fieldpilot-urdf 1.16.0

Import any ROS robot from a URL and run FK/IK/collision/validation in pure Python — no ROS install, no build.

fieldpilot-urdf

Import any ROS robot from a URL and run FK / IK / collision / validation / repair in pure Python. No ROS install, no build.

fieldpilot-urdf is the open core of FieldPilot's robotics toolkit — small, self-contained, pure-Python. Point it at a robot on GitHub and get a working kinematic model in three lines.

Status: 1.16.0 — stable, published on PyPI. 367 passing tests, a documented public API under SemVer. pip install fieldpilot-urdf (see RELEASING.md for how releases are cut).

The four-layer ladder

fieldpilot-urdf is built as four layers, each standing on the one below — and you install only the weight you use. The arc runs import → diagnose:

Layer	What it does	Install
1 · Model	get a robot (URL / file / code), validate, repair	core
2 · Kinematics	FK, IK, self-collision, workspace, trajectory, motion planning	core
3 · Dynamics + Sim	symbolic equations of motion, time integration, inverse dynamics, PyBullet	[dynamics], [sim]
4 · Diagnostics	localise a fault, then hypothesis-test it	core

New here? The tutorial climbs all four layers end to end, and examples/full_stack_tour.py is its runnable companion. The sections below mirror the ladder.

Install

pip install fieldpilot-urdf                # core (parse, FK, IK, validation)
pip install "fieldpilot-urdf[mesh]"        # + mesh-aware self-collision (trimesh)
pip install "fieldpilot-urdf[viz]"         # + kinematic-tree / 3D-pose renderers
pip install "fieldpilot-urdf[dynamics]"    # + Kane's-method symbolic dynamics (sympy)
pip install "fieldpilot-urdf[sim]"         # + PyBullet numerical simulation
pip install "fieldpilot-urdf[all]"         # everything

Layer 1 — Model: import any ROS robot in 3 lines

from fieldpilot_urdf import import_urdf, run_all, summary

# Point at any ROS robot on GitHub — xacro, $(find), and <xacro:include> expand
robot, _ = import_urdf(
    "https://raw.githubusercontent.com/ros-industrial/universal_robot/melodic-devel/"
    "ur_description/urdf/ur5.urdf.xacro"
)

print(robot.name, len(robot.links), "links", len(robot.joints), "joints")
print(summary(run_all(robot)))   # validate: {'total': 0, 'error': 0, ...}

No URL? from_file / from_xml parse a local URDF, and to_xml round-trips the model back out.

Validate & auto-repair

from fieldpilot_urdf import from_file, run_all, summary, repair

robot = from_file("maybe_broken.urdf")
findings = run_all(robot)                 # 8 lint rules (R001–R008)
print(summary(findings))                  # {'total': 3, 'error': 1, 'warning': 2, ...}

fixed, patches, unfixable = repair(robot)  # deterministic fixes for the repairable rules
print([p.code for p in patches])           # e.g. ['R003', 'R005']
print("left for a human:", unfixable)      # rule codes that can't be auto-fixed
print(summary(run_all(fixed)))             # fewer (often zero) findings

Layer 2 — Kinematics: FK / IK / collision / workspace

from fieldpilot_urdf import forward_kinematics, solve_ik, detect_self_collisions

poses = forward_kinematics(robot)                       # {link: 4x4 world transform}
ik = solve_ik(robot, "tool0", target_xyz=(0.4, 0.1, 0.5))
print(ik.converged, ik.position_error)                  # numerical IK, honours limits
print(detect_self_collisions(robot))                    # [(link_a, link_b), ...]

sample_workspace and check_trajectory round out the layer — reachable envelope and a per-step limit/collision check along a path.

Planning around the world, not just the robot: pass obstacles and the planner routes around them (and check_trajectory flags any that are hit).

from fieldpilot_urdf import plan_path, box_obstacle

wall = box_obstacle("wall", center=(1.0, 0.0, 0.5), size=(0.3, 2.0, 1.0))
res = plan_path(robot, start, goal, obstacles=[wall])    # RRT-Connect, obstacle-aware
print(res.success, res.n_waypoints)                      # detours around the wall

Plain solve_ik ignores collision — solve_ik_collision_free picks the IK branch (elbow-up / elbow-down …) that's actually usable: self-collision-free and clear of the obstacles, so it feeds straight in as a plan_path endpoint.

from fieldpilot_urdf import solve_ik_collision_free

ik = solve_ik_collision_free(robot, "tool0", target_xyz=(0.5, 0.0, 0.4), obstacles=[wall])
print(ik.converged, ik.message)          # converged == a collision-free posture was found

Velocity kinematics sits between FK and IK: the geometric Jacobian maps joint velocities to the end-effector twist, and from it you read off dexterity and proximity to a singularity.

from fieldpilot_urdf import geometric_jacobian, manipulability, singularity_report

J = geometric_jacobian(robot, q, "tool0")               # 6×n: [v; w] = J @ qdot
print(manipulability(robot, q, "tool0"))                # Yoshikawa dexterity measure
rep = singularity_report(robot, q, "tool0")             # σ_min, condition number, is_singular
print(rep.is_singular, rep.condition_number)

