Trajectory

In one sentence: Create a new, empty trajectory object that will hold an ordered sequence of robot waypoints.

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Overview

Workbench: Robot
Menu: Robot → Trajectory
Shortcut: none

Deprecated workbench

The Robot workbench is deprecated as of FreeCAD 1.0.

Creates a Robot::TrajectoryObject in the document. The trajectory starts empty; waypoints are added with Insert in Trajectory, Insert in Trajectory (preselect), or Edge to Trajectory.

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Intuition

A trajectory is a script for the robot — an ordered list of poses the robot must visit, with motion type (PTP or LIN), velocity, and continuity settings at each pose. Trajectory creates the empty script; the other tools fill it in.

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When to use it

• Before adding any waypoints — you must have a trajectory object first.
• When you need multiple separate motion programs (create one trajectory per program).

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Step-by-step

1. Choose Robot → Trajectory.
2. A Robot::TrajectoryObject named "Trajectory" is created in the document.
3. Use Insert in Trajectory or Edge to Trajectory to add waypoints.

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Python API

import FreeCAD as App

doc = App.ActiveDocument
traj = doc.addObject("Robot::TrajectoryObject", "Trajectory")
print(traj.Trajectory.Waypoints)  # []  — starts empty
doc.recompute()

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See also

• Insert in Trajectory (tool position) — add the current TCP as a waypoint
• Edge to Trajectory — auto-generate waypoints from geometry
• Simulate Trajectory — animate the trajectory
• Robot Workbench — workbench overview