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robotpy-wpimath

library2026.2.2pypypi✓ verified 86d ago

Binary wrapper for the FRC WPIMath library, providing geometry, kinematics, and control math for FIRST Robotics Competition robots. This version (2026.2.2) includes WPILib 2026.2.2 math utilities. Release follows the WPILib season, with breaking changes at each major year release.

devops

pip install robotpy-wpimath

INSTALL

IMPORT

SIG · ROBOTPY-WPIMATH

robotpy-wpimath

devopspythonv2026.2.2

harness data pending

Install & Compatibility

Where this runs

No compatibility data collected yet for this library.

Code

Verified usage

Verified import paths — ran on the pinned version, not inferred.

Rotation2d

✓ from wpimath.geometry import Rotation2d

✗ from wpimath import Rotation2d

Leading to AttributeError: module 'wpimath' has no attribute 'Rotation2d'

Pose2d

✓ from wpimath.geometry import Pose2d

✗ from wpimath import Pose2d

Same issue; geometry module is separate

SwerveDrive2Kinematics

✓ from wpimath.kinematics import SwerveDrive2Kinematics

✗ from wpimath import SwerveDrive2Kinematics

Kinematics module is required

DifferentialDriveKinematics

✓ from wpimath.kinematics import DifferentialDriveKinematics

✗ from wpimath import DifferentialDriveKinematics

Common import error

Trajectory

✓ from wpimath.trajectory import Trajectory

✗ from robotpy.wpimath import Trajectory

Old pattern from robotpy-wpilib; now under wpimath.trajectory

Basic usage: geometry objects (Rotation2d, Translation2d) and SwerveDrive2Kinematics example.

from wpimath.geometry import Rotation2d, Translation2d from wpimath.kinematics import SwerveDrive2Kinematics, SwerveDrive2ModuleState # Example: Create a rotation and translation rot = Rotation2d.fromDegrees(90) trans = Translation2d(3, 4) print(f"Rotation: {rot.degrees()} deg") print(f"Translation: {trans}") # Example: Swerve kinematics (module positions in meters) frontLeft = Translation2d(0.381, 0.381) # 15 inches frontRight = Translation2d(0.381, -0.381) backLeft = Translation2d(-0.381, 0.381) backRight = Translation2d(-0.381, -0.381) kinematics = SwerveDrive2Kinematics(frontLeft, frontRight, backLeft, backRight) # Desired chassis speed (m/s), rotation (rad/s), and center of rotation chassis_speed = Translation2d(1.0, 0.0) chassis_omega = 0.0 states = kinematics.toSwerveModuleStates(chassis_speed, chassis_omega) for i, s in enumerate(states): print(f"Module {i}: speed={s.speed} m/s, angle={s.angle.degrees()} deg")

Debug

Known issues

breakingBreaking changes at each year version (e.g., 2025.x.x to 2026.x.x). Algebra classes like Pose2d and Twist2d may change method signatures or add new required arguments.

fix

Check the WPILib migration guide for each year. Update code to match new signatures.

affects: 2024.x.x -> 2025.x.x -> 2026.x.x

deprecatedTrajectory parameterization and differential drive kinematics from old wpilib module are deprecated. Use wpimath.trajectory and wpimath.kinematics directly.

fix

Update imports: from wpimath.kinematics import DifferentialDriveKinematics instead of from wpilib import kinematics.

affects: 2023.x.x and earlier

gotchaRotation2d and Translation2d are immutable. Methods like rotateBy return a new object.

fix

Always assign the result: rot2 = rot1.rotateBy(other). Do not rely on mutability.

affects: All

gotchaUnit handling: LinearVelocity and AngularVelocity classes are used in kinematics. Forgetting to provide the correct unit (e.g., meters per second vs feet per second) leads to runtime errors.

fix

Use wpimath.units (e.g., from wpimath.units import metersPerSecond) to construct velocity objects.

affects: All

breakingSwerveDrive2Kinematics (and 4) changed the order of module positions in some year versions. The order (frontLeft, frontRight, backLeft, backRight) must match the expected wheel ordering.

fix

Verify the order matches WPILib convention. Typically: frontLeft, frontRight, backLeft, backRight (counterclockwise when looking from above).

affects: 2025.x.x -> 2026.x.x

Errors

Common errors & fixes

AttributeError: module 'wpimath' has no attribute 'Rotation2d'

Importing from the top-level wpimath instead of its submodule.

fix

Use 'from wpimath.geometry import Rotation2d'.

TypeError: __init__() takes 1 positional argument but 2 were given

Using old constructor pattern for Rotation2d (e.g., Rotation2d(x, y)). The current version takes radians or uses factory methods.

fix

Use 'Rotation2d(radians)' or 'Rotation2d.fromDegrees(degrees)' or 'Rotation2d(cos, sin)' with named parameters: 'Rotation2d(cosAngle=cos, sinAngle=sin)'.

ModuleNotFoundError: No module named 'wpimath.geometry'

Installed an older version of robotpy-wpimath that does not include the geometry submodule. Or misconfigured robotpy installation.

fix

Upgrade: 'pip install --upgrade robotpy-wpimath'. If using robotpy-wpilib, ensure both are same year version.

ValueError: The number of modules does not match the number of wheel locations

SwerveDrive2Kinematics expects exactly 4 Translation2d objects for a 4-module swerve drive.

fix

Provide exactly 4 positions: (frontLeft, frontRight, backLeft, backRight).

Upgrade

Version history

2026.2.2latest on PyPI · released Mar 13, 2026

Audit

Dependencies

robotpy-wpiutilrequiredRequired for unit handling and low-level WPILib utilities

numpyoptionalUsed for matrix representations in kinematics and trajectory calculations

Agent activity

4 hits · last 30 days

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Resources

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