Cartesian motion plans in task space where plan_path plans in joint space: drive the tool along a straight line, get back a joint path that feeds the same validators.

from fieldpilot_urdf import plan_cartesian_path

res = plan_cartesian_path(robot, "tool0", target_xyz=(0.5, 0.0, 0.4), start_q=q)
print(res.success, res.reached_fraction)                # straight-line move in SE(3)
print(res.path[-1])                                     # final joint config

A planned path is purely geometric — time_parameterize gives it a schedule that respects the joints' velocity limits, turning waypoints into motion over time (positions and velocities) ready for the dynamics layer.

from fieldpilot_urdf import time_parameterize

traj = time_parameterize(robot, res.path, max_acceleration=2.0)  # trapezoidal profile
print(traj.duration, len(traj.times))                            # timed, velocity-limited
print(traj.sample(traj.duration / 2))                           # joint config at any t

Render (needs the [viz] extra)

from fieldpilot_urdf.viz import render_kinematic_tree, render_pose_3d

open("tree.png", "wb").write(render_kinematic_tree(robot))      # graphviz
open("pose.png", "wb").write(render_pose_3d(robot, fmt="png"))  # matplotlib

Layer 3 — Dynamics & simulation

Symbolic dynamics (needs the [dynamics] extra)

from fieldpilot_urdf.dynamics import SymbolicDynamics

dyn = SymbolicDynamics(robot)                 # Kane's method on the kinematic tree
print(dyn.n_dof)                              # actuated DOF
print(dyn.mass_matrix)                        # symbolic M(q)
print(dyn.forcing)                            # symbolic F(q, q̇, τ) = τ − C(q,q̇)q̇ − G(q)

# Forward dynamics as a NumPy callable, ready for scipy.integrate.solve_ivp:
fwd = dyn.lambdify_forward_dynamics()         # (q, u, tau) -> q̈   (solves M·q̈ = F)
qdd = fwd([0.0] * dyn.n_dof, [0.0] * dyn.n_dof, [0.0] * dyn.n_dof)

Tree (serial) robots only in this release. Joint-origin frames follow URDF's Rz(yaw)·Ry(pitch)·Rx(roll) convention, so dyn.link_pose(link, q) matches forward_kinematics to machine precision. Closed-loop mechanisms and multi-DOF joints (floating/planar/spherical) raise UnsupportedSystemError — closed loops have their own path (LoopClosure + constrained.constrained_dynamics).

Numerical simulation (needs the [sim] extra)

from pathlib import Path
from fieldpilot_urdf import import_urdf
from fieldpilot_urdf.importer import fetch_meshes
from fieldpilot_urdf.sim import PyBulletSim

robot, url = import_urdf("https://.../ur5.urdf.xacro")      # URDF -> model
fetch_meshes(robot, url, Path("/tmp/ur5"))                  # download package:// meshes
with PyBulletSim(robot, mesh_dir="/tmp/ur5") as sim:        # straight into PyBullet
    sim.set_position_targets({"shoulder_pan_joint": 0.5})
    sim.step(240)
    print(sim.joint_states())                               # {joint: (pos, vel)}

A thin PyBullet wrapper — load, step, control, read state — fed by the import pipeline (package:// mesh paths are rewritten to the fetched files). It honours the URDF's <inertia> (URDF_USE_INERTIA_FROM_FILE), so its free-fall dynamics match the symbolic SymbolicDynamics to ~1e-5. For richer simulation, use PyBullet / MuJoCo / Drake directly on the URDF this package imports.

Layer 4 — Diagnostics: localise, then prove

First localise — which joint best explains the links a tech reports as dead? Pure NetworkX graph reasoning, deterministic, in the core install:

from fieldpilot_urdf import affected_links, criticality, rank_root_causes

# Which links does a faulty joint drag down, and how much mass is at stake?
affected_links(robot, "shoulder_pan_joint")   # {'upper_arm_link', 'forearm_link', 'wrist_1_link', ...}
criticality(robot, "shoulder_pan_joint")      # 0.0–1.0, mass-weighted downstream impact

# Reverse: a tech reports the wrist + tool went limp — which joint best explains it?
ranked = rank_root_causes(robot, ["wrist_3_link", "tool0"])
print(ranked[0].target, round(ranked[0].score, 3))   # suspect joint, precision×recall score

Or localise kinematically — the tool measured off where the model says it should be. Which joint is miscalibrated, and by how much? Ranked via the geometric Jacobian:

from fieldpilot_urdf import localize_joint_fault

# commanded q, but the tool was measured at observed_xyz (optionally + observed_rpy)
cands = localize_joint_fault(robot, "tool0", commanded_q, observed_xyz=(0.41, 0.10, 0.52))
print(cands[0].joint, round(cands[0].estimated_offset, 4), round(cands[0].explained_fraction, 2))
# -> e.g. 'wrist_2_joint' 0.03 0.99   (a 0.03 rad miscalibration explains 99% of the deviation)

A single pose can be ambiguous; with several measurements, calibrate_joint_offsets solves for every joint's offset at once (Gauss-Newton, so even large offsets) — turning a set of measured poses into a calibrated model:

from fieldpilot_urdf import calibrate_joint_offsets, PoseObservation

obs = [PoseObservation(commanded_q=q, observed_xyz=p) for q, p in measurements]
cal = calibrate_joint_offsets(robot, "tool0", obs)
print(cal.offsets)                                   # {joint: estimated offset}
print(cal.position_rms_before, "->", cal.position_rms_after)   # error collapses

Then prove it — inject the hypothesis on a copy, re-test, and confirm or refute. The ranked suspect feeds straight into diagnose as the hypothesis:

from fieldpilot_urdf import diagnose, Symptom, Hypothesis

# "tool can't reach this pose" — is a dead shoulder motor the cause?
report = diagnose(
    robot,
    Symptom(kind="cant_reach", target_link="tool0", target_xyz=(0.4, 0.1, 0.5)),
    [Hypothesis(suspect_joint="shoulder_pan_joint", fault_mode="motor_dead")],
)
print(report.verdict, "—", report.summary)   # CONFIRMED / REFUTED / INCONCLUSIVE

(The natural-language front-end that turns a free-text or voice symptom into these hypotheses via an LLM is part of FieldPilot SaaS. The reasoning core above stays local and deterministic.)

What you can do

Capability	API
Parse URDF ⇄ model	from_xml, from_file, to_xml
Import a robot from a URL (xacro/includes/meshes)	import_urdf
Forward kinematics	forward_kinematics
Inverse kinematics (numerical, limit-aware)	solve_ik
Self-collision (AABB + mesh)	detect_self_collisions
Workspace / trajectory sampling	sample_workspace, check_trajectory
8 lint rules (R001–R008)	run_all, summary
Deterministic auto-repair	repair
Two-tier symbolic fault diagnosis	diagnose
Fault propagation & root-cause ranking	affected_links, criticality, rank_root_causes
Symbolic dynamics (Kane's method)	SymbolicDynamics
Closed-loop modelling & constraint deriver	LoopClosure, loops.derive_loop_constraints
Closed-loop (constrained) dynamics	constrained.constrained_dynamics
Numerical simulation (PyBullet)	sim.PyBulletSim
Render kinematic tree / 3D pose	render_kinematic_tree, render_pose_3d
Local robot registry	save_robot, load_robot, list_robots

Public API & stability

As of 1.0.0, the public API follows Semantic Versioning: breaking changes to anything documented as public wait for a major bump.

• Stable — everything exported from the top-level package (fieldpilot_urdf.__all__), plus the public names of the optional submodules: fieldpilot_urdf.dynamics, .constrained, .loops, .sim, and .viz. If you can from fieldpilot_urdf import X (or from fieldpilot_urdf.dynamics import SymbolicDynamics), it's covered.
• Internal — any name prefixed with _ and the _dyn_adapter module. These may change without notice; don't import them.

See docs/api.md for the full surface, layer by layer.

How this compares

The Python URDF ecosystem already has good parsers. fieldpilot-urdf is not trying to replace them — it sits one layer up, as an analysis toolkit.

• urchin is the maintained fork of the classic urdfpy (unmaintained since 2020, won't install on Python 3.10+). Reach for it if you want the original urdfpy API and mesh-heavy visualization on a modern Python.
• yourdfpy is the most robust loader of real-world URDFs and ships an excellent visualization CLI. Reach for it if your priority is parsing messy URDFs found in the wild.

Reach for fieldpilot-urdf when parsing is the start, not the goal — when you also want to solve IK (numerical, joint-limit-aware), import a robot straight from a URL ($(find) / <xacro:include> / xacro expansion, with SSRF defenses), lint a URDF (8 rules, R001–R008) and deterministically auto-repair the fixable ones, run symbolic fault diagnosis ("is a dead shoulder motor why the tool can't reach?"), and go past geometry into dynamics — both parsers stop at kinematics, whereas this one builds Kane's-method equations of motion and cross-checks them against PyBullet. The core install stays light — pydantic + numpy + scipy + networkx — with mesh/viz as optional extras, so you never pull pyrender or pycollada unless you ask for them.

Need to load a difficult URDF more than analyze it? yourdfpy is probably the better fit — and fieldpilot-urdf happily consumes anything it can export.

⭐ Want more?

The open toolkit gives you the robotics. FieldPilot (the hosted SaaS) adds the parts you can't easily self-host:

• a natural-language fault-diagnosis front-end (describe a symptom → ranked hypotheses),
• a 13-tool LLM chat over your robot,
• a spare-parts BOM with pricing, and
• multi-tenant hosting, Telegram bots, and the agro-food field-service pipeline.

→ Star this repo and check out FieldPilot SaaS.

Security

import_urdf fetches a user-supplied URL, so it ships SSRF defences (HTTPS-only, host allowlist, 5 MB cap, timeout, redirect re-validation). See SECURITY.md for how to configure the allowlist and report issues.

License

AGPL-3.0-only. Free to self-host, modify, and use; network use obliges source disclosure. A commercial license is available for closed/embedded use — see FieldPilot.