karanadyn.com/t/kdflex-0-9-17-release/38 "2025-09-18T22:11:17Z")
kdFlex 0.9.17 Code Changes Summary API Changes Debug variables have been moved to a common struct: Karana::Core::DebugManager. See here for details. The handling of frozen subhinges has been moved from CoordData to the C… --- ## [kdFlex 0.9.16 release](https://forum.karanadyn.com/t/kdflex-0-9-16-release/37)
**Author:** [@leake](https://forum.karanadyn.com/u/leake)\ **Replies:** 0\ **Last updated:** [August 29, 2025, 8:59pm UTC](https://forum.karanadyn.com/t/kdflex-0-9-16-release/37 "2025-08-29T20:59:57Z")
API changes The StatePropagator::setState now exclusively uses global coordinates and resets subhinge chart offsets. An API has been added to WebScene to allow swapping between perspective and orthographic camera projec… --- ## [kdFlex 0.9.15 release](https://forum.karanadyn.com/t/kdflex-0-9-15-release/36)
**Author:** [@abhinandan.jain](https://forum.karanadyn.com/u/abhinandan.jain)\ **Replies:** 0\ **Last updated:** [July 30, 2025, 11:45pm UTC](https://forum.karanadyn.com/t/kdflex-0-9-15-release/36 "2025-07-30T23:45:44Z")
Changes - mostly documentation and example notebook updates. --- ## [New to the forum](https://forum.karanadyn.com/t/new-to-the-forum/32)
**Author:** [@oba](https://forum.karanadyn.com/u/oba)\ **Replies:** 1\ **Last updated:** [July 18, 2025, 4:26pm UTC](https://forum.karanadyn.com/t/new-to-the-forum/32 "2025-07-18T16:26:51Z")
Hello… I am excited to be a new addition to your user forum. The reason it took me a bit to get signed up was that all the mails went to my spam folder. I am able to run the notebooks. I cannot see the animations in th… --- ## [Any Students?](https://forum.karanadyn.com/t/any-students/30)
**Author:** [@kal036](https://forum.karanadyn.com/u/kal036)\ **Replies:** 1\ **Last updated:** [July 1, 2025, 5:15pm UTC](https://forum.karanadyn.com/t/any-students/30 "2025-07-01T17:15:24Z")
Hey guys, I’m Kane and I am a student at UC San Diego. It would be cool to see if anybody else are students or goes to UCSD! --- ## [Hey all](https://forum.karanadyn.com/t/hey-all/28)
**Author:** [@rohanbansal](https://forum.karanadyn.com/u/rohanbansal)\ **Replies:** 0\ **Last updated:** [June 20, 2025, 8:48pm UTC](https://forum.karanadyn.com/t/hey-all/28 "2025-06-20T20:48:02Z")
Just testing