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Dress-Up Trajectory

In one sentence: Override velocity, orientation, or continuity at selected waypoints of an existing trajectory, without modifying the base trajectory.

Overview

Workbench: Robot
Menu: Robot → Dress-Up Trajectory
Shortcut: none

Deprecated workbench

The Robot workbench is deprecated as of FreeCAD 1.0.

Creates a Robot::TrajectoryDressUpObject that sits on top of an existing trajectory and selectively overrides properties at specific waypoints. The base trajectory is unchanged — the dress-up layer can be removed to restore the original.

Intuition

The base trajectory defines the path geometry (positions). The dress-up layer is where you say "at waypoint 7, slow down to 20%" or "at waypoints 3–5, use this specific tool angle" without re-generating the entire path.

When to use it

  • The base trajectory was generated by Edge to Trajectory and you need to adjust velocity at specific waypoints.
  • You want to change the approach angle at particular features without re-recording the whole path.
  • You want to experiment with different speed profiles non-destructively.

Step-by-step

  1. Select a Robot::TrajectoryObject.
  2. Choose Robot → Dress-Up Trajectory.
  3. A Robot::TrajectoryDressUpObject is created, linked to the trajectory.
  4. Select specific waypoints in the dress-up and set override values.

See also