Product Tiers

Licensing Tiers

kdFlex Personal

Features Include:

Comprehensive rigid body dynamics

Run-time system variability

Extensible for system level simulations

Simulation services

Visualization

Robotics

Online resources

kdFlex Professional

$5000

annually

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Features Include:

All from Personal tier

Comprehensive flexible body dynamics

Advanced rigid body dynamics

Sub-graphs and sub-trees

Technical support

kdFlex Enterprise

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Features Include:

All from Professional tier

Finite Element Model pipeline

Stress recovery

Constraint embedding

Advanced models

Hi-fidelity rendering

Priority Technical Support

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Commercial Use

kdFlex Personal

kdFlex Professional

kdFlex Enterprise

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Commercial Use

Rigid Body Dynamics

Recursive "O(N)" SOA/ATBI forward dynamics

Serial and Tree systems

Large family of hinge types

User defined custom hinges

System CM, mass properties

Coupler/gear constraints

Loop constraints

Convel constraints

Indirect state initialization

Exact rigid body constrained dynamics

Collision and contact dynamics

Constraint kinematics analysis

Relative/absolute coordinate model converters

Constraint embedding

Pruning/consolidating bodies

Flexible Body Dynamics

FEM based modal deformation representation

Recursive "O(N)" SOA forward dynamics

Arbitrary mix of rigid and flexible bodies

Serial and Tree systems

Exact flex body constrained dynamics

Equilibration

Linearized state space generation

System modes

NASTRAN FEM interfafce

Modes selection for reduced order modeling

Component mode synthesis

Residual vectors

Lumped mass handling

Stress Recovery

Variable Configurations

Run time addition/deletion of bodies

Run time enabling/disabling of constraints

Prescribed motion enabling/disabling

Variable mass support

Sub-graphs and Sub-trees

Robotics

URDF Support

ROS interfaceable

Forward kinematics

Generalized inverse kinematics

Jacobians - global and relative

Gravity compensation

Inverse dynamics

Feedforward (regular)

Feedforward (underactuated)

Mass matrix via CRB

Mass matrix inverse via SOA

Operational Space Inertia

rigid

+ flex

+ constraints

Move/squeeze decomposition

Serial/parallel robot kinematics and dynamics

Centroidal momentum etc.

Embeddable in control/autonomy stack

System Level Simulation

Large family of fixed and adaptive step integrators

Framework for coupling custom models with dynamics

Multi-rate models

Kinematics simulation mode

Zero-crossing detection

Time delay modeling

Step rollback

API for closing the loop

Nanosecond sim time granularity

Parametric & Monte Carlo support

Parallelization

Simulation Core

Frames layer for relative pose, velocity, accelerations

Units/quantities support for data

Model files YAML, JSON, HDF5, pickle formats

Importer for JPL DARTS models

Data logging

Uninitialized data/params detection

Model sub-blocks importers/exportsers in YAML, JSON, HDF5, pickle formats

Web based stripcharts

Message verbosity control

Object usasge tracking

Emphemerides

Integration with Reinforcement Learning systems

Visualization

Web based 3D graphics

CAD meshes

Stick figure graphics

Shadows, trails

Collision detection

Collision filtering

Phong and PBR materials

Multiple scene layers

Movie creation

Nodes visualizer for multi-body, frame structure

Blender interface

Advanced models

Spherical harmonics gravity

N-body gravity

Apparent mass dynamics (parachutes, submersibles)

Terramechanics

Rotating "inertial/planet" frames

Aero-elastic, servo-elastic effects

Support

Online chatbot

Online documentation

Jupyter notebook tutorials

Narrated videos

Technical support

Priority

Training

